diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8efebf629744f81ffe30673c7062df7124a0b422
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,7.6873e-03,-8.1641e-03,2.4535e+00,-3.6170e-02,3.7336e-02,-2.2892e-05,9.0363e-05,9.4697e-06,1.4305e-05,-6.0350e-07,6.2920e-06,-3.1665e-08,9.1977e-05,6.3210e-06
+1,9.6667e-01,DOWN_FORCE_DETACH,2.0963e-04,1.4760e-02,-7.7068e-03,2.4544e+00,-3.6196e-02,3.7846e-02,-7.3199e-06,7.1626e-03,4.6680e-04,9.3222e-04,-2.7057e-05,5.1636e-04,1.5541e-05,7.2381e-03,5.1730e-04
+2,1.7833e+00,DOWN_FORCE_DETACH,4.1846e-04,1.6068e-02,-8.9599e-03,2.4698e+00,-3.6116e-02,3.7925e-02,-2.0818e-06,8.4711e-03,-7.8629e-04,1.6295e-02,5.3149e-05,5.9531e-04,2.0779e-05,1.8383e-02,5.9804e-04
+3,2.5500e+00,DOWN_FORCE_DETACH,6.2498e-04,1.6160e-02,-6.4385e-03,2.4693e+00,-3.6271e-02,3.7929e-02,1.8277e-06,8.5629e-03,1.7351e-03,1.5807e-02,-1.0150e-04,5.9953e-04,2.4688e-05,1.8061e-02,6.0856e-04
+4,3.2833e+00,DOWN_FORCE_DETACH,8.3449e-04,1.5035e-02,-5.2048e-03,2.4642e+00,-3.6350e-02,3.7852e-02,6.4885e-06,7.4376e-03,2.9688e-03,1.0729e-02,-1.8060e-04,5.2238e-04,2.9349e-05,1.3388e-02,5.5349e-04
+5,4.1167e+00,DOWN_FORCE_DETACH,1.0424e-03,1.5334e-02,-3.8155e-03,2.4636e+00,-3.6432e-02,3.7865e-02,1.1632e-05,7.7374e-03,4.3581e-03,1.0153e-02,-2.6320e-04,5.3595e-04,3.4493e-05,1.3489e-02,5.9808e-04
+6,4.9333e+00,DOWN_FORCE_DETACH,1.2488e-03,1.5945e-02,-9.7396e-04,2.4662e+00,-3.6623e-02,3.7903e-02,1.7173e-05,8.3476e-03,7.1996e-03,1.2699e-02,-4.5402e-04,5.7405e-04,4.0033e-05,1.6816e-02,7.3299e-04
+7,5.7833e+00,DOWN_FORCE_DETACH,1.4596e-03,9.9321e-03,-6.8037e-05,2.4633e+00,-3.6687e-02,3.7485e-02,2.0414e-05,2.3351e-03,8.1056e-03,9.8064e-03,-5.1818e-04,1.5610e-04,4.3275e-05,1.2935e-02,5.4291e-04
+8,6.7167e+00,DOWN_FORCE_DETACH,1.6687e-03,1.3934e-02,1.0674e-03,2.4766e+00,-3.6776e-02,3.7742e-02,2.0330e-05,6.3370e-03,9.2410e-03,2.3166e-02,-6.0632e-04,4.1276e-04,4.3191e-05,2.5733e-02,7.3475e-04
+9,7.5667e+00,DOWN_FORCE_DETACH,1.8770e-03,1.4867e-02,4.5510e-03,2.4830e+00,-3.7033e-02,3.7804e-02,1.5751e-05,7.2704e-03,1.2725e-02,2.9479e-02,-8.6346e-04,4.7458e-04,3.8611e-05,3.2921e-02,9.8605e-04
+10,8.3167e+00,DOWN_FORCE_DETACH,2.0831e-03,1.4463e-02,4.9339e-03,2.4873e+00,-3.7085e-02,3.7773e-02,8.8724e-06,6.8655e-03,1.3107e-02,3.3810e-02,-9.1543e-04,4.4420e-04,3.1733e-05,3.6906e-02,1.0180e-03
+11,9.1500e+00,DOWN_FORCE_DETACH,2.2940e-03,1.3317e-02,1.5597e-03,2.4934e+00,-3.6892e-02,3.7682e-02,-5.8318e-06,5.7196e-03,9.7333e-03,3.9928e-02,-7.2259e-04,3.5320e-04,1.7029e-05,4.1494e-02,8.0447e-04
+12,9.8833e+00,DOWN_FORCE_DETACH,2.5020e-03,1.7772e-02,2.6310e-03,2.5025e+00,-3.6999e-02,3.7981e-02,-1.9137e-05,1.0175e-02,1.0805e-02,4.9028e-02,-8.3015e-04,6.5199e-04,3.7232e-06,5.1225e-02,1.0556e-03
+13,1.0500e+01,DOWN_FORCE_DETACH,2.7108e-03,1.9015e-02,6.2013e-03,2.5084e+00,-3.7227e-02,3.8073e-02,-2.1633e-05,1.1418e-02,1.4375e-02,5.4962e-02,-1.0580e-03,7.4383e-04,1.2275e-06,5.7946e-02,1.2933e-03
+14,1.1133e+01,DOWN_FORCE_DETACH,2.9213e-03,2.0754e-02,9.0718e-03,2.5149e+00,-3.7381e-02,3.8193e-02,-3.3489e-06,1.3157e-02,1.7245e-02,6.1420e-02,-1.2115e-03,8.6420e-04,1.9512e-05,6.5138e-02,1.4883e-03
+15,1.1667e+01,DOWN_FORCE_DETACH,3.1284e-03,2.0351e-02,9.9324e-03,2.5166e+00,-3.7434e-02,3.8171e-02,1.8453e-05,1.2754e-02,1.8106e-02,6.3135e-02,-1.2647e-03,8.4177e-04,4.1313e-05,6.6907e-02,1.5198e-03
+16,1.2183e+01,DOWN_FORCE_DETACH,3.3380e-03,1.8687e-02,7.0102e-03,2.5243e+00,-3.7270e-02,3.8056e-02,2.5615e-05,1.1090e-02,1.5184e-02,7.0812e-02,-1.1009e-03,7.2654e-04,4.8476e-05,7.3266e-02,1.3199e-03
+17,1.2650e+01,DOWN_FORCE_DETACH,3.5465e-03,1.6112e-02,5.0936e-03,2.5367e+00,-3.7159e-02,3.7873e-02,2.2676e-05,8.5151e-03,1.3267e-02,8.3171e-02,-9.8987e-04,5.4380e-04,4.5536e-05,8.4652e-02,1.1303e-03
+18,1.3067e+01,DOWN_FORCE_DETACH,3.7529e-03,1.4290e-02,8.6664e-03,2.5436e+00,-3.7362e-02,3.7732e-02,1.5979e-05,6.6925e-03,1.6840e-02,9.0161e-02,-1.1929e-03,4.0306e-04,3.8840e-05,9.1964e-02,1.2598e-03
+19,1.3500e+01,DOWN_FORCE_DETACH,3.9635e-03,1.4985e-02,1.4855e-02,2.5464e+00,-3.7718e-02,3.7758e-02,8.4452e-06,7.3879e-03,2.3029e-02,9.2918e-02,-1.5486e-03,4.2912e-04,3.1306e-05,9.6014e-02,1.6073e-03
+20,1.3900e+01,DOWN_FORCE_DETACH,4.1679e-03,1.5984e-02,1.8454e-02,2.5502e+00,-3.7934e-02,3.7811e-02,6.1777e-06,8.3868e-03,2.6628e-02,9.6742e-02,-1.7644e-03,4.8194e-04,2.9038e-05,1.0069e-01,1.8292e-03
+21,1.4267e+01,DOWN_FORCE_DETACH,4.3765e-03,1.7238e-02,1.7831e-02,2.5561e+00,-3.7911e-02,3.7884e-02,2.7965e-06,9.6406e-03,2.6004e-02,1.0259e-01,-1.7414e-03,5.5427e-04,2.5657e-05,1.0628e-01,1.8277e-03
+22,1.4633e+01,DOWN_FORCE_DETACH,4.5847e-03,1.8233e-02,2.2854e-02,2.5590e+00,-3.8239e-02,3.7943e-02,-6.1075e-06,1.0636e-02,3.1027e-02,1.0556e-01,-2.0701e-03,6.1414e-04,1.6753e-05,1.1054e-01,2.1593e-03
+23,1.4967e+01,DOWN_FORCE_DETACH,4.7963e-03,1.9196e-02,2.6485e-02,2.5625e+00,-3.8464e-02,3.8006e-02,-7.5287e-06,1.1599e-02,3.4659e-02,1.0907e-01,-2.2947e-03,6.7651e-04,1.5332e-05,1.1503e-01,2.3924e-03
+24,1.5300e+01,DOWN_FORCE_DETACH,5.0042e-03,1.8074e-02,2.5224e-02,2.5656e+00,-3.8395e-02,3.7936e-02,-4.0456e-06,1.0477e-02,3.3398e-02,1.1214e-01,-2.2258e-03,6.0682e-04,1.8815e-05,1.1748e-01,2.3071e-03
+25,1.5617e+01,DOWN_FORCE_DETACH,5.2088e-03,1.6013e-02,2.2520e-02,2.5702e+00,-3.8227e-02,3.7804e-02,-4.6347e-06,8.4163e-03,3.0694e-02,1.1668e-01,-2.0583e-03,4.7451e-04,1.8226e-05,1.2094e-01,2.1124e-03
+26,1.5950e+01,DOWN_FORCE_DETACH,5.4266e-03,1.2791e-02,2.5148e-02,2.5719e+00,-3.8367e-02,3.7585e-02,-1.2358e-05,5.1941e-03,3.3322e-02,1.1843e-01,-2.1977e-03,2.5567e-04,1.0503e-05,1.2314e-01,2.2126e-03
+27,1.6250e+01,DOWN_FORCE_DETACH,5.6211e-03,1.3553e-02,3.0872e-02,2.5743e+00,-3.8700e-02,3.7622e-02,-1.6852e-05,5.9560e-03,3.9046e-02,1.2085e-01,-2.5303e-03,2.9264e-04,6.0085e-06,1.2714e-01,2.5472e-03
+28,1.6550e+01,DOWN_FORCE_DETACH,5.8420e-03,1.4986e-02,3.1239e-02,2.5785e+00,-3.8699e-02,3.7702e-02,-1.4472e-05,7.3892e-03,3.9413e-02,1.2503e-01,-2.5296e-03,3.7251e-04,8.3889e-06,1.3131e-01,2.5569e-03
+29,1.6833e+01,DOWN_FORCE_DETACH,6.0489e-03,1.6440e-02,3.0167e-02,2.5825e+00,-3.8627e-02,3.7786e-02,-1.2402e-05,8.8430e-03,3.8341e-02,1.2900e-01,-2.4579e-03,4.5709e-04,1.0459e-05,1.3487e-01,2.5000e-03
+30,1.7100e+01,DOWN_FORCE_DETACH,6.2530e-03,1.7807e-02,3.1595e-02,2.5860e+00,-3.8710e-02,3.7868e-02,-1.5564e-05,1.0210e-02,3.9768e-02,1.3257e-01,-2.5405e-03,5.3906e-04,7.2967e-06,1.3878e-01,2.5971e-03
+31,1.7367e+01,DOWN_FORCE_DETACH,6.4664e-03,1.8339e-02,3.2072e-02,2.5901e+00,-3.8733e-02,3.7900e-02,-1.5571e-05,1.0742e-02,4.0246e-02,1.3663e-01,-2.5638e-03,5.7093e-04,7.2893e-06,1.4284e-01,2.6266e-03
+32,1.7633e+01,DOWN_FORCE_DETACH,6.6725e-03,1.7985e-02,2.6209e-02,2.5886e+00,-3.8372e-02,3.7882e-02,-1.2079e-05,1.0388e-02,3.4382e-02,1.3510e-01,-2.2031e-03,5.5293e-04,1.0781e-05,1.3979e-01,2.2714e-03
+33,1.7883e+01,DOWN_FORCE_DETACH,6.8755e-03,1.5822e-02,2.4212e-02,2.5918e+00,-3.8239e-02,3.7744e-02,-1.0496e-05,8.2251e-03,3.2386e-02,1.3830e-01,-2.0697e-03,4.1461e-04,1.2365e-05,1.4228e-01,2.1108e-03
+34,1.8133e+01,DOWN_FORCE_DETACH,7.0899e-03,1.4021e-02,2.8993e-02,2.5924e+00,-3.8514e-02,3.7622e-02,-1.1714e-05,6.4239e-03,3.7167e-02,1.3895e-01,-2.3449e-03,2.9271e-04,1.1147e-05,1.4397e-01,2.3632e-03
+35,1.8350e+01,DOWN_FORCE_DETACH,7.2962e-03,1.4527e-02,3.2528e-02,2.6004e+00,-3.8713e-02,3.7646e-02,-1.1913e-05,6.9296e-03,4.0702e-02,1.4687e-01,-2.5443e-03,3.1682e-04,1.0948e-05,1.5257e-01,2.5639e-03
+36,1.8583e+01,DOWN_FORCE_DETACH,7.5080e-03,1.6263e-02,3.0078e-02,2.6031e+00,-3.8545e-02,3.7747e-02,-1.0598e-05,8.6661e-03,3.8251e-02,1.4957e-01,-2.3758e-03,4.1756e-04,1.2262e-05,1.5463e-01,2.4122e-03
+37,1.8817e+01,DOWN_FORCE_DETACH,7.7123e-03,1.7420e-02,2.9524e-02,2.6014e+00,-3.8508e-02,3.7814e-02,-1.3530e-05,9.8227e-03,3.7697e-02,1.4796e-01,-2.3384e-03,4.8438e-04,9.3309e-06,1.5300e-01,2.3881e-03
+38,1.9050e+01,DOWN_FORCE_DETACH,7.9208e-03,1.6676e-02,3.2070e-02,2.5990e+00,-3.8661e-02,3.7762e-02,-1.7617e-05,9.0789e-03,4.0243e-02,1.4553e-01,-2.4917e-03,4.3226e-04,5.2434e-06,1.5126e-01,2.5289e-03
+39,1.9283e+01,DOWN_FORCE_DETACH,8.1291e-03,1.6539e-02,2.6268e-02,2.6001e+00,-3.8304e-02,3.7753e-02,-1.8521e-05,8.9424e-03,3.4441e-02,1.4663e-01,-2.1349e-03,4.2404e-04,4.3393e-06,1.5088e-01,2.1766e-03
+40,1.9517e+01,DOWN_SETTLE,8.3491e-03,1.6493e-02,1.9677e-02,2.6011e+00,-3.7905e-02,3.7755e-02,-1.6211e-05,8.8957e-03,2.7851e-02,1.4762e-01,-1.7359e-03,4.2526e-04,6.6496e-06,1.5048e-01,1.7873e-03
+41,1.9750e+01,DOWN_SETTLE,8.5489e-03,1.6159e-02,2.0921e-02,2.6016e+00,-3.7974e-02,3.7732e-02,-1.3247e-05,8.5620e-03,2.9094e-02,1.4816e-01,-1.8044e-03,4.0243e-04,9.6132e-06,1.5123e-01,1.8488e-03
+42,2.0000e+01,DOWN_SETTLE,8.7640e-03,1.7006e-02,2.6612e-02,2.5996e+00,-3.8312e-02,3.7780e-02,-1.2360e-05,9.4088e-03,3.4785e-02,1.4617e-01,-2.1432e-03,4.5113e-04,1.0501e-05,1.5054e-01,2.1902e-03
+43,2.0250e+01,DOWN_SETTLE,8.9615e-03,1.5238e-02,2.8331e-02,2.5986e+00,-3.8404e-02,3.7659e-02,-1.1940e-05,7.6415e-03,3.6505e-02,1.4515e-01,-2.2349e-03,3.2990e-04,1.0920e-05,1.4987e-01,2.2592e-03
+44,2.0517e+01,DOWN_SETTLE,9.1720e-03,1.5552e-02,2.7860e-02,2.5943e+00,-3.8375e-02,3.7673e-02,-1.3846e-05,7.9550e-03,3.6034e-02,1.4081e-01,-2.2062e-03,3.4389e-04,9.0142e-06,1.4557e-01,2.2329e-03
+45,2.0767e+01,DOWN_SETTLE,9.3779e-03,1.7947e-02,3.0707e-02,2.5924e+00,-3.8546e-02,3.7823e-02,-1.9639e-05,1.0350e-02,3.8881e-02,1.3896e-01,-2.3768e-03,4.9347e-04,3.2218e-06,1.4467e-01,2.4274e-03
+46,2.1050e+01,DOWN_SETTLE,9.5851e-03,1.7381e-02,2.8954e-02,2.5906e+00,-3.8439e-02,3.7787e-02,-2.2442e-05,9.7838e-03,3.7127e-02,1.3709e-01,-2.2695e-03,4.5770e-04,4.1854e-07,1.4236e-01,2.3152e-03
+47,2.1350e+01,DOWN_SETTLE,9.8034e-03,1.7486e-02,2.4015e-02,2.5853e+00,-3.8149e-02,3.7802e-02,-2.0628e-05,9.8889e-03,3.2189e-02,1.3186e-01,-1.9799e-03,4.7263e-04,2.2326e-06,1.3609e-01,2.0356e-03
+48,2.1667e+01,DOWN_SETTLE,1.0011e-02,1.7396e-02,2.4271e-02,2.5819e+00,-3.8156e-02,3.7798e-02,-1.7933e-05,9.7994e-03,3.2444e-02,1.2841e-01,-1.9871e-03,4.6875e-04,4.9279e-06,1.3281e-01,2.0416e-03
+49,2.1967e+01,DOWN_SETTLE,1.0211e-02,1.7494e-02,2.9461e-02,2.5769e+00,-3.8459e-02,3.7801e-02,-1.7433e-05,9.8968e-03,3.7635e-02,1.2344e-01,-2.2895e-03,4.7173e-04,5.4276e-06,1.2943e-01,2.3376e-03
+50,2.2317e+01,DOWN_SETTLE,1.0426e-02,1.5186e-02,3.2792e-02,2.5739e+00,-3.8645e-02,3.7650e-02,-1.6417e-05,7.5887e-03,4.0966e-02,1.2039e-01,-2.4757e-03,3.2032e-04,6.4430e-06,1.2740e-01,2.4964e-03
+51,2.2667e+01,DOWN_SETTLE,1.0638e-02,1.7586e-02,3.2138e-02,2.5710e+00,-3.8607e-02,3.7796e-02,-1.7250e-05,9.9894e-03,4.0311e-02,1.1754e-01,-2.4376e-03,4.6686e-04,5.6109e-06,1.2466e-01,2.4819e-03
+52,2.3033e+01,DOWN_SETTLE,1.0839e-02,1.9488e-02,3.4884e-02,2.5641e+00,-3.8772e-02,3.7915e-02,-2.5891e-05,1.1891e-02,4.3058e-02,1.1059e-01,-2.6030e-03,5.8531e-04,-3.0307e-06,1.1927e-01,2.6680e-03
+53,2.3433e+01,DOWN_SETTLE,1.1057e-02,1.9610e-02,3.6543e-02,2.5586e+00,-3.8877e-02,3.7925e-02,-3.1267e-05,1.2013e-02,4.4716e-02,1.0509e-01,-2.7078e-03,5.9601e-04,-8.4068e-06,1.1484e-01,2.7726e-03
+54,2.3850e+01,DOWN_SETTLE,1.1262e-02,2.2339e-02,3.3146e-02,2.5516e+00,-3.8689e-02,3.8107e-02,-3.1886e-05,1.4742e-02,4.1320e-02,9.8168e-02,-2.5199e-03,7.7743e-04,-9.0256e-06,1.0753e-01,2.6371e-03
+55,2.4300e+01,DOWN_SETTLE,1.1472e-02,2.1551e-02,2.7909e-02,2.5449e+00,-3.8373e-02,3.8062e-02,-3.5718e-05,1.3954e-02,3.6083e-02,9.1401e-02,-2.2037e-03,7.3322e-04,-1.2858e-05,9.9252e-02,2.3225e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..226727911f049b99be039d0a535fd1c13edc663e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aafe8a5a67e06249605b714ec990a28404ea242f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6461a92d38013dc4bcf1b3b9da59ca014731a26e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,6.500000000e-01,UP_FORCE_RAMP,1791454888845829479,1.048340950e-06,1.753650858e-07,1.953631650e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.270154435e-07,1.534871107e-08,1.600234478e-08,7.015389198e-01,1.726326407e-06,8.407428948e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259847e-01,1.560271159e-06,8.297806578e-01
+7,7.666666667e-01,UP_FORCE_RAMP,1791454889026260510,1.394957417e-06,6.857749092e-06,4.111513205e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.371608649e-07,1.682719951e-08,1.722545395e-08,7.015392664e-01,8.408710413e-06,8.407450527e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259949e-01,1.561749648e-06,8.297806591e-01
+8,8.666666667e-01,UP_FORCE_RAMP,1791454889165278241,-1.209477934e-06,7.180689855e-06,9.584808357e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.443132405e-07,1.790592166e-08,1.807079175e-08,7.015366620e-01,8.731651176e-06,8.407418997e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260020e-01,1.562828370e-06,8.297806599e-01
+9,9.500000000e-01,UP_FORCE_RAMP,1791454889297771761,-3.042188859e-06,4.646666150e-06,-4.453482835e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.493858148e-07,1.869402479e-08,1.866132537e-08,7.015348293e-01,6.197627471e-06,8.407404958e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260071e-01,1.563616473e-06,8.297806605e-01
+10,1.100000000e+00,UP_FORCE_RAMP,1791454889526375222,1.880844975e-06,7.591511376e-06,7.086783939e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.567945173e-07,1.987940590e-08,1.950212947e-08,7.015397523e-01,9.142472697e-06,8.407480280e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260145e-01,1.564801854e-06,8.297806613e-01
+11,1.166666667e+00,UP_FORCE_RAMP,1791454889626348941,-1.980730337e-06,5.756913482e-06,3.064629295e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.595507195e-07,2.032678412e-08,1.981149478e-08,7.015358908e-01,7.307874803e-06,8.407409718e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260173e-01,1.565249232e-06,8.297806617e-01
+12,1.250000000e+00,UP_FORCE_RAMP,1791454889746562803,-1.531634744e-06,6.795995445e-06,2.686572673e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.624806771e-07,2.082168313e-08,2.011836120e-08,7.015363398e-01,8.346956766e-06,8.407436278e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260202e-01,1.565744131e-06,8.297806620e-01
+13,1.333333333e+00,UP_FORCE_RAMP,1791454889867584411,-2.720857138e-06,7.346099384e-07,2.505577365e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.650748335e-07,2.126450688e-08,2.038779168e-08,7.015351506e-01,2.285571259e-06,8.407434468e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260228e-01,1.566186955e-06,8.297806622e-01
+14,1.450000000e+00,UP_FORCE_RAMP,1791454890047097735,-6.299553713e-06,2.839433384e-06,5.231110920e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.681179181e-07,2.179578519e-08,2.069584726e-08,7.015315719e-01,4.390394705e-06,8.407414643e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260258e-01,1.566718233e-06,8.297806625e-01
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+16,1.633333333e+00,UP_FORCE_RAMP,1791454890326418533,-8.270775791e-06,1.038434164e-05,5.214438695e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.718652328e-07,2.245965984e-08,2.105507368e-08,7.015296007e-01,1.193530296e-05,8.407461556e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260296e-01,1.567382108e-06,8.297806629e-01
+17,1.733333333e+00,UP_FORCE_RAMP,1791454890466948599,-7.524910965e-06,7.777622556e-06,1.046123755e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.734180268e-07,2.274929356e-08,2.119069964e-08,7.015303466e-01,9.328583877e-06,8.407514024e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260311e-01,1.567671742e-06,8.297806630e-01
+18,1.800000000e+00,UP_FORCE_RAMP,1791454890565726569,-7.842223193e-06,9.189976749e-06,1.514443318e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.743364788e-07,2.291946184e-08,2.127074650e-08,7.015300293e-01,1.074093807e-05,8.407560856e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260320e-01,1.567841910e-06,8.297806631e-01
+19,1.900000000e+00,UP_FORCE_RAMP,1791454890726215541,-9.017961562e-06,8.852175902e-06,2.277188645e-05,-7.659406142e-06,5.637579877e-06,1.982334304e-05,-7.558707967e-06,5.640551138e-06,1.960489689e-05,7.015288535e-01,1.040313722e-05,8.407637131e-01,7.015302121e-01,7.188541198e-06,8.407607645e-01,7.017182990e-01,7.185473587e-06,8.298002467e-01
+20,2.016666667e+00,UP_FORCE_RAMP,1791454890896386464,-1.025834855e-05,9.076153251e-06,3.136667820e-05,-7.659406142e-06,5.637579877e-06,1.982334304e-05,-7.575844224e-06,5.639595729e-06,1.965039468e-05,7.015276131e-01,1.062711457e-05,8.407723079e-01,7.015302121e-01,7.188541198e-06,8.407607645e-01,7.017182819e-01,7.184518177e-06,8.298002922e-01
+21,2.100000000e+00,UP_FORCE_RAMP,1791454891026193463,-7.859253857e-06,1.079658433e-05,4.188262285e-05,-7.879821748e-06,1.082609997e-05,4.194922736e-05,-7.726119289e-06,1.080834827e-05,4.150825302e-05,7.015300122e-01,1.234754565e-05,8.407828238e-01,7.015299917e-01,1.237706129e-05,8.407828904e-01,7.017181316e-01,1.235327072e-05,8.298221501e-01
+22,2.200000000e+00,UP_FORCE_RAMP,1791454891163821256,-6.037262775e-06,1.301272375e-05,5.752423841e-05,-7.879821748e-06,1.082609997e-05,4.194922736e-05,-7.736022894e-06,1.081032657e-05,4.159426028e-05,7.015318342e-01,1.456368507e-05,8.407984654e-01,7.015299917e-01,1.237706129e-05,8.407828904e-01,7.017181217e-01,1.235524902e-05,8.298222361e-01
+23,2.283333333e+00,UP_FORCE_RAMP,1791454891296635414,-6.995467984e-06,1.275187867e-05,7.140302555e-05,-6.542480768e-06,7.426365474e-06,6.420160096e-05,-6.328325422e-06,7.416142377e-06,6.366687918e-05,7.015308760e-01,1.430284000e-05,8.408123442e-01,7.015313290e-01,8.977326795e-06,8.408051428e-01,7.017195294e-01,8.961064825e-06,8.298443087e-01
+24,2.383333333e+00,UP_FORCE_RAMP,1791454891455159653,-9.743647057e-06,1.423997384e-05,8.599694187e-05,-8.127298533e-06,1.378287045e-05,8.321897464e-05,-7.868026403e-06,1.371734562e-05,8.252127077e-05,7.015281278e-01,1.579093516e-05,8.408269381e-01,7.015297442e-01,1.533383177e-05,8.408241602e-01,7.017179897e-01,1.526226806e-05,8.298631631e-01
+25,2.466666667e+00,UP_FORCE_RAMP,1791454891572484730,-1.174720987e-05,1.628481237e-05,9.597370572e-05,-8.127298533e-06,1.378287045e-05,8.321897464e-05,-7.874158066e-06,1.371849461e-05,8.262956363e-05,7.015261243e-01,1.783577370e-05,8.408369149e-01,7.015297442e-01,1.533383177e-05,8.408241602e-01,7.017179835e-01,1.526341706e-05,8.298632714e-01
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+28,2.716666667e+00,UP_FORCE_RAMP,1791454891946217695,-2.399732333e-05,1.660914909e-05,1.252290104e-04,-1.929716101e-05,1.765767949e-05,1.200236156e-04,-1.914666454e-05,1.759082239e-05,1.193811539e-04,7.015138742e-01,1.816011041e-05,8.408661702e-01,7.015185743e-01,1.920864081e-05,8.408609648e-01,7.017067110e-01,1.913574484e-05,8.299000230e-01
+29,2.800000000e+00,UP_FORCE_RAMP,1791454892066450975,-2.316212919e-05,2.229060007e-05,1.330133892e-04,-1.929716101e-05,1.765767949e-05,1.200236156e-04,-1.916387913e-05,1.759199742e-05,1.194940212e-04,7.015147094e-01,2.384156139e-05,8.408739546e-01,7.015185743e-01,1.920864081e-05,8.408609648e-01,7.017066938e-01,1.913691987e-05,8.299001359e-01
+30,2.883333333e+00,UP_FORCE_RAMP,1791454892195922422,-2.097341178e-05,2.179140182e-05,1.470525617e-04,-2.151099605e-05,2.455031910e-05,1.397546616e-04,-2.136156003e-05,2.446797168e-05,1.390422576e-04,7.015168981e-01,2.334236314e-05,8.408879937e-01,7.015163605e-01,2.610128042e-05,8.408806958e-01,7.017044961e-01,2.601289413e-05,8.299196841e-01
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+42,4.000000000e+00,UP_FORCE_RAMP,1791454893866112101,-2.319440106e-05,3.461859681e-05,2.328240724e-04,-2.363996055e-05,3.484953965e-05,2.280723420e-04,-2.328570105e-05,3.470630459e-05,2.275285469e-04,7.015146771e-01,3.616955813e-05,8.409737653e-01,7.015142315e-01,3.640050098e-05,8.409690135e-01,7.017025720e-01,3.625122704e-05,8.300081704e-01
+43,4.100000000e+00,UP_FORCE_RAMP,1791454894027649098,-2.488995110e-05,3.465777056e-05,2.374177298e-04,-2.363996055e-05,3.484953965e-05,2.280723420e-04,-2.329237127e-05,3.471081935e-05,2.276209266e-04,7.015129815e-01,3.620873188e-05,8.409783589e-01,7.015142315e-01,3.640050098e-05,8.409690135e-01,7.017025653e-01,3.625574179e-05,8.300082628e-01
+44,4.216666667e+00,UP_FORCE_RAMP,1791454894196829928,-2.191984297e-05,3.203186499e-05,2.471192014e-04,-2.363996055e-05,3.484953965e-05,2.280723420e-04,-2.329813835e-05,3.471488968e-05,2.277051157e-04,7.015159516e-01,3.358282631e-05,8.409880604e-01,7.015142315e-01,3.640050098e-05,8.409690135e-01,7.017025596e-01,3.625981212e-05,8.300083470e-01
+45,4.300000000e+00,UP_FORCE_RAMP,1791454894326392736,-2.560768345e-05,3.813143750e-05,2.462479466e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.099061606e-05,3.289367273e-05,2.493499271e-04,7.015122638e-01,3.968239882e-05,8.409871891e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048671e-01,3.443859518e-05,8.300299918e-01
+46,4.350000000e+00,UP_FORCE_RAMP,1791454894396417572,-2.420490031e-05,3.662866220e-05,2.511610389e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.098963658e-05,3.289549964e-05,2.494004295e-04,7.015136666e-01,3.817962352e-05,8.409921022e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048681e-01,3.444042209e-05,8.300300423e-01
+47,4.416666667e+00,UP_FORCE_RAMP,1791454894496301481,-2.475036002e-05,3.391480304e-05,2.535374990e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.098875932e-05,3.289819920e-05,2.494582727e-04,7.015131211e-01,3.546576436e-05,8.409944787e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048689e-01,3.444312165e-05,8.300301001e-01
+48,4.466666667e+00,UP_FORCE_RAMP,1791454894567628994,-2.501584014e-05,2.986367050e-05,2.570513422e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.098819646e-05,3.290012248e-05,2.494961931e-04,7.015128556e-01,3.141463182e-05,8.409979925e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048695e-01,3.444504492e-05,8.300301380e-01
+49,4.550000000e+00,UP_FORCE_RAMP,1791454894696026900,-2.404014035e-05,2.955995849e-05,2.615917887e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.098737495e-05,3.290295287e-05,2.495506593e-04,7.015138313e-01,3.111091981e-05,8.410025330e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048703e-01,3.444787532e-05,8.300301925e-01
+50,4.633333333e+00,UP_FORCE_RAMP,1791454894826285762,-2.548943172e-05,3.934375024e-05,2.626238039e-04,-2.146180647e-05,3.297989375e-05,2.499702881e-04,-2.098667471e-05,3.290532799e-05,2.495959750e-04,7.015123820e-01,4.089471156e-05,8.410035650e-01,7.015164097e-01,3.453085507e-05,8.409909115e-01,7.017048710e-01,3.445025043e-05,8.300302378e-01
+51,4.716666667e+00,UP_FORCE_RAMP,1791454894951275535,-2.602543864e-05,3.117580131e-05,2.650765072e-04,-2.161858304e-05,3.374812401e-05,2.703071044e-04,-2.112799615e-05,3.368873860e-05,2.697511963e-04,7.015118460e-01,3.272676263e-05,8.410060177e-01,7.015162529e-01,3.529908533e-05,8.410112483e-01,7.017047297e-01,3.523366105e-05,8.300503930e-01
+52,4.816666667e+00,UP_FORCE_RAMP,1791454895110486159,-2.436918477e-05,3.737702630e-05,2.736026260e-04,-2.161858304e-05,3.374812401e-05,2.703071044e-04,-2.112852167e-05,3.369245548e-05,2.698327464e-04,7.015135023e-01,3.892798762e-05,8.410145438e-01,7.015162529e-01,3.529908533e-05,8.410112483e-01,7.017047292e-01,3.523737793e-05,8.300504746e-01
+53,4.966666667e+00,UP_FORCE_HOLD,1791454895333008858,-2.435625850e-05,3.250175415e-05,2.776305320e-04,-2.161858304e-05,3.374812401e-05,2.703071044e-04,-2.112935556e-05,3.369713918e-05,2.699245240e-04,7.015135152e-01,3.405271547e-05,8.410185717e-01,7.015162529e-01,3.529908533e-05,8.410112483e-01,7.017047283e-01,3.524206162e-05,8.300505664e-01
+54,5.066666667e+00,UP_FORCE_HOLD,1791454895470845188,-2.088071338e-05,3.587457496e-05,2.863630534e-04,-2.161858304e-05,3.374812401e-05,2.703071044e-04,-2.112988926e-05,3.369953145e-05,2.699710415e-04,7.015169908e-01,3.742553629e-05,8.410273042e-01,7.015162529e-01,3.529908533e-05,8.410112483e-01,7.017047278e-01,3.524445390e-05,8.300506129e-01
+55,5.183333333e+00,UP_FORCE_HOLD,1791454895646156173,-2.056394308e-05,4.080147475e-05,2.902876910e-04,-2.031027934e-05,4.104766421e-05,2.901728139e-04,-1.967617062e-05,4.092606266e-05,2.896113242e-04,7.015173075e-01,4.235243607e-05,8.410312289e-01,7.015175612e-01,4.259862554e-05,8.410311140e-01,7.017061815e-01,4.247098511e-05,8.300702532e-01
+56,5.283333333e+00,UP_FORCE_HOLD,1791454895796266285,-2.559248279e-05,3.721185332e-05,2.881671801e-04,-2.031027934e-05,4.104766421e-05,2.901728139e-04,-1.967369612e-05,4.093385301e-05,2.896937004e-04,7.015122790e-01,3.876281464e-05,8.410291084e-01,7.015175612e-01,4.259862554e-05,8.410311140e-01,7.017061840e-01,4.247877546e-05,8.300703355e-01
+57,5.383333333e+00,UP_FORCE_HOLD,1791454895945656056,-2.330679804e-05,3.701944230e-05,2.935559830e-04,-2.031027934e-05,4.104766421e-05,2.901728139e-04,-1.967238788e-05,4.093734172e-05,2.897546780e-04,7.015145647e-01,3.857040362e-05,8.410344972e-01,7.015175612e-01,4.259862554e-05,8.410311140e-01,7.017061853e-01,4.248226416e-05,8.300703965e-01
+58,5.500000000e+00,UP_FORCE_HOLD,1791454896126626771,-2.210928828e-05,4.127818492e-05,2.995252901e-04,-2.031027934e-05,4.104766421e-05,2.901728139e-04,-1.967133854e-05,4.094054405e-05,2.898110766e-04,7.015157622e-01,4.282914625e-05,8.410404665e-01,7.015175612e-01,4.259862554e-05,8.410311140e-01,7.017061864e-01,4.248546650e-05,8.300704529e-01
+59,5.616666667e+00,UP_SETTLE,1791454896296901971,-2.483833472e-05,3.755429628e-05,2.980678691e-04,-2.031027934e-05,4.104766421e-05,2.901728139e-04,-1.967068699e-05,4.094304450e-05,2.898552265e-04,7.015130331e-01,3.910525760e-05,8.410390091e-01,7.015175612e-01,4.259862554e-05,8.410311140e-01,7.017061870e-01,4.248796695e-05,8.300704971e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c78642b74ef4c2bedf1631c9162925dc032b707d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,7.6831e-03,-8.1655e-03,2.4535e+00,-3.6170e-02,3.7335e-02,-2.2906e-05,9.1101e-05,9.4986e-06,1.4305e-05,-5.9977e-07,6.3442e-06,-3.1345e-08,9.2705e-05,6.3725e-06
+1,1.1667e-01,UP_FORCE_RAMP,2.6380e-05,8.5753e-03,-8.0892e-03,2.4536e+00,-3.6174e-02,3.7396e-02,-2.2939e-05,9.8324e-04,8.5828e-05,1.4544e-04,-5.3905e-06,6.7234e-05,-6.4465e-08,9.9763e-04,6.7450e-05
+2,2.3333e-01,UP_FORCE_RAMP,5.0632e-05,9.6354e-03,-8.0079e-03,2.4538e+00,-3.6179e-02,3.7469e-02,-2.2659e-05,2.0434e-03,1.6713e-04,2.9850e-04,-1.0405e-05,1.3954e-04,2.1551e-07,2.0718e-03,1.3993e-04
+3,3.5000e-01,UP_FORCE_RAMP,7.3927e-05,1.2210e-02,-7.8734e-03,2.4542e+00,-3.6187e-02,3.7659e-02,-1.9496e-05,4.6178e-03,3.0161e-04,7.0643e-04,-1.7799e-05,3.3019e-04,3.3790e-06,4.6812e-03,3.3069e-04
+4,4.5000e-01,UP_FORCE_RAMP,9.9334e-05,1.2376e-02,-7.8661e-03,2.4542e+00,-3.6187e-02,3.7672e-02,-1.9137e-05,4.7837e-03,3.0889e-04,6.8259e-04,-1.8250e-05,3.4262e-04,3.7378e-06,4.8420e-03,3.4313e-04
+5,5.3333e-01,UP_FORCE_RAMP,1.2674e-04,1.2659e-02,-7.8430e-03,2.4542e+00,-3.6189e-02,3.7691e-02,-1.8701e-05,5.0673e-03,3.3203e-04,6.9809e-04,-1.9658e-05,3.6211e-04,4.1735e-06,5.1259e-03,3.6267e-04
+6,6.5000e-01,UP_FORCE_RAMP,1.5340e-04,1.3775e-02,-7.7977e-03,2.4543e+00,-3.6191e-02,3.7777e-02,-1.2608e-05,6.1829e-03,3.7728e-04,8.2231e-04,-2.1704e-05,4.4779e-04,1.0266e-05,6.2487e-03,4.4844e-04
+7,7.6667e-01,UP_FORCE_RAMP,1.7781e-04,1.4001e-02,-7.7717e-03,2.4543e+00,-3.6192e-02,3.7792e-02,-1.2297e-05,6.4087e-03,4.0329e-04,8.3089e-04,-2.3350e-05,4.6252e-04,1.0577e-05,6.4749e-03,4.6323e-04
+8,8.6667e-01,UP_FORCE_RAMP,2.0184e-04,1.4249e-02,-7.7433e-03,2.4543e+00,-3.6194e-02,3.7808e-02,-1.1886e-05,6.6567e-03,4.3175e-04,8.5521e-04,-2.5135e-05,4.7886e-04,1.0988e-05,6.7253e-03,4.7964e-04
+9,9.5000e-01,UP_FORCE_RAMP,2.2640e-04,1.4744e-02,-7.7088e-03,2.4544e+00,-3.6196e-02,3.7845e-02,-7.3400e-06,7.1519e-03,4.6625e-04,9.3317e-04,-2.7049e-05,5.1561e-04,1.5535e-05,7.2276e-03,5.1656e-04
+10,1.1000e+00,UP_FORCE_RAMP,2.5470e-04,1.5081e-02,-7.6732e-03,2.4544e+00,-3.6198e-02,3.7868e-02,-5.1085e-06,7.4888e-03,5.0181e-04,9.5749e-04,-2.9206e-05,5.3892e-04,1.7766e-05,7.5664e-03,5.4001e-04
+11,1.1667e+00,UP_FORCE_RAMP,2.7963e-04,1.5118e-02,-7.6684e-03,2.4544e+00,-3.6199e-02,3.7870e-02,-5.0637e-06,7.5264e-03,5.0656e-04,9.5892e-04,-2.9512e-05,5.4143e-04,1.7811e-05,7.6041e-03,5.4253e-04
+12,1.2500e+00,UP_FORCE_RAMP,3.0038e-04,1.5198e-02,-7.6585e-03,2.4544e+00,-3.6199e-02,3.7876e-02,-4.9636e-06,7.6058e-03,5.1656e-04,9.6488e-04,-3.0149e-05,5.4671e-04,1.7911e-05,7.6841e-03,5.4783e-04
+13,1.3333e+00,UP_FORCE_RAMP,3.2764e-04,1.5481e-02,-7.6334e-03,2.4545e+00,-3.6201e-02,3.7897e-02,-2.8964e-06,7.8892e-03,5.4161e-04,1.0052e-03,-3.1639e-05,5.6763e-04,1.9978e-05,7.9714e-03,5.6887e-04
+14,1.4500e+00,UP_FORCE_RAMP,3.5233e-04,1.5528e-02,-7.6270e-03,2.4545e+00,-3.6201e-02,3.7900e-02,-2.8287e-06,7.9363e-03,5.4806e-04,1.0037e-03,-3.2060e-05,5.7074e-04,2.0046e-05,8.0183e-03,5.7199e-04
+15,1.5667e+00,UP_FORCE_RAMP,3.8018e-04,1.5588e-02,-7.6185e-03,2.4545e+00,-3.6202e-02,3.7904e-02,-2.7298e-06,7.9960e-03,5.5647e-04,1.0066e-03,-3.2589e-05,5.7467e-04,2.0145e-05,8.0783e-03,5.7595e-04
+16,1.6333e+00,UP_FORCE_RAMP,4.0156e-04,1.5639e-02,-7.6114e-03,2.4545e+00,-3.6202e-02,3.7907e-02,-2.6327e-06,8.0470e-03,5.6362e-04,1.0102e-03,-3.3047e-05,5.7805e-04,2.0242e-05,8.1297e-03,5.7934e-04
+17,1.7333e+00,UP_FORCE_RAMP,4.3130e-04,1.5699e-02,-7.6030e-03,2.4545e+00,-3.6203e-02,3.7911e-02,-2.4953e-06,8.1073e-03,5.7204e-04,1.0152e-03,-3.3569e-05,5.8206e-04,2.0379e-05,8.1906e-03,5.8338e-04
+18,1.8000e+00,UP_FORCE_RAMP,4.5466e-04,1.5738e-02,-7.5975e-03,2.4545e+00,-3.6203e-02,3.7914e-02,-2.3915e-06,8.1464e-03,5.7746e-04,1.0185e-03,-3.3915e-05,5.8468e-04,2.0483e-05,8.2301e-03,5.8602e-04
+19,1.9000e+00,UP_FORCE_RAMP,4.8012e-04,1.9592e-02,-1.0086e-02,2.4438e+00,-3.6037e-02,3.8175e-02,-2.4667e-06,1.2000e-02,-1.9110e-03,-9.6741e-03,1.3249e-04,8.4579e-04,2.0408e-05,1.5532e-02,8.5634e-04
+20,2.0167e+00,UP_FORCE_RAMP,5.0488e-04,1.9071e-02,-9.9381e-03,2.4451e+00,-3.6044e-02,3.8145e-02,-2.5510e-06,1.1479e-02,-1.7631e-03,-8.3764e-03,1.2537e-04,8.1564e-04,2.0324e-05,1.4319e-02,8.2547e-04
+21,2.1000e+00,UP_FORCE_RAMP,5.3283e-04,1.8748e-02,-9.9223e-03,2.4462e+00,-3.6043e-02,3.8125e-02,-2.5606e-06,1.1156e-02,-1.7473e-03,-7.3004e-03,1.2567e-04,7.9629e-04,2.0314e-05,1.3446e-02,8.0640e-04
+22,2.2000e+00,UP_FORCE_RAMP,5.5659e-04,1.8331e-02,-1.1143e-02,2.4426e+00,-3.5960e-02,3.8101e-02,-2.8644e-06,1.0739e-02,-2.9684e-03,-1.0881e-02,2.0867e-04,7.7187e-04,2.0010e-05,1.5574e-02,7.9983e-04
+23,2.2833e+00,UP_FORCE_RAMP,5.8134e-04,1.7796e-02,-1.1099e-02,2.4390e+00,-3.5962e-02,3.8067e-02,-3.0033e-06,1.0204e-02,-2.9242e-03,-1.4474e-02,2.0693e-04,7.3850e-04,1.9871e-05,1.7949e-02,7.6720e-04
+24,2.3833e+00,UP_FORCE_RAMP,6.0852e-04,1.7422e-02,-1.1430e-02,2.4358e+00,-3.5937e-02,3.8045e-02,-3.2647e-06,9.8295e-03,-3.2552e-03,-1.7694e-02,2.3177e-04,7.1645e-04,1.9610e-05,2.0501e-02,7.5326e-04
+25,2.4667e+00,UP_FORCE_RAMP,6.2915e-04,1.7440e-02,-1.2406e-02,2.4326e+00,-3.5872e-02,3.8049e-02,-3.6609e-06,9.8482e-03,-4.2312e-03,-2.0835e-02,2.9729e-04,7.1964e-04,1.9214e-05,2.3430e-02,7.7887e-04
+26,2.5167e+00,UP_FORCE_RAMP,6.5544e-04,1.7416e-02,-1.2737e-02,2.4324e+00,-3.5849e-02,3.8048e-02,-3.9032e-06,9.8237e-03,-4.5617e-03,-2.1129e-02,3.1974e-04,7.1870e-04,1.8971e-05,2.3743e-02,7.8684e-04
+27,2.6167e+00,UP_FORCE_RAMP,6.8123e-04,2.0301e-02,-1.4436e-02,2.4306e+00,-3.5735e-02,3.8243e-02,-4.6192e-06,1.2709e-02,-6.2605e-03,-2.2916e-02,4.3424e-04,9.1422e-04,1.8255e-05,2.6942e-02,1.0123e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 4065280
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4253cb90f63c5e52011e889d303f125abe25cf9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/fem_node.csv
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+59,2.488333e+01,265,7.070071e-01,1.167766e-02,8.181629e-01,-4.738718e-05,-1.119901e-04,-8.902885e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.488333e+01,266,6.947825e-01,1.389096e-02,8.256078e-01,-5.298645e-05,-1.187820e-04,-8.861500e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1153d52789fbb96667cc596f9693564b2841d873
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+10040,1791454962336856990,9940726000000,1791454962335346258,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760249305443621,-0.004769141772001855,0.09067280079642148,0.9999999861008533,5.539600863918952e-05,-0.00011358838597149605,5.718494976147211e-05,0.6761,-0.0048,0.09074026475095606,1.0,0.0,0.0,0.0,-0.028627431638526532,-0.08583268182763204,0.1860677611153218,-0.007269053025870704,0.003135015689903516,0.00030733970656730836,0.0051016332558868685,-0.17524479622713396,0.06477180935136025,-0.010225074440343984,0.0001926299959147333,-0.001194256577167971,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.3534761777167371,-0.2621521994429571,0.8796787237347238,0.16134396870017062,-0.4589326997744664,-0.2544150621555462,0.721557885649919,0.1860677611153218,-0.15812083808480482,-0.15812083808480482,0.19350000000000872,0,0,-0.0001591979266982443,-9.987849022697332e-05
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+10261,1791454964178763709,9942568000000,1791454964171346673,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760456480220711,-0.004771310299708646,0.0904432987520443,0.9999999921726211,1.0799771671459038e-05,-7.64617085221642e-05,3.3683739704687194e-05,0.6761,-0.0048,0.09046827758487892,1.0,0.0,0.0,0.0,-0.039536960089733716,-0.07171425333671197,0.4224239019135293,-0.00527241513719443,0.0030454573049884734,0.0001363645115675827,-0.005807895195320315,-0.1611263677362139,0.3011279501495678,-0.00822843655166771,0.00010307161099969083,-0.0013652317721676967,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4296780603094191,-0.17397483668546246,0.5861583164067282,0.17406666139600313,-0.2669275682472902,-0.18970805228131166,0.721557885649919,0.4224239019135293,0.13539956924319074,0.13539956924319074,0.304020000000017,0,0,-0.0001131212133867202,9.999999025923074e-05
+10369,1791454965078772159,9943468000000,1791454965071346577,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.676043302807935,-0.004775301094562798,0.0903531524776756,0.9999999842612273,0.00012385862885327717,-7.830956610428161e-05,3.804026181953813e-05,0.6761,-0.0048,0.09037981718723968,1.0,0.0,0.0,0.0,-0.030361529790879697,-0.06960886929273069,0.4683011163065207,-0.005281386025125338,0.0030318013676734605,0.00010209884988380213,0.0033675351035337042,-0.1590209836922326,0.3470051645425592,-0.008237407439598618,8.941567368467778e-05,-0.0013994974338514773,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5303882366891084,-0.1381989959939636,0.4650221401561475,0.1647032377612172,-0.1594203268414644,-0.18155482916281063,0.721557885649919,0.4683011163065207,0.25653574549377145,0.25653574549377145,0.35802000000002104,0,0,-8.515010397194966e-05,9.948606802113175e-05
+10499,1791454966161843221,9944551000000,1791454966159346346,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760452880057751,-0.004773339587449645,0.0902655451173101,0.9999999851800341,0.00011392505264334258,-7.858250533773996e-05,4.391660610648604e-05,0.6761,-0.0048,0.09028961691747411,1.0,0.0,0.0,0.0,-0.024507448741323018,-0.06986771298843847,0.46860880846370523,-0.005280702019404575,0.0030349760863006667,0.00010261654096938738,0.009221616153090383,-0.1592798273879404,0.3473128566997437,-0.008236723433877855,9.25903923118841e-05,-0.001398979742765892,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4982475325976089,-0.2854378036344462,0.47247474252757715,0.21486234760872755,-0.1774230826346938,-0.2613012817835617,0.721557885649919,0.46860880846370523,0.2490831431223418,0.2490831431223418,0.4230000000000259,0,0,-8.97430488075709e-05,-9.999999025923074e-05
+10600,1791454967003844984,9945393000000,1791454967003346853,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760467294059294,-0.0047806285231606115,0.09018950324914413,0.9999999862479224,0.00010152497780067002,-7.77970650349909e-05,5.0865654485028187e-05,0.6761,-0.0048,0.09021328538753016,1.0,0.0,0.0,0.0,-0.03038164750299861,-0.06736162138438095,0.47860166940902893,-0.005253323169224198,0.0030336810093401522,9.733478277206453e-05,0.003347417391414792,-0.15677373578388287,0.35730571764506736,-0.008209344583697478,9.129531535136961e-05,-0.0014042615009632149,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5200722419966496,-0.23462031748398393,0.3962846650650971,0.21870923663744626,-0.13249603000271576,-0.22027936494935496,0.721557885649919,0.47860166940902893,0.3252732205848219,0.3252732205848219,0.4735200000000297,0,0,-9.209990801743988e-05,3.18367713971233e-05
+10729,1791454968078784130,9946468000000,1791454968075347731,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760454873928022,-0.004781307098622935,0.09008304589301365,0.9999999884386751,7.667184985814092e-05,-8.076682811069557e-05,4.651516910384131e-05,0.6761,-0.0048,0.09010448080801832,1.0,0.0,0.0,0.0,-0.0303664821815118,-0.06096185050867298,0.478555154633857,-0.005282079488863485,0.0030326371320548357,9.388648379834064e-05,0.0033625827129016013,-0.1503739649081749,0.3572592028698955,-0.008238100903336765,9.0251438066053e-05,-0.0014077097999369388,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6041575719887974,-0.17268403875741423,0.2539624110027454,0.2011862051330042,-0.020220561710470066,-0.17939273835663572,0.721557885649919,0.478555154633857,0.46759547464717355,0.46759547464717355,0.5380199999999994,0,0,-0.00011153151237700142,9.994740732122693e-05
+10874,1791454969286811648,9947676000000,1791454969283337297,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760423448831409,-0.004786682181900936,0.0899395775492828,0.9999999887058897,6.118215783063952e-05,-8.557892249214178e-05,5.444333316926414e-05,0.6761,-0.0048,0.08995905004336432,1.0,0.0,0.0,0.0,-0.038412343513522886,-0.07440400498722968,0.4786056799726093,-0.005298201380009733,0.003033855193911692,9.28228689303799e-05,-0.0046832786191094876,-0.1638161193867316,0.3573097282086477,-0.008254222794483013,9.146949992290918e-05,-0.0014087734148048995,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6050990321148002,-0.22805694836458723,0.2951308541628105,0.22633146078977545,-0.054397484380201276,-0.21948703251879115,0.721557885649919,0.4786056799726093,0.4264270314871085,0.4264270314871085,0.6104999999999378,0,0,-0.00012912024623526618,9.744600545780741e-05
+10986,1791454970220850788,9948610000000,1791454970219346438,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760447952062343,-0.00478741375891241,0.08982095650036405,0.9999999908116695,3.2729326428542296e-05,-8.008671986514076e-05,4.8315981105056755e-05,0.6761,-0.0048,0.08983221168603728,1.0,0.0,0.0,0.0,-0.030124359058141887,-0.06899882555103112,0.4987653287896582,-0.005261616934298857,0.0020975555047833367,6.313915374399045e-05,0.003604705836271513,-0.15841093995053304,0.37746937702569666,-0.008217638348772137,-0.0008448301892054458,-0.001438457129991289,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.631175649365634,-0.19301296971963203,0.3085157613864017,0.23472906916872713,-0.0633790380054587,-0.19161595129931983,0.721557885649919,0.4987653287896582,0.4130421242635173,0.4130421242635173,0.6665399999998901,0,0,-0.0001412082900290309,-9.9718784644881e-05
+11082,1791454971020860202,9949410000000,1791454971015347312,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.676038851771609,-0.004791459851665629,0.08969931915333143,0.9999999897769867,3.064870032114578e-05,-9.096866072330726e-05,5.171316207783383e-05,0.6761,-0.0048,0.08971679319260317,1.0,0.0,0.0,0.0,-0.02992218623243536,-0.08177543825865449,0.49695201708912695,-0.006308272290257804,0.003048919301269618,6.711432629313884e-05,0.0038068786619780423,-0.1711875526581564,0.3756560653251654,-0.009264293704731084,0.00010653360728083538,-0.0014344819574421406,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5993493279744628,-0.17500815117949453,0.32976585811950576,0.23904964802240086,-0.09352150734984269,-0.17253413014643393,0.721557885649919,0.49695201708912695,0.3917920275304132,0.3917920275304132,0.7145399999998493,0,0,-0.00015159313130760766,-9.99794927666386e-05
+11188,1791454971903855968,9950293000000,1791454971903346607,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760398101969989,-0.004794236841886163,0.08956802014475612,0.9999999875741061,7.403258471537911e-05,-8.899640529928392e-05,5.3790967933680566e-05,0.6761,-0.0048,0.08957776561835046,1.0,0.0,0.0,0.0,-0.030873960235448687,-0.07935279252838501,0.49863486038214044,-0.005422693082958278,0.0030323558903499496,7.700385725820883e-05,0.0028551046589647146,-0.16876490692788693,0.37733890861817887,-0.008378714497431558,8.997019636116682e-05,-0.0014245924264770706,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6781864510958416,-0.17204259165872707,0.25046165936844206,0.24564722561986724,-0.030766550359959788,-0.16533592859101898,0.721557885649919,0.49863486038214044,0.4710962262814769,0.4710962262814769,0.7675199999998042,0,0,-0.00016245439389136885,-9.977589174171015e-05
+11289,1791454972745797982,9951135000000,1791454972743346423,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760421815367963,-0.004794190384017159,0.08942853389994107,0.99999998680631,8.32833798661971e-05,-8.849033284286975e-05,5.5349653078826825e-05,0.6761,-0.0048,0.08943564735023593,1.0,0.0,0.0,0.0,-0.038892037259718015,-0.08106348314719691,0.5148602899301885,-0.006304588545969238,0.003045200190111561,5.213074308232945e-05,-0.005162972365304612,-0.17047559754669883,0.393564338166227,-0.009260609960442518,0.00010281449612277822,-0.00144946554065295,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7001917763216451,-0.3220436665650252,0.16452743898822225,0.2909065623382499,0.025072947064730722,-0.26288210521963706,0.721557885649919,0.5148602899301885,0.5570304466616967,0.5570304466616967,0.8180399999997613,0,0,-0.00017381949099917892,9.999400893268557e-05
+11385,1791454973545896836,9951935000000,1791454973539346667,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760420739638054,-0.004802815310071915,0.0892877750600508,0.9999999859796466,8.874551992198438e-05,-8.977841928015874e-05,5.9562062029594375e-05,0.6761,-0.0048,0.08929310856994548,1.0,0.0,0.0,0.0,-0.03909568524985208,-0.09111940472480728,0.5169756890878737,-0.006313151538748674,0.003045678462971773,5.024184623346104e-05,-0.005366620355438684,-0.1805315191243092,0.39567973732391215,-0.009269172953221954,0.00010329276898299019,-0.0014513544375018184,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7278766572185114,-0.29113386128639096,0.19143384216317597,0.2897491594285497,0.008318985959676745,-0.24263409323776852,0.721557885649919,0.5169756890878737,0.530124043486743,0.530124043486743,0.8660399999997205,0,0,-0.00018479411832281046,-9.193823066600543e-05
+11479,1791454974328899540,9952718000000,1791454974323346555,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760388467170234,-0.00480120349523725,0.08912989940120741,0.9999999865205648,7.37374827629991e-05,-9.68154846733703e-05,5.9927292451570296e-05,0.6761,-0.0048,0.08914377184098402,1.0,0.0,0.0,0.0,-0.04118506876813004,-0.0878622061372622,0.5182456580261366,-0.006663097251857214,0.0032708488800868517,4.4363677799235095e-05,-0.007456003873716634,-0.17727432053676412,0.39694970626217513,-0.009619118666330494,0.00032846318609806895,-0.0014572326059360443,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.689031760647544,-0.24165982040481634,0.1680798323980729,0.2825554365058413,0.005819104270471531,-0.21013267943621813,0.721557885649919,0.5182456580261366,0.5534780532518461,0.5534780532518461,0.9130199999996805,0,0,-0.00019325993997762326,-9.786267215894923e-05
+11569,1791454975078844515,9953468000000,1791454975075336932,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.676036758637435,-0.004814559876419893,0.08898114428617471,0.999999987247025,5.278715782154177e-05,-9.990587315598702e-05,6.466178781618883e-05,0.6761,-0.0048,0.08899549819745554,1.0,0.0,0.0,0.0,-0.03921306419991595,-0.09071850274031795,0.5283546093247833,-0.006315252774628867,0.003043195490391305,4.103516502734425e-05,-0.005483999305502553,-0.18013061713981987,0.4070586575608217,-0.009271274189102147,0.00010080979640252244,-0.0014605611187079352,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7202701741037223,-0.2277605555730116,0.10554581502257236,0.28469416089372823,0.05096075088621954,-0.19914836749831108,0.721557885649919,0.5283546093247833,0.6160120706273466,0.6160120706273466,0.9580199999996423,0,0,-0.0002024016338449781,-2.831438159999237e-05
+11649,1791454975745872639,9954135000000,1791454975739346626,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760307480952591,-0.004821221164631659,0.0888291516186914,0.9999999860182666,4.27908003231601e-05,-0.0001130063383025477,6.931699718537809e-05,0.6761,-0.0048,0.08885682514505626,1.0,0.0,0.0,0.0,-0.04747780723432199,-0.10312554364588195,0.5376699757249495,-0.007338149629584116,0.003060985005928679,2.096196040166651e-05,-0.013748742339908592,-0.19253765804538386,0.4163740239609879,-0.010294171044057396,0.0001185993119398962,-0.001480634323333613,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7283495825562245,-0.2052302699956028,0.1418681019777536,0.2873582610484622,0.025143766797561085,-0.18276690260761483,0.721557885649919,0.5376699757249495,0.5796897836721654,0.5796897836721654,0.9980399999996082,0,0,-0.00021543051253600088,-9.99846553037031e-05
+11724,1791454976370816250,9954760000000,1791454976367346388,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760324860227662,-0.004819326068871043,0.08869462247191277,0.9999999860210743,4.5223250348847356e-05,-0.00010965624034203162,7.301426101084941e-05,0.6761,-0.0048,0.08871751996396963,1.0,0.0,0.0,0.0,-0.04972635559353615,-0.09364809994872103,0.523164608861303,-0.007362395568137172,0.0040767888372825085,4.521124614065156e-05,-0.01599729069912275,-0.18306021434822295,0.4018686570973415,-0.010318416982610452,0.0011344031432937258,-0.0014563850375946279,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7253514794029184,-0.3171767396655211,0.11595154332711619,0.3239808915201872,0.03206132740037293,-0.25653816715050315,0.721557885649919,0.523164608861303,0.6056063423228027,0.6056063423228027,1.0355399999995765,0,0,-0.00023168756837640826,-9.979669454563406e-05
+11802,1791454977020912815,9955410000000,1791454977019347189,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760279376460195,-0.004827388670926143,0.08853567524372077,0.9999999851808812,4.4726618434346266e-05,-0.00011648616939896531,7.424017632826679e-05,0.6761,-0.0048,0.08856198298530481,1.0,0.0,0.0,0.0,-0.048165350228464215,-0.09309837443265234,0.5379307684900708,-0.007364442819615338,0.00407337339258898,3.6411387494059925e-05,-0.014436285334050815,-0.18251048883215426,0.4166348167261093,-0.010320464234088618,0.0011309876986001972,-0.0014651848962412195,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7561424790351954,-0.23551154154887868,-0.032776120345770356,0.31923738464397033,0.12993870397948035,-0.1992147963794165,0.721557885649919,0.5379307684900708,0.7543340059956893,0.7543340059956893,1.0745399999995433,0,0,-0.000245994834589787,8.750005861391514e-05
+11877,1791454977645874011,9956035000000,1791454977643346289,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760266176801109,-0.0048307176228761985,0.08837427552235504,0.9999999801026811,0.00010244376433825375,-0.00012031702153499497,7.916180424735023e-05,0.6761,-0.0048,0.08840369351394874,1.0,0.0,0.0,0.0,-0.056668729950243676,-0.09009496726905758,0.5482429957312284,-0.006482674342037725,0.004053425282419792,3.79666139174316e-05,-0.02293966505583028,-0.1795070816685595,0.42694704396726685,-0.009438695756511005,0.0011110395884310086,-0.0014636296698178478,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7155375907764597,-0.275224603741511,0.08554554241073704,0.3268239506159628,0.04296763289785118,-0.23202622777965848,0.721557885649919,0.5482429957312284,0.6360123432391819,0.6360123432391819,1.1120399999995114,0,0,-0.00026164631875966036,-9.954642252030794e-05
+11952,1791454978270836097,9956660000000,1791454978263346925,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760272561411368,-0.004829906128432632,0.08820571551256941,0.9999999822502396,8.07203267550003e-05,-0.00011927360989596299,7.874274483762472e-05,0.6761,-0.0048,0.08823339631372372,1.0,0.0,0.0,0.0,-0.048744915234676923,-0.08995705208033192,0.5482564719851356,-0.006346459195224438,0.0040522836560761,3.944217469152296e-05,-0.015015850340263525,-0.17936916647983384,0.42696052022117403,-0.009302480609697718,0.0011098979620873172,-0.0014621541090437565,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7315696855210043,-0.39079636351915903,0.16730474043998952,0.38323890448240316,-0.011737941541220692,-0.3045370977042361,0.721557885649919,0.5482564719851356,0.5542531452099294,0.5542531452099294,1.1495399999994795,0,0,-0.00027994723487553683,-9.997871561052136e-05
+12018,1791454978820912722,9957210000000,1791454978819346515,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.676022725342552,-0.004836937531419919,0.08803672839612496,0.9999999824970661,5.4422763695175514e-05,-0.00012854387226190223,8.344679609808895e-05,0.6761,-0.0048,0.08807452816159475,1.0,0.0,0.0,0.0,-0.04874486636573192,-0.09433619257745146,0.5478609636489413,-0.007143303649969566,0.0040672597924166455,3.0831333123045035e-05,-0.015015801471318523,-0.18374830697695338,0.4265650118849798,-0.010099325064442846,0.0011248740984278627,-0.0014707649506122344,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7039327968624481,-0.24226946269737856,0.06447227965222578,0.35103576886202215,0.046028751403005684,-0.20655643769854828,0.721557885649919,0.5478609636489413,0.6570856059976932,0.6570856059976932,1.1825399999994515,0,0,-0.0002981640589664033,-9.999999025923074e-05
+12081,1791454979345890750,9957735000000,1791454979339346373,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760193441041562,-0.0048388441325197115,0.0878640382525809,0.9999999817609444,3.4917090612502105e-05,-0.00013715119508169317,8.883311292723714e-05,0.6761,-0.0048,0.08791306773517904,1.0,0.0,0.0,0.0,-0.048209573237553,-0.09367421431522596,0.5579954730829412,-0.0073683421283474645,0.004069099838180288,2.019562095188993e-05,-0.014480508343139594,-0.18308632871472788,0.43669952131897966,-0.010324363542820745,0.0011267141441915053,-0.0014814006627833895,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6655980945502906,-0.34817562713085676,0.19000111026751443,0.3899297718087257,-0.045529800713312404,-0.27939386871423677,0.721557885649919,0.5579954730829412,0.5315567753824045,0.5315567753824045,1.2140399999994247,0,0,-0.0003169440549830301,-9.999667346794467e-05
+12148,1791454979903917893,9958293000000,1791454979903337067,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760176530133198,-0.0048444816698623395,0.08768382961238122,0.9999999815070583,3.0910673747708713e-05,-0.0001384156667087837,9.118322789252028e-05,0.6761,-0.0048,0.08773092259632019,1.0,0.0,0.0,0.0,-0.04296490595123337,-0.09457553647081576,0.5483130195620368,-0.00672017975964459,0.00405488609596975,3.887323268494014e-05,-0.00923584105681997,-0.18398765087031768,0.4270170677980753,-0.00967620117411787,0.0011125004019809672,-0.0014627230510503393,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7335731341005972,-0.31063729691513736,0.11460591026358179,0.3858202262257572,0.01835413743728604,-0.2542422821875559,0.721557885649919,0.5483130195620368,0.6069519753863372,0.6069519753863372,1.2475199999993962,0,0,-0.00033696229224530603,-9.999999025923074e-05
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+12268,1791454980903876818,9959293000000,1791454980903336839,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760185688834894,-0.004846916786644922,0.08733905412082464,0.9999999795539835,7.259421873393445e-05,-0.0001354216985853511,9.341274123957285e-05,0.6761,-0.0048,0.08737290745943566,1.0,0.0,0.0,0.0,-0.05362931754974663,-0.09365146062028576,0.558476236475614,-0.007367648278824102,0.004069234127604617,1.940812027386037e-05,-0.019900252655333232,-0.18306357501978768,0.43718028471165243,-0.010323669693297382,0.0011268484336158337,-0.001482188163461419,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6845728673969435,-0.2034575089859036,0.09141671099684254,0.3823551749161743,0.01673001201715749,-0.18285059329869907,0.721557885649919,0.558476236475614,0.6301411746530764,0.6301411746530764,1.3075199999993452,0,0,-0.0003803956422313278,-9.999999025923074e-05
+12324,1791454981370826121,9959760000000,1791454981367346211,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760166782545866,-0.004850095376508235,0.08715759272154638,0.9999999803031475,4.606317514443714e-05,-0.00013982386949569196,9.572898494693775e-05,0.6761,-0.0048,0.08718999046436234,1.0,0.0,0.0,0.0,-0.05736748011347538,-0.09014831546999122,0.5605788611013575,-0.006351002811146754,0.00404893056083745,2.96472660907775e-05,-0.023638415219061976,-0.17956042986949314,0.4392829093373959,-0.009307024225620034,0.0011065448668486676,-0.001471949017644502,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7148703021852061,-0.20817704712964005,0.08237952789293244,0.39360765991614405,0.030484487539097913,-0.18714002689218007,0.721557885649919,0.5605788611013575,0.6391783577569865,0.6391783577569865,1.3355399999993214,0,0,-0.0004024984094311553,-9.154503130404663e-05
+12378,1791454981820865854,9960210000000,1791454981819346816,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760203406056249,-0.004854106333974587,0.08697870840050723,0.9999999805521169,4.4145808133173985e-05,-0.00013329176824131766,0.00010306833825117506,0.6761,-0.0048,0.08700435964452287,1.0,0.0,0.0,0.0,-0.05826501669901685,-0.07926382264519855,0.5744270870065996,-0.006376923431716128,0.005059187435211973,3.487436757525762e-05,-0.024535951804603447,-0.16867593704470046,0.4531311352426381,-0.009332944846189408,0.0021168017412231902,-0.0014667219161600218,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6625988485306646,-0.2945073050371686,0.13782919108190517,0.425608317994487,-0.019177830564011168,-0.2431876523836103,0.721557885649919,0.5744270870065996,0.5837286945680138,0.5837286945680138,1.3625399999992984,0,0,-0.0004219192331303675,-9.999999025923074e-05
+12429,1791454982245860101,9960635000000,1791454982243346655,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760187027813532,-0.004851378927745688,0.08679343622310152,0.9999999789517929,6.901115856716796e-05,-0.00013385614582584238,0.00010420782274474934,0.6761,-0.0048,0.08682153880304339,1.0,0.0,0.0,0.0,-0.05950968958565673,-0.08670725975377314,0.578276904762312,-0.006377947441474546,0.005058831099405418,2.961675277268522e-05,-0.02578062469124333,-0.17611937415327505,0.4569809529983504,-0.009333968855947826,0.0021164454054166354,-0.0014719795309625942,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6987378855713074,-0.270168012728769,0.08956692458031847,0.44016206404099245,0.019583220892775154,-0.22323484388131642,0.721557885649919,0.578276904762312,0.6319909610696005,0.6319909610696005,1.3880399999992767,0,0,-0.00043760664971834027,-9.604246151007629e-05
+12477,1791454982645867705,9961035000000,1791454982643338159,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760160415688439,-0.0048622558496928675,0.08661348732262068,0.9999999782218894,5.9828156149230655e-05,-0.00013913319322023929,0.00010982545950388961,0.6761,-0.0048,0.08664381068901546,1.0,0.0,0.0,0.0,-0.06628871425228886,-0.08666382671975087,0.5783632042328154,-0.00637938474072209,0.005059142333271843,2.8779452780621634e-05,-0.032559649357875455,-0.1760759411192528,0.4570672524688538,-0.00933540615519537,0.00211675663928306,-0.0014728168309546578,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.707934709125004,-0.2850077276341039,0.14905803240035714,0.4553976743688104,-0.01650526492801633,-0.23684615061141748,0.721557885649919,0.5783632042328154,0.5724998532495618,0.5724998532495618,1.4120399999992563,0,0,-0.00045140328723133747,-9.995209801350597e-05
+12522,1791454983020891181,9961410000000,1791454983015346883,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.676015229626249,-0.004860633455935769,0.0864454292775009,0.9999999789885997,4.890646309392425e-05,-0.00013833164013914845,0.00010926197764323504,0.6761,-0.0048,0.08647138693857236,1.0,0.0,0.0,0.0,-0.06412798393182947,-0.07923131981389314,0.5755219714953634,-0.00637737434917688,0.005059218496971867,3.133987150123795e-05,-0.030398919037416067,-0.16864343421339506,0.45422601973140186,-0.00933339576365016,0.0021168328029830845,-0.0014702564122340415,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7413055111836881,-0.20101675902696534,0.1050138544669441,0.43863630426427075,0.022388416436806946,-0.1811255832332052,0.721557885649919,0.5755219714953634,0.6165440311829748,0.6165440311829748,1.4345399999992372,0,0,-0.0004672655398260935,-9.99981445134523e-05
+12570,1791454983420825123,9961810000000,1791454983415346007,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760153068816582,-0.004854937469725931,0.08625983599889289,0.9999999795679243,4.719659195619024e-05,-0.00013637888647810592,0.00010714614530491812,0.6761,-0.0048,0.08628151595979504,1.0,0.0,0.0,0.0,-0.05852573417883682,-0.08399642954614564,0.5787209098200657,-0.005710193286590164,0.004390505428649378,2.5989425605085813e-05,-0.024796669284423423,-0.17340854394564756,0.4574249580561042,-0.008666214701063444,0.0014481197346605955,-0.0014756068581301936,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7324793595827028,-0.25425328686862125,0.12697482742766508,0.46738005249817677,0.0010248870539501633,-0.21443853466543256,0.721557885649919,0.5787209098200657,0.5945830582222539,0.5945830582222539,1.4585399999992168,0,0,-0.00048037544397447194,-9.982970980282885e-05
+12616,1791454983803930166,9962193000000,1791454983803346565,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760143803546944,-0.004853864235617739,0.08607627159656014,0.9999999770006797,8.010822367054155e-05,-0.0001370523208843313,0.00011063832258408756,0.6761,-0.0048,0.08609542416265208,1.0,0.0,0.0,0.0,-0.05737690857717481,-0.08537116115860316,0.5788088270386031,-0.005331907703728404,0.004026930024355307,2.529300628947395e-05,-0.02364784368276141,-0.17478327555810508,0.45751287527464163,-0.008287929118201684,0.0010845443303665239,-0.0014763032774458055,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.780565202844824,-0.22417577319394452,0.11585053740231885,0.4642674370642412,0.02179521064578723,-0.1905954499457339,0.721557885649919,0.5788088270386031,0.6057073482476001,0.6057073482476001,1.4815199999991973,0,0,-0.0004911779016389658,-9.999403668826119e-05
+12660,1791454984170830109,9962560000000,1791454984167347113,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760116019698855,-0.004851261760365682,0.08589542443787337,0.9999999781059579,6.60287856839737e-05,-0.00013857543350509876,0.00010801850234377925,0.6761,-0.0048,0.08591376678147536,1.0,0.0,0.0,0.0,-0.05846431755401921,-0.0761481763283352,0.5888696801056557,-0.005332419731631576,0.00402396878427754,1.7048346150509708e-05,-0.024735252659605803,-0.16556029072783712,0.46757372834169414,-0.008288441146104856,0.0010815830902887568,-0.0014845479375847697,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8307127232053546,-0.2441402853084752,0.08054623062272484,0.47467280522555466,0.05599989492443529,-0.20684070707197474,0.721557885649919,0.5888696801056557,0.6410116550271941,0.6410116550271941,1.5035399999991785,0,0,-0.0004991677897373245,-9.999999025923074e-05
+12702,1791454984520937061,9962910000000,1791454984519336679,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760136665187677,-0.004852389118017697,0.08571681808410923,0.9999999786884872,5.710480599452834e-05,-0.00013519945351462211,0.00011191978556847297,0.6761,-0.0048,0.08573792509051079,1.0,0.0,0.0,0.0,-0.05656613492437301,-0.07538128072502501,0.5895141670963474,-0.005331861364661012,0.004023918291273305,1.6610700684496337e-05,-0.02283707002995961,-0.16479339512452693,0.46821821533238583,-0.008287882779134292,0.001081532597284523,-0.001484985583050783,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7950395221186503,-0.18937779987343956,0.059144150580787785,0.46061867191505074,0.057047633006204405,-0.17199426288830688,0.721557885649919,0.5895141670963474,0.6624137350691311,0.6624137350691311,1.5245399999991607,0,0,-0.0005050757378125256,-9.930457431218116e-05
+12744,1791454984870837432,9963260000000,1791454984863346808,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760104080751493,-0.004852782939730557,0.08553609190533311,0.9999999781443915,5.3578374968979126e-05,-0.0001400650202592143,0.00011253989912311582,0.6761,-0.0048,0.08555933372586982,1.0,0.0,0.0,0.0,-0.04942156192899934,-0.07452417841848324,0.5989208455214998,-0.0053343185579387345,0.004021515001295697,1.0026947286243372e-05,-0.015692497034585935,-0.16393629281798516,0.47762489375753825,-0.008290339972412014,0.0010791293073069144,-0.001491569336449036,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8530255158847119,-0.22065903707176884,0.051012042162320026,0.4744107710418767,0.07754989007797773,-0.19220163566388693,0.721557885649919,0.5989208455214998,0.6705458434875989,0.6705458434875989,1.5455399999991428,0,0,-0.000516177685487046,-8.907887292808401e-05
+12789,1791454985245969385,9963635000000,1791454985239346840,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760124642900703,-0.004855709050943348,0.08534918172449686,0.9999999782070423,6.264692674954445e-05,-0.00013588730039283982,0.00011242234449274812,0.6761,-0.0048,0.08536494667070878,1.0,0.0,0.0,0.0,-0.04784898255815348,-0.07533260165873315,0.5989064954375126,-0.005334464408023872,0.004021554448570718,1.0228086604227192e-05,-0.014119917663740081,-0.16474471605823507,0.47761054367355105,-0.008290485822497152,0.001079168754581935,-0.0014913681971310522,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8819907788151226,-0.21708178905737052,0.055644281353553586,0.4840788417801323,0.08018157414042307,-0.18376217584105678,0.721557885649919,0.5989064954375126,0.6659136042963654,0.6659136042963654,1.5680399999991237,0,0,-0.0005229592174402483,-9.993798430330542e-05
+12834,1791454985620851365,9964010000000,1791454985615346741,DOWN_FORCE_DETACH,2,0.0375,0.03750157728791237,0.6760167527259342,-0.004858563597985697,0.08516201169143389,0.9999999802481675,5.7492122910435076e-05,-0.00012415464412282286,0.00011057490351820738,0.6761,-0.0048,0.08516813682601457,1.0,0.0,0.0,0.0,-0.058076687324955065,-0.06252491195564361,0.5993114395767388,-0.004313099611610407,0.004002007507440982,2.018089537303056e-05,-0.024347622430541664,-0.15193702635514553,0.47801548781277725,-0.007269121026083686,0.0010596218134521994,-0.0014814153883622489,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9488192047818984,-0.1981515332062378,0.0505380026446676,0.47975834437706233,0.09698264821658285,-0.172672836639359,0.721557885649919,0.5993114395767388,0.6710198830052514,0.6710198830052514,1.5905399999991046,0,0,-0.0005278720141929913,-8.979218343719281e-05
+12876,1791454985970856621,9964360000000,1791454985963346450,DOWN_FORCE_DETACH,2,0.0375,0.0375022329390049,0.6760104193574549,-0.004855584564941987,0.08497105621636612,0.9999999780365051,6.457265442946845e-05,-0.0001369118617977751,0.00011160362165460073,0.6761,-0.0048,0.08498232704130794,1.0,0.0,0.0,0.0,-0.04943630613717733,-0.07479037794998994,0.6087853648802601,-0.00533565328280744,0.00401908054599059,2.059972070405508e-06,-0.01570724124276393,-0.16420249234949186,0.48748941311629856,-0.00829167469728072,0.001076694852001807,-0.001499536311664874,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9491591470384438,-0.20637980913157028,-0.0003461961993233584,0.489623508349617,0.12703668062367388,-0.17480488246303316,0.721557885649919,0.6087853648802601,0.7219040818492424,0.7219040818492424,1.6115399999990867,0,0,-0.0005320947165613196,-9.43697483902213e-06
+12917,1791454986305831203,9964695000000,1791454986303337184,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6760083501049807,-0.004864230530305386,0.08479507563351223,0.9999999784805332,5.167454923611196e-05,-0.0001372086307007982,0.00011395319303785228,0.6761,-0.0048,0.08480381846995337,1.0,0.0,0.0,0.0,-0.05127132912347883,-0.06688193695126315,0.5959078727016355,-0.004718926396081227,0.0040144406902548665,1.7125757309087832e-05,-0.01754226422906543,-0.15629405135076507,0.47461192093767396,-0.007674947810554506,0.001072054996266084,-0.0014844705264261916,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9625515237646433,-0.1846671128557984,0.0383546541808745,0.4851091393459533,0.10500514959142293,-0.15882311317672212,0.721557885649919,0.5959078727016355,0.6832032314690445,0.6832032314690445,1.6261199999990743,0,0,-0.0005295722870682099,9.999999025923074e-05
+12961,1791454986672868657,9965062000000,1791454986667337403,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6760087333680824,-0.00486423335575012,0.08460798494667318,0.9999999789554881,5.162531909751892e-05,-0.0001348287734211396,0.00011264065074549143,0.6761,-0.0048,0.08461282348994156,1.0,0.0,0.0,0.0,-0.046485078167480647,-0.06507440244444276,0.5989708432195483,-0.005252460544489782,0.004019345443165699,1.104495944226889e-05,-0.012756013273067246,-0.15448651684394468,0.4776748914555868,-0.008208481958963062,0.001076959749176916,-0.0014905513242930105,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.009415482434285,-0.2681359908776204,0.01215305748826941,0.5137216383493522,0.13041269098980826,-0.2118286788160219,0.721557885649919,0.5989708432195483,0.7094048281616495,0.7094048281616495,1.6261199999990743,0,0,-0.0005112222906430722,9.999999025923074e-05
+13000,1791454986997945670,9965387000000,1791454986991346670,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6760077013197403,-0.004859921940748318,0.08443829324008519,0.9999999780184321,5.991463789627345e-05,-0.00013856172329748692,0.00011232490684153369,0.6761,-0.0048,0.08444930874496655,1.0,0.0,0.0,0.0,-0.04992570149846648,-0.06629858256550183,0.5992093859284892,-0.004356731048790799,0.0040028411228761,2.1156415762268836e-05,-0.01619663660405308,-0.15571069696500375,0.47791343416452764,-0.007312752463264079,0.0010604554288873172,-0.0014804398679730106,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.03358737315673,-0.23273600798537525,0.005482578187624976,0.5051063694403404,0.14026430438482962,-0.18627988402601137,0.721557885649919,0.5992093859284892,0.716075307462294,0.716075307462294,1.6261199999990743,0,0,-0.0004949722938088222,9.999999025923074e-05
+13047,1791454987388894621,9965778000000,1791454987387337000,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6760002406329528,-0.004869595001800547,0.08424577170262532,0.9999999771180341,4.944205639632912e-05,-0.00014712885814236528,0.00011452239030339778,0.6761,-0.0048,0.0842595868273408,1.0,0.0,0.0,0.0,-0.04344347231717345,-0.06569228255469328,0.5954594888298537,-0.005331002973860041,0.003991976456965118,1.1573362811663056e-05,-0.009714407422760047,-0.1551043969541952,0.4741635370658921,-0.00828702438833332,0.0010495907629763357,-0.0014900229209236164,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0845769002777794,-0.22438223884917202,-0.04724460291972149,0.5040389411378764,0.18146698833026087,-0.17886475688934034,0.721557885649919,0.5954594888298537,0.7688024885696405,0.7688024885696405,1.6261199999990743,0,0,-0.00047542229761746304,9.999999025923074e-05
+13095,1791454987788905723,9966178000000,1791454987787336761,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6760041911965611,-0.004870289360011922,0.0840708448551537,0.9999999787835683,4.015166989640543e-05,-0.0001398027030821106,0.00011277754717341272,0.6761,-0.0048,0.08407340790751261,1.0,0.0,0.0,0.0,-0.04916428323792399,-0.06287912101055629,0.5893310443353733,-0.00431131367170267,0.004003988553177637,2.9339333717267116e-05,-0.015435218343510592,-0.1522912354100582,0.46803509257141174,-0.007267335086175949,0.0010616028591888542,-0.0014722569500180123,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1310528583666482,-0.17621042404593099,-0.07368911457683826,0.4854781276675101,0.21020648626143698,-0.14797099837873945,0.721557885649919,0.5893310443353733,0.7952470002267572,0.7952470002267572,1.6261199999990743,0,0,-0.00045542230151377074,9.999999025923074e-05
+13141,1791454988172939616,9966562000000,1791454988167346776,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6760030866907298,-0.004870354415076678,0.08390465129314167,0.9999999787594607,4.2007414457980156e-05,-0.00014089543750792793,0.00011094050361913243,0.6761,-0.0048,0.08390220254301128,1.0,0.0,0.0,0.0,-0.043891418014527034,-0.06310760043309432,0.5895747851025929,-0.004309978650728137,0.003973633244313724,2.8592932302085386e-05,-0.010162353120113637,-0.15251971483259624,0.46827883333863135,-0.007266000065201416,0.0010312475503249407,-0.001473003351433194,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.11614253918413,-0.18693507205882892,0.017101284745196645,0.48723990515711446,0.1415529267233257,-0.15254193254007775,0.721557885649919,0.5895747851025929,0.7044566009047223,0.7044566009047223,1.6261199999990743,0,0,-0.00043622230525422614,9.999999025923074e-05
+13194,1791454988613922919,9967003000000,1791454988611337208,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6760012805397717,-0.004876228798521126,0.08371753190423925,0.9999999786342778,3.5311280829299425e-05,-0.00014091449584010933,0.00011432640403366299,0.6761,-0.0048,0.08371467950544483,1.0,0.0,0.0,0.0,-0.04045151213526932,-0.06693015577850422,0.5893499973057807,-0.0042848879255621,0.002997732711048867,1.4753550190856361e-05,-0.006722447240855918,-0.15634227017800614,0.4680540455418192,-0.00724090934003538,5.534701706008426e-05,-0.001486842733544423,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1968605317238383,-0.2346805698298279,-0.11895787350729081,0.5118461226791051,0.24719185292126308,-0.17863914070232362,0.721557885649919,0.5893499973057807,0.8405157591572098,0.8405157591572098,1.6261199999990743,0,0,-0.0004141723095499054,9.999999025923074e-05
+13245,1791454989038880282,9967428000000,1791454989031346107,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6760024365220381,-0.004871641763714896,0.08354850867984435,0.9999999781633364,4.20358502948762e-05,-0.0001411591613161993,0.00011585883469736408,0.6761,-0.0048,0.08354316127300433,1.0,0.0,0.0,0.0,-0.04065085178186281,-0.061202177072656544,0.5793347984550682,-0.004309016746028762,0.003988655836995101,3.834653551686531e-05,-0.006921786887449409,-0.15061429147215846,0.45803884669110667,-0.007265038160502042,0.0010462701430063181,-0.0014632497482184141,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.232690449767163,-0.3234357223163538,-0.18139238097451946,0.528388732356738,0.2903441053441378,-0.23642182882663093,0.721557885649919,0.5793347984550682,0.9029502666244384,0.9029502666244384,1.6261199999990743,0,0,-0.0003929223136897323,9.999999025923074e-05
+13297,1791454989472841833,9967862000000,1791454989467346868,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6759971393776729,-0.004882197591399351,0.08337351814565704,0.9999999778722308,3.0012108408674087e-05,-0.00014760323831432146,0.00011406559420295561,0.6761,-0.0048,0.08337733103794351,1.0,0.0,0.0,0.0,-0.04045228158245708,-0.06952370972428046,0.57934040730331,-0.004316794065449258,0.0031269247047163297,2.474448765739704e-05,-0.006723216688043683,-0.15893582412378238,0.45804445553934847,-0.007272815479922538,0.00018453901072754678,-0.0014768517960778824,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2432072793316027,-0.2533735042800157,-0.18787223530266284,0.509336683682215,0.29551342362212835,-0.18783104706394038,0.721557885649919,0.57934040730331,0.9094301209525818,0.9094301209525818,1.6261199999990743,0,0,-0.00037122231791722617,9.999999025923074e-05
+13349,1791454989905947618,9968295000000,1791454989899346665,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6759941983423388,-0.004879370493409793,0.08321616483739194,0.9999999777672299,2.8625504769469473e-05,-0.00015086022979213826,0.00011104132437315615,0.6761,-0.0048,0.0832212681733701,1.0,0.0,0.0,0.0,-0.04217237398433222,-0.06766293034700976,0.5793154029021874,-0.004283086262342962,0.002994109034120554,2.252943252284141e-05,-0.008443309089918818,-0.15707504474651168,0.4580194511382259,-0.007239107676816241,5.1723340131771116e-05,-0.001479066851212438,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.301210248440887,-0.2468989338843506,-0.22446221929200733,0.507007390070627,0.3287858488398782,-0.182939242830838,0.721557885649919,0.5793154029021874,0.9460201049419263,0.9460201049419263,1.6261199999990743,0,0,-0.00034957232213497926,9.999999025923074e-05
+13413,1791454990438855728,9968828000000,1791454990435346251,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6759939241498996,-0.0048786733662542344,0.08303876477273073,0.999999977655011,2.6509665312714273e-05,-0.0001495488413451777,0.00011430320917324527,0.6761,-0.0048,0.08304203502428593,1.0,0.0,0.0,0.0,-0.04521756412667227,-0.06473253657965955,0.5592627263559552,-0.004278710382242928,0.002997000728888606,3.882463317501504e-05,-0.011488499232258871,-0.15414465097916147,0.4379667745919936,-0.007234731796716208,5.4615034899822884e-05,-0.0014627716505602644,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.297552243875059,-0.1840421448235992,-0.14799645709877693,0.48477235328897883,0.27499262597867047,-0.13936119173161346,0.721557885649919,0.5592627263559552,0.8695543427486959,0.8695543427486959,1.6261199999990743,0,0,-0.0003229223273268093,9.999999025923074e-05
+13477,1791454990972902636,9969362000000,1791454990967346125,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6759937646039493,-0.004881986038031596,0.08287397508383401,0.9999999773857592,2.5319698648484276e-05,-0.00015082589577149517,0.00011524672568380366,0.6761,-0.0048,0.082876710050102,1.0,0.0,0.0,0.0,-0.03314755227859714,-0.0643664605560968,0.5505898321261226,-0.004276797515985156,0.002998882172775304,4.6954992635841455e-05,0.0005815126158162608,-0.1537785749555987,0.42929388036216104,-0.007232818930458435,5.6496478786521364e-05,-0.001454641291099438,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3243061870636939,-0.19746054641815577,-0.20704731867971127,0.49404242843163615,0.3170163399757807,-0.1456584784035967,0.721557885649919,0.5505898321261226,0.9286052043296302,0.9286052043296302,1.6261199999990743,0,0,-0.00029622233252838006,9.999999025923074e-05
+13549,1791454991572948760,9969962000000,1791454991567346833,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6759855770926949,-0.00488358746622043,0.08269035199869418,0.999999975642687,2.268941695990154e-05,-0.0001638164852256561,0.00011316730730827438,0.6761,-0.0048,0.08270796164882871,1.0,0.0,0.0,0.0,-0.03125091776161612,-0.060837133625777556,0.5492655667138686,-0.004276385167288762,0.0029990401675970097,4.817058859970776e-05,0.0024781471327972836,-0.15024924802527947,0.42796961494990704,-0.007232406581762041,5.665447360822711e-05,-0.0014534256951355717,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4218993754955576,-0.1458456486768442,-0.21509088127555015,0.4727505019656864,0.34391255644253477,-0.11214790161588567,0.721557885649919,0.5492655667138686,0.9366487669254691,0.9366487669254691,1.6261199999990743,0,0,-0.0002662223383728416,9.999999025923074e-05
+13621,1791454992172949546,9970562000000,1791454992171346369,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6759812445971599,-0.004876282800007323,0.08253679095919315,0.9999999749093864,2.5894088550675262e-05,-0.0001690839887921531,0.00011119438856286329,0.6761,-0.0048,0.08255721324404874,1.0,0.0,0.0,0.0,-0.031079459302570826,-0.05439914092800871,0.548487262595547,-0.004275467456900838,0.0029988832869324495,4.837069791200645e-05,0.002649605591842575,-0.14381125532751063,0.4271913108315855,-0.007231488871374118,5.649759294366684e-05,-0.001453225585823273,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4675761196927792,-0.171373139356018,-0.3016826655694167,0.4858645452904774,0.4054202962363346,-0.12412361686217747,0.721557885649919,0.548487262595547,1.0232405512193357,1.0232405512193357,1.6261199999990743,0,0,-0.00023622234421730314,9.999999025923074e-05
+13698,1791454992813966895,9971203000000,1791454992811347129,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.675978944890843,-0.00487645316280264,0.08238801871554426,0.9999999742848088,2.46205896474912e-05,-0.0001731179938926342,0.00011089288996040802,0.6761,-0.0048,0.08241605071940118,1.0,0.0,0.0,0.0,-0.03105600099405782,-0.06421887347237823,0.5327336919773666,-0.004272872736193728,0.003000855743378147,6.269007327349297e-05,0.0026730639003555803,-0.15363098787188015,0.41143774021340507,-0.007228894150667008,5.8470049389364405e-05,-0.0014389062104617864,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4474143756043167,-0.2433121218440606,-0.20144302479801912,0.504973975147629,0.3356999041509708,-0.17239169385972933,0.721557885649919,0.5327336919773666,0.9230009104479381,0.9230009104479381,1.6261199999990743,0,0,-0.00020417235046113624,9.999999025923074e-05
+13782,1791454993513909722,9971903000000,1791454993507346730,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.675976776860226,-0.004882465124889334,0.08225373306498723,0.9999999731133844,1.7560867000723196e-05,-0.00017847987948792094,0.00011424816666943413,0.6761,-0.0048,0.08228536257168849,1.0,0.0,0.0,0.0,-0.04024979949464504,-0.06570639051412336,0.5090967177158277,-0.0042689527001085505,0.00300809174512372,7.951322486030965e-05,-0.00652073460023164,-0.15511850491362528,0.3878007659518661,-0.00722497411458183,6.570605113493758e-05,-0.0014220830588749698,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4631784829485115,-0.2109505627155376,-0.271369727862754,0.49260316280696537,0.3793526312867896,-0.14850819706107174,0.721557885649919,0.5090967177158277,0.992927613512673,0.992927613512673,1.6261199999990743,0,0,-0.00016917235727967472,9.999999025923074e-05
+13890,1791454994413960532,9972803000000,1791454994407346384,DOWN_SETTLE,2,0.0375,0.03750157728791237,0.6759682615964272,-0.0048822184548122476,0.08210531680375495,0.9999999694058245,2.6395915018475066e-05,-0.00019478666109635286,0.00011829043419744656,0.6761,-0.0048,0.08215333494618739,1.0,0.0,0.0,0.0,-0.030773649246378536,-0.06676238052058561,0.49912736036544847,-0.004278587447480678,0.001997579742185332,7.251842352756538e-05,0.002955415648034864,-0.15617449492008753,0.37783140860148695,-0.007234608861953957,-0.0009448059518034507,-0.001429077860207714,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.436819490466135,-0.21778308531422444,-0.18308355267534207,0.49521270508996335,0.31159913819989915,-0.14502240213808057,0.721557885649919,0.49912736036544847,0.904641438325261,0.904641438325261,1.6261199999990743,0,0,-0.00012417236604636705,9.999999025923074e-05
+14022,1791454995513862887,9973903000000,1791454995507346203,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6759624776894055,-0.004884162878229006,0.08198631335513006,0.9999999673140088,2.8046771053042258e-05,-0.00020404416728692204,0.00011997584044936618,0.6761,-0.0048,0.08204696783763786,1.0,0.0,0.0,0.0,-0.030112297839187268,-0.07134352137077643,0.46867094597579106,-0.005253957226555394,0.0020223302140546452,8.618010636889583e-05,0.0036167670552261313,-0.16075563577027835,0.3473749942118295,-0.008209978641028674,-0.0009200554799341374,-0.0014154161773663836,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4965084299099078,-0.20557748853725102,-0.2348182964368301,0.49063943416272954,0.3591624510197723,-0.1400190423919093,0.721557885649919,0.46867094597579106,0.9563761820867491,0.9563761820867491,1.6261199999990743,0,0,-6.917237676121323e-05,9.999999025923074e-05
+14163,1791454996688931176,9975078000000,1791454996683347474,DOWN_SETTLE,2,0.0375,0.0375022329390049,0.6759502070671167,-0.0048813000681311456,0.0819167380749521,0.9999999647767608,2.0690952367587794e-05,-0.00022147681423931374,0.00011139679847650882,0.6761,-0.0048,0.08200017653821354,1.0,0.0,0.0,0.0,-0.0300027318781733,-0.08147406472725804,0.4085384356890306,-0.005244167461648902,0.002036235533545946,0.00013479083101100597,0.0037263330162401014,-0.17088617912675996,0.287242483925069,-0.008200188876122182,-0.0009061501604428367,-0.0013668054527242735,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4267254216344576,-0.2450777386518946,-0.09427498815319148,0.5021083829988867,0.24892586153713872,-0.16521802825920612,0.721557885649919,0.4085384356890306,0.8158328738031104,0.8158328738031104,1.6261199999990743,0,0,-1.0422388206617112e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0dd00ccc158133dbb90db4838613c0c5e9a74856
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..54febdea47934de0f8e4a5afd3aca6f32ebfcfef
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,8.950000000e+00,DOWN_FORCE_DETACH,1791454972741770627,5.258068071e-05,-4.615780180e-05,-1.418811106e-03,5.486298260e-05,-4.921206394e-05,-1.407954871e-03,5.157859188e-05,-4.874484460e-05,-1.406281287e-03,7.015904522e-01,-4.460684048e-05,8.393221301e-01,7.015927345e-01,-4.766110262e-05,8.393329863e-01,7.017774766e-01,-4.722654276e-05,8.283743463e-01
+15,9.483333333e+00,DOWN_FORCE_DETACH,1791454973542904495,4.924400698e-05,-5.046494318e-05,-1.563735013e-03,4.904812997e-05,-5.047340800e-05,-1.563461703e-03,4.506211013e-05,-5.007596836e-05,-1.561285009e-03,7.015871155e-01,-4.891398186e-05,8.391772062e-01,7.015869196e-01,-4.892244668e-05,8.391774795e-01,7.017709601e-01,-4.855766652e-05,8.282193426e-01
+16,1.000000000e+01,DOWN_FORCE_DETACH,1791454974331528930,5.155357309e-05,-5.618287422e-05,-1.718837257e-03,5.151956349e-05,-5.622979246e-05,-1.718689843e-03,4.694847923e-05,-5.585242108e-05,-1.716233775e-03,7.015894251e-01,-5.463191290e-05,8.390221039e-01,7.015893910e-01,-5.467883114e-05,8.390222513e-01,7.017728465e-01,-5.433411924e-05,8.280643938e-01
+17,1.050000000e+01,DOWN_FORCE_DETACH,1791454975075386279,4.946952232e-05,-6.427679187e-05,-1.865353531e-03,4.778839765e-05,-5.941599292e-05,-1.862854192e-03,4.257126365e-05,-5.895952058e-05,-1.860560030e-03,7.015873410e-01,-6.272583055e-05,8.388755877e-01,7.015856599e-01,-5.786503160e-05,8.388780870e-01,7.017684693e-01,-5.744121874e-05,8.279200676e-01
+18,1.095000000e+01,DOWN_FORCE_DETACH,1791454975743012348,4.089417518e-05,-6.781684331e-05,-2.019751672e-03,4.277100038e-05,-6.792012775e-05,-2.001179479e-03,3.695271856e-05,-6.723939940e-05,-1.998916736e-03,7.015787657e-01,-6.626588199e-05,8.387211895e-01,7.015806425e-01,-6.636916643e-05,8.387397617e-01,7.017628508e-01,-6.572109756e-05,8.277817109e-01
+19,1.136666667e+01,DOWN_FORCE_DETACH,1791454976373528236,4.342333424e-05,-6.745032835e-05,-2.153399439e-03,4.078434697e-05,-6.474830408e-05,-2.136447986e-03,3.440550417e-05,-6.408695459e-05,-2.134161195e-03,7.015812948e-01,-6.589936703e-05,8.385875417e-01,7.015786558e-01,-6.319734276e-05,8.386044932e-01,7.017603035e-01,-6.256865275e-05,8.276464664e-01
+20,1.180000000e+01,DOWN_FORCE_DETACH,1791454977022854331,3.922141332e-05,-7.473359111e-05,-2.311095706e-03,3.898543719e-05,-7.096190408e-05,-2.301535092e-03,3.198011416e-05,-7.030215008e-05,-2.298943919e-03,7.015770929e-01,-7.318262979e-05,8.384298455e-01,7.015768569e-01,-6.941094276e-05,8.384394061e-01,7.017578782e-01,-6.878384824e-05,8.274816837e-01
+21,1.221666667e+01,DOWN_FORCE_DETACH,1791454977644175564,3.738924393e-05,-7.536894167e-05,-2.471834039e-03,3.551136506e-05,-7.941451913e-05,-2.453926140e-03,2.792340612e-05,-7.871505095e-05,-2.451350703e-03,7.015752607e-01,-7.381798035e-05,8.382691071e-01,7.015733828e-01,-7.786355781e-05,8.382870150e-01,7.017538214e-01,-7.719674911e-05,8.273292769e-01
+22,1.263333333e+01,DOWN_FORCE_DETACH,1791454978274430599,3.819178399e-05,-8.436784242e-05,-2.645231793e-03,3.436595933e-05,-8.359077912e-05,-2.634513653e-03,2.610691810e-05,-8.276565355e-05,-2.631724308e-03,7.015760633e-01,-8.281688109e-05,8.380957094e-01,7.015722374e-01,-8.203981779e-05,8.381064275e-01,7.017520050e-01,-8.124735171e-05,8.271489033e-01
+23,1.300000000e+01,DOWN_FORCE_DETACH,1791454978822751799,3.632372120e-05,-8.858671012e-05,-2.808380389e-03,3.561650521e-05,-8.523729375e-05,-2.796006709e-03,2.676284460e-05,-8.435759785e-05,-2.793070928e-03,7.015741952e-01,-8.703574880e-05,8.379325608e-01,7.015734880e-01,-8.368633243e-05,8.379449345e-01,7.017526609e-01,-8.283929601e-05,8.269875567e-01
+24,1.335000000e+01,DOWN_FORCE_DETACH,1791454979344475237,3.006579527e-05,-8.767420320e-05,-2.984891452e-03,2.936670297e-05,-8.987638914e-05,-2.972562288e-03,1.972883840e-05,-8.907776678e-05,-2.969470793e-03,7.015679373e-01,-8.612324187e-05,8.377560497e-01,7.015672382e-01,-8.832542782e-05,8.377683789e-01,7.017456269e-01,-8.755946494e-05,8.268111568e-01
+25,1.371666667e+01,DOWN_FORCE_DETACH,1791454979903660337,2.928305112e-05,-9.081373433e-05,-3.164028111e-03,2.921418840e-05,-9.104342886e-05,-3.163699931e-03,1.884541110e-05,-9.036668907e-05,-3.160306341e-03,7.015671545e-01,-8.926277301e-05,8.375769131e-01,7.015670857e-01,-8.949246754e-05,8.375772413e-01,7.017447434e-01,-8.884838723e-05,8.266203213e-01
+26,1.406666667e+01,DOWN_FORCE_DETACH,1791454980424247583,3.093794969e-05,-9.751471938e-05,-3.335016824e-03,3.017886289e-05,-9.348645573e-05,-3.324178548e-03,1.912413844e-05,-9.283440183e-05,-3.320908451e-03,7.015688094e-01,-9.596375806e-05,8.374059244e-01,7.015680503e-01,-9.193549441e-05,8.374167626e-01,7.017450222e-01,-9.131610000e-05,8.264597192e-01
+27,1.438333333e+01,DOWN_FORCE_DETACH,1791454980903514554,2.830139144e-05,-9.846991807e-05,-3.512351511e-03,2.813988977e-05,-9.836722625e-05,-3.512402146e-03,1.639387144e-05,-9.758101948e-05,-3.508836056e-03,7.015661729e-01,-9.691895675e-05,8.372285897e-01,7.015660114e-01,-9.681626492e-05,8.372285390e-01,7.017422919e-01,-9.606271764e-05,8.262717915e-01
+28,1.470000000e+01,DOWN_FORCE_DETACH,1791454981374238349,2.964338008e-05,-1.028181691e-04,-3.692685673e-03,2.952231538e-05,-1.028941008e-04,-3.692558268e-03,1.713685920e-05,-1.019986654e-04,-3.688756245e-03,7.015675149e-01,-1.012672078e-04,8.370482555e-01,7.015673938e-01,-1.013431394e-04,8.370483829e-01,7.017430349e-01,-1.004803636e-04,8.260918714e-01
+29,1.500000000e+01,DOWN_FORCE_DETACH,1791454981823502086,2.795143390e-05,-1.027647482e-04,-3.877620318e-03,2.734306746e-05,-1.013460826e-04,-3.858356735e-03,1.437587816e-05,-1.005409584e-04,-3.854638625e-03,7.015658229e-01,-1.012137869e-04,8.368633209e-01,7.015652145e-01,-9.979512128e-05,8.368825845e-01,7.017402739e-01,-9.902265653e-05,8.259259890e-01
+30,1.528333333e+01,DOWN_FORCE_DETACH,1791454982242382184,3.068340612e-05,-1.030353027e-04,-4.051905759e-03,2.857335931e-05,-1.042076347e-04,-4.045549869e-03,1.506361284e-05,-1.033528077e-04,-4.041632445e-03,7.015685549e-01,-1.014843414e-04,8.366890354e-01,7.015664448e-01,-1.026566734e-04,8.366953913e-01,7.017409617e-01,-1.018345059e-04,8.257389952e-01
+31,1.555000000e+01,DOWN_FORCE_DETACH,1791454982643708618,2.871865570e-05,-1.059575073e-04,-4.228651094e-03,2.845958764e-05,-1.067908562e-04,-4.225591570e-03,1.427066374e-05,-1.058142795e-04,-4.221540345e-03,7.015665901e-01,-1.044065460e-04,8.365122901e-01,7.015663311e-01,-1.052398949e-04,8.365153496e-01,7.017401687e-01,-1.042959777e-04,8.255590873e-01
+32,1.580000000e+01,DOWN_FORCE_DETACH,1791454983022946998,2.724118923e-05,-1.091086684e-04,-4.407550914e-03,2.710464721e-05,-1.090832871e-04,-4.407189048e-03,1.218701147e-05,-1.080351265e-04,-4.402867202e-03,7.015651127e-01,-1.075577071e-04,8.363333903e-01,7.015649761e-01,-1.075323257e-04,8.363337521e-01,7.017380850e-01,-1.065168247e-04,8.253777604e-01
+33,1.606666667e+01,DOWN_FORCE_DETACH,1791454983423311613,2.609828857e-05,-1.054277739e-04,-4.589809149e-03,2.598398375e-05,-1.052323263e-04,-4.589619737e-03,1.045644861e-05,-1.044112214e-04,-4.585358443e-03,7.015639698e-01,-1.038768126e-04,8.361511320e-01,7.015638555e-01,-1.036813650e-04,8.361513215e-01,7.017363545e-01,-1.028929196e-04,8.251952692e-01
+34,1.631666667e+01,DOWN_FORCE_DETACH,1791454983803739476,2.676565586e-05,-9.977841395e-05,-4.771030670e-03,2.663243456e-05,-9.996169123e-05,-4.771147876e-03,1.050736910e-05,-9.923278358e-05,-4.766848607e-03,7.015646371e-01,-9.822745263e-05,8.359699105e-01,7.015645039e-01,-9.841072991e-05,8.359697933e-01,7.017364054e-01,-9.771448174e-05,8.250137790e-01
+35,1.656666667e+01,DOWN_FORCE_DETACH,1791454984174238029,2.394951891e-05,-9.899985725e-05,-4.953972962e-03,2.379168438e-05,-9.895578842e-05,-4.953704306e-03,6.882987558e-06,-9.818731756e-05,-4.949345953e-03,7.015618210e-01,-9.744889593e-05,8.357869682e-01,7.015616632e-01,-9.740482710e-05,8.357872369e-01,7.017327810e-01,-9.666901572e-05,8.248312816e-01
+36,1.680000000e+01,DOWN_FORCE_DETACH,1791454984523637254,2.732044956e-05,-9.856343569e-05,-5.133396453e-03,2.745692083e-05,-9.854630720e-05,-5.133309934e-03,9.890754392e-06,-9.768452198e-05,-5.128832786e-03,7.015651919e-01,-9.701247437e-05,8.356075447e-01,7.015653284e-01,-9.699534588e-05,8.356076313e-01,7.017357888e-01,-9.616622014e-05,8.246517948e-01
+37,1.703333333e+01,DOWN_FORCE_DETACH,1791454984873065509,1.935573439e-05,-9.981577849e-05,-5.317294484e-03,1.938409670e-05,-9.980948999e-05,-5.316960358e-03,1.101552736e-06,-9.892480611e-05,-5.312293647e-03,7.015572272e-01,-9.826481717e-05,8.354236467e-01,7.015572556e-01,-9.825852867e-05,8.354239808e-01,7.017269996e-01,-9.740650427e-05,8.244683340e-01
+38,1.728333333e+01,DOWN_FORCE_DETACH,1791454985242604000,2.117616171e-05,-1.029220795e-04,-5.499830566e-03,1.830419103e-05,-1.043228732e-04,-5.482510219e-03,-5.565887102e-07,-1.034593932e-04,-5.478211583e-03,7.015590476e-01,-1.013711182e-04,8.352411106e-01,7.015561757e-01,-1.027719119e-04,8.352584310e-01,7.017253414e-01,-1.019410913e-04,8.243024160e-01
+39,1.753333333e+01,DOWN_FORCE_DETACH,1791454985622589296,2.727703503e-05,-1.058605698e-04,-5.693019968e-03,2.716513320e-05,-1.059133124e-04,-5.692982682e-03,7.704974385e-06,-1.049519206e-04,-5.688441393e-03,7.015651485e-01,-1.043096085e-04,8.350479212e-01,7.015650366e-01,-1.043623511e-04,8.350479585e-01,7.017336030e-01,-1.034336187e-04,8.240921862e-01
+40,1.776666667e+01,DOWN_FORCE_DETACH,1791454985972558384,2.101316682e-05,-1.044694080e-04,-5.877635973e-03,2.075074750e-05,-1.044595334e-04,-5.877757926e-03,5.981001185e-07,-1.034505882e-04,-5.873079665e-03,7.015588846e-01,-1.029184467e-04,8.348633052e-01,7.015586222e-01,-1.029085721e-04,8.348631833e-01,7.017264961e-01,-1.019322863e-04,8.239075479e-01
+41,1.798333333e+01,DOWN_SETTLE,1791454986304684568,1.907179610e-05,-1.130606010e-04,-6.053854071e-03,2.115441539e-05,-1.054615568e-04,-6.039484050e-03,3.919304532e-07,-1.045457729e-04,-6.035013960e-03,7.015569433e-01,-1.115096397e-04,8.346870871e-01,7.015590259e-01,-1.039105955e-04,8.347014571e-01,7.017262900e-01,-1.030274711e-04,8.237456136e-01
+42,1.823333333e+01,DOWN_SETTLE,1791454986673565974,2.081165509e-05,-1.118334323e-04,-6.242601553e-03,2.091340586e-05,-1.118360482e-04,-6.242121113e-03,-4.886959951e-07,-1.110301415e-04,-6.237583960e-03,7.015586831e-01,-1.102824709e-04,8.344983396e-01,7.015587849e-01,-1.102850868e-04,8.344988201e-01,7.017254093e-01,-1.095118396e-04,8.235430436e-01
+43,1.843333333e+01,DOWN_SETTLE,1791454986998110225,1.949511584e-05,-1.123864026e-04,-6.413579352e-03,1.707960471e-05,-1.121185574e-04,-6.395515585e-03,-4.933949954e-06,-1.113072611e-04,-6.391072601e-03,7.015573666e-01,-1.108354413e-04,8.343273618e-01,7.015549511e-01,-1.105675961e-04,8.343454256e-01,7.017209641e-01,-1.097889592e-04,8.233895550e-01
+44,1.870000000e+01,DOWN_SETTLE,1791454987390716150,1.389164784e-05,-1.184294472e-04,-6.605740112e-03,1.397794858e-05,-1.167885674e-04,-6.590530502e-03,-8.826306396e-06,-1.158682200e-04,-6.586171324e-03,7.015517631e-01,-1.168784859e-04,8.341352011e-01,7.015518494e-01,-1.152376061e-04,8.341504107e-01,7.017170717e-01,-1.143499182e-04,8.231944563e-01
+45,1.896666667e+01,DOWN_SETTLE,1791454987791482278,1.744243568e-05,-1.177315858e-04,-6.775165921e-03,1.730011039e-05,-1.179967184e-04,-6.775141813e-03,-6.129230255e-06,-1.170458687e-04,-6.770842975e-03,7.015553139e-01,-1.161806244e-04,8.339657753e-01,7.015551716e-01,-1.164457571e-04,8.339657994e-01,7.017197688e-01,-1.155275669e-04,8.230097846e-01
+46,1.921666667e+01,DOWN_SETTLE,1791454988171590929,1.199454692e-05,-1.191288201e-04,-6.944333361e-03,1.198260427e-05,-1.191919073e-04,-6.943628431e-03,-1.212930170e-05,-1.182877220e-04,-6.939319743e-03,7.015498660e-01,-1.175778587e-04,8.337966078e-01,7.015498541e-01,-1.176409460e-04,8.337973128e-01,7.017137687e-01,-1.167694202e-04,8.228413079e-01
+47,1.951666667e+01,DOWN_SETTLE,1791454988611547835,1.180696323e-05,-1.251841108e-04,-7.127596196e-03,1.341192284e-05,-1.201432899e-04,-7.111369948e-03,-1.123084363e-05,-1.191485959e-04,-7.107525065e-03,7.015496784e-01,-1.236331495e-04,8.336133450e-01,7.015512834e-01,-1.185923286e-04,8.336295712e-01,7.017146672e-01,-1.176302940e-04,8.226731025e-01
+48,1.980000000e+01,DOWN_SETTLE,1791454989041293328,1.376972102e-05,-1.246236309e-04,-7.300343785e-03,1.076184950e-05,-1.281912128e-04,-7.283899383e-03,-1.454921253e-05,-1.270398140e-04,-7.280149505e-03,7.015516412e-01,-1.230726696e-04,8.334405974e-01,7.015486333e-01,-1.266402515e-04,8.334570418e-01,7.017113488e-01,-1.255215122e-04,8.225004781e-01
+49,2.008333333e+01,DOWN_SETTLE,1791454989471470524,8.563150098e-06,-1.259726745e-04,-7.471107578e-03,6.751542360e-06,-1.266501730e-04,-7.464781740e-03,-1.921714516e-05,-1.255889158e-04,-7.461062028e-03,7.015464346e-01,-1.244217132e-04,8.332698336e-01,7.015446230e-01,-1.250992117e-04,8.332761594e-01,7.017066809e-01,-1.240706139e-04,8.223195656e-01
+50,2.038333333e+01,DOWN_SETTLE,1791454989909841922,7.333745496e-06,-1.270973999e-04,-7.631770916e-03,8.118885192e-06,-1.264710008e-04,-7.617971891e-03,-1.831076340e-05,-1.255670567e-04,-7.614648228e-03,7.015452052e-01,-1.255464386e-04,8.331091703e-01,7.015459904e-01,-1.249200395e-04,8.331229693e-01,7.017075873e-01,-1.240487548e-04,8.221659794e-01
+51,2.073333333e+01,DOWN_SETTLE,1791454990441133659,4.466829063e-06,-1.296346751e-04,-7.813391611e-03,5.705281686e-06,-1.263471547e-04,-7.801232630e-03,-2.145177996e-05,-1.254602843e-04,-7.798028716e-03,7.015423383e-01,-1.280837137e-04,8.329275496e-01,7.015435768e-01,-1.247961933e-04,8.329397086e-01,7.017044463e-01,-1.239419825e-04,8.219825989e-01
+52,2.108333333e+01,DOWN_SETTLE,1791454990971474530,6.213024274e-07,-1.290633157e-04,-7.980601399e-03,1.158272194e-06,-1.303550716e-04,-7.961125138e-03,-2.669352229e-05,-1.293529541e-04,-7.958132489e-03,7.015384928e-01,-1.275123544e-04,8.327603398e-01,7.015390298e-01,-1.288041103e-04,8.327798160e-01,7.016992045e-01,-1.278346523e-04,8.218224951e-01
+53,2.148333333e+01,DOWN_SETTLE,1791454991571510855,-2.852224831e-06,-1.300179027e-04,-8.154680389e-03,-4.210490475e-06,-1.253050998e-04,-8.136763100e-03,-3.283384840e-05,-1.243197559e-04,-8.133907105e-03,7.015350193e-01,-1.284669413e-04,8.325862608e-01,7.015336610e-01,-1.237541385e-04,8.326041781e-01,7.016930642e-01,-1.228014541e-04,8.216467205e-01
+54,2.188333333e+01,DOWN_SETTLE,1791454992174637062,-6.490807349e-06,-1.326816660e-04,-8.312134245e-03,-5.909278152e-06,-1.262977518e-04,-8.299267259e-03,-3.512944378e-05,-1.253552578e-04,-8.296529576e-03,7.015313807e-01,-1.311307047e-04,8.324288069e-01,7.015319622e-01,-1.247467905e-04,8.324416739e-01,7.016907686e-01,-1.238369560e-04,8.214840980e-01
+55,2.230000000e+01,DOWN_SETTLE,1791454992812821973,-1.036667026e-05,-1.322773962e-04,-8.460514476e-03,-1.036163659e-05,-1.322250910e-04,-8.460470253e-03,-4.016068994e-05,-1.312003299e-04,-8.457793801e-03,7.015275048e-01,-1.307264349e-04,8.322804267e-01,7.015275098e-01,-1.306741296e-04,8.322804709e-01,7.016857373e-01,-1.296820281e-04,8.213228338e-01
+56,2.276666667e+01,DOWN_SETTLE,1791454993510236180,-1.250144866e-05,-1.312951956e-04,-8.595196640e-03,-1.213311593e-05,-1.336932498e-04,-8.577415491e-03,-4.235354322e-05,-1.325664827e-04,-8.575363775e-03,7.015253700e-01,-1.297442342e-04,8.321457445e-01,7.015257384e-01,-1.321422885e-04,8.321635257e-01,7.016835445e-01,-1.310481809e-04,8.212052638e-01
+57,2.336666667e+01,DOWN_SETTLE,1791454994411210630,-1.984897348e-05,-1.336195022e-04,-8.738636291e-03,-1.947108264e-05,-1.289186734e-04,-8.728132906e-03,-5.048816270e-05,-1.278821677e-04,-8.726534396e-03,7.015180225e-01,-1.320685409e-04,8.320023049e-01,7.015184004e-01,-1.273677121e-04,8.320128083e-01,7.016754099e-01,-1.263638659e-04,8.210540932e-01
+58,2.410000000e+01,DOWN_SETTLE,1791454995510054852,-3.007386141e-05,-1.279749506e-04,-8.868716900e-03,-3.101618781e-05,-1.326257945e-04,-8.850184750e-03,-6.263747652e-05,-1.316879190e-04,-8.849227878e-03,7.015077976e-01,-1.264239893e-04,8.318722243e-01,7.015068553e-01,-1.310748332e-04,8.318907564e-01,7.016632606e-01,-1.301696172e-04,8.209313997e-01
+59,2.488333333e+01,DOWN_SETTLE,1791454996687755486,-3.907124177e-05,-1.301301388e-04,-8.932191630e-03,-3.678356503e-05,-1.279839511e-04,-8.912700979e-03,-6.880363419e-05,-1.271238828e-04,-8.912364378e-03,7.014988002e-01,-1.285791775e-04,8.318087496e-01,7.015010879e-01,-1.264329898e-04,8.318282402e-01,7.016570944e-01,-1.256055810e-04,8.208682632e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c7051f645b9ae9b9e323333c6edd6bae213298c1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,5.4600e-03,-7.4708e-03,2.4529e+00,-3.6245e-02,3.7156e-02,-1.4464e-05,3.3815e-04,-2.7805e-05,7.6294e-06,2.9355e-06,2.3194e-05,-1.4727e-07,3.3938e-04,2.3379e-05
+1,8.5000e-01,DOWN_FORCE_DETACH,1.9257e-04,1.8166e-02,-5.7136e-03,2.4651e+00,-3.6322e-02,3.8082e-02,-2.2037e-07,1.3045e-02,1.7294e-03,1.2200e-02,-7.3995e-05,9.4855e-04,1.4097e-05,1.7944e-02,9.5154e-04
+2,1.6500e+00,DOWN_FORCE_DETACH,3.8399e-04,2.0398e-02,-3.8328e-04,2.4804e+00,-3.6692e-02,3.8223e-02,1.4786e-05,1.5276e-02,7.0597e-03,2.7510e-02,-4.4321e-04,1.0897e-03,2.9103e-05,3.2249e-02,1.1767e-03
+3,2.1333e+00,DOWN_FORCE_DETACH,5.7118e-04,1.3430e-02,2.4276e-03,2.4896e+00,-3.6880e-02,3.7749e-02,2.2200e-05,8.3080e-03,9.8706e-03,3.6678e-02,-6.3118e-04,6.1570e-04,3.6516e-05,3.8881e-02,8.8250e-04
+4,2.7333e+00,DOWN_FORCE_DETACH,7.6259e-04,1.5145e-02,5.8792e-03,2.5076e+00,-3.7100e-02,3.7829e-02,3.1157e-05,1.0023e-02,1.3322e-02,5.4701e-02,-8.5184e-04,6.9628e-04,4.5474e-05,5.7185e-02,1.1011e-03
+5,3.3667e+00,DOWN_FORCE_DETACH,9.5142e-04,1.4100e-02,7.4240e-03,2.5128e+00,-3.7195e-02,3.7742e-02,3.2762e-05,8.9781e-03,1.4867e-02,5.9896e-02,-9.4649e-04,6.0923e-04,4.7079e-05,6.2364e-02,1.1266e-03
+6,3.9667e+00,DOWN_FORCE_DETACH,1.1438e-03,1.5631e-02,1.0262e-02,2.5113e+00,-3.7396e-02,3.7834e-02,2.7322e-05,1.0509e-02,1.7705e-02,5.8372e-02,-1.1473e-03,7.0128e-04,4.1639e-05,6.1897e-02,1.3453e-03
+7,4.6500e+00,DOWN_FORCE_DETACH,1.3383e-03,1.7002e-02,8.5155e-03,2.5079e+00,-3.7311e-02,3.7926e-02,1.5015e-05,1.1880e-02,1.5958e-02,5.4965e-02,-1.0622e-03,7.9263e-04,2.9332e-05,5.8455e-02,1.3257e-03
+8,5.2167e+00,DOWN_FORCE_DETACH,1.5237e-03,1.7386e-02,7.7623e-03,2.5056e+00,-3.7296e-02,3.7954e-02,3.5045e-06,1.2264e-02,1.5205e-02,5.2715e-02,-1.0481e-03,8.2055e-04,1.7821e-05,5.6218e-02,1.3312e-03
+9,5.9333e+00,DOWN_FORCE_DETACH,1.7131e-03,2.0316e-02,7.3128e-03,2.5077e+00,-3.7315e-02,3.8154e-02,-1.1673e-05,1.5194e-02,1.4756e-02,5.4839e-02,-1.0671e-03,1.0214e-03,2.6439e-06,5.8787e-02,1.4772e-03
+10,6.6333e+00,DOWN_FORCE_DETACH,1.9069e-03,2.4755e-02,8.9814e-03,2.5194e+00,-3.7442e-02,3.8458e-02,-1.7563e-05,1.9633e-02,1.6424e-02,6.6451e-02,-1.1935e-03,1.3248e-03,-3.2461e-06,7.1211e-02,1.7831e-03
+11,7.2667e+00,DOWN_FORCE_DETACH,2.0968e-03,2.7203e-02,1.3586e-02,2.5231e+00,-3.7716e-02,3.8633e-02,-3.5343e-06,2.2081e-02,2.1029e-02,7.0172e-02,-1.4679e-03,1.4996e-03,1.0783e-05,7.6511e-02,2.0985e-03
+12,7.8000e+00,DOWN_FORCE_DETACH,2.2859e-03,2.9090e-02,1.7672e-02,2.5254e+00,-3.7953e-02,3.8766e-02,2.2876e-05,2.3969e-02,2.5115e-02,7.2499e-02,-1.7048e-03,1.6329e-03,3.7193e-05,8.0382e-02,2.3609e-03
+13,8.3833e+00,DOWN_FORCE_DETACH,2.4734e-03,2.8035e-02,1.9163e-02,2.5232e+00,-3.8048e-02,3.8704e-02,5.1629e-05,2.2913e-02,2.6606e-02,7.0302e-02,-1.8001e-03,1.5706e-03,6.5946e-05,7.8582e-02,2.3899e-03
+14,8.9500e+00,DOWN_FORCE_DETACH,2.6664e-03,2.4813e-02,1.7098e-02,2.5234e+00,-3.7946e-02,3.8491e-02,6.4002e-05,1.9691e-02,2.4541e-02,7.0443e-02,-1.6981e-03,1.3584e-03,7.8319e-05,7.7151e-02,2.1760e-03
+15,9.4833e+00,DOWN_FORCE_DETACH,2.8557e-03,2.4766e-02,1.8670e-02,2.5358e+00,-3.8083e-02,3.8477e-02,6.4845e-05,1.9644e-02,2.6113e-02,8.2911e-02,-1.8343e-03,1.3443e-03,7.9162e-05,8.9117e-02,2.2755e-03
+16,1.0000e+01,DOWN_FORCE_DETACH,3.0499e-03,2.2057e-02,1.8672e-02,2.5475e+00,-3.8083e-02,3.8280e-02,6.2184e-05,1.6935e-02,2.6114e-02,9.4553e-02,-1.8342e-03,1.1468e-03,7.6501e-05,9.9545e-02,2.1646e-03
+17,1.0500e+01,DOWN_FORCE_DETACH,3.2398e-03,2.2086e-02,2.3654e-02,2.5507e+00,-3.8359e-02,3.8259e-02,5.8111e-05,1.6964e-02,3.1097e-02,9.7823e-02,-2.1105e-03,1.1261e-03,7.2428e-05,1.0404e-01,2.3933e-03
+18,1.0950e+01,DOWN_FORCE_DETACH,3.4330e-03,2.2319e-02,3.0561e-02,2.5531e+00,-3.8756e-02,3.8259e-02,4.8540e-05,1.7197e-02,3.8004e-02,1.0014e-01,-2.5079e-03,1.1259e-03,6.2857e-05,1.0848e-01,2.7498e-03
+19,1.1367e+01,DOWN_FORCE_DETACH,3.6156e-03,2.1506e-02,3.1986e-02,2.5567e+00,-3.8824e-02,3.8193e-02,3.8200e-05,1.6384e-02,3.9429e-02,1.0383e-01,-2.5753e-03,1.0603e-03,5.2517e-05,1.1227e-01,2.7855e-03
+20,1.1800e+01,DOWN_FORCE_DETACH,3.8072e-03,2.2031e-02,3.1578e-02,2.5636e+00,-3.8809e-02,3.8213e-02,2.8786e-05,1.6909e-02,3.9021e-02,1.1067e-01,-2.5610e-03,1.0804e-03,4.3103e-05,1.1856e-01,2.7799e-03
+21,1.2217e+01,DOWN_FORCE_DETACH,3.9978e-03,2.3983e-02,3.3007e-02,2.5704e+00,-3.8923e-02,3.8332e-02,1.6364e-05,1.8861e-02,4.0450e-02,1.1748e-01,-2.6749e-03,1.1990e-03,3.0681e-05,1.2567e-01,2.9315e-03
+22,1.2633e+01,DOWN_FORCE_DETACH,4.1944e-03,2.4590e-02,3.9312e-02,2.5756e+00,-3.9319e-02,3.8365e-02,4.6620e-06,1.9468e-02,4.6754e-02,1.2265e-01,-3.0708e-03,1.2324e-03,1.8979e-05,1.3269e-01,3.3090e-03
+23,1.3000e+01,DOWN_FORCE_DETACH,4.3815e-03,2.3710e-02,4.3587e-02,2.5814e+00,-3.9580e-02,3.8303e-02,4.3807e-06,1.8588e-02,5.1030e-02,1.2848e-01,-3.3312e-03,1.1700e-03,1.8698e-05,1.3949e-01,3.5308e-03
+24,1.3350e+01,DOWN_FORCE_DETACH,4.5675e-03,2.2727e-02,4.1521e-02,2.5861e+00,-3.9458e-02,3.8240e-02,8.5125e-06,1.7605e-02,4.8964e-02,1.3317e-01,-3.2093e-03,1.1068e-03,2.2829e-05,1.4298e-01,3.3949e-03
+25,1.3717e+01,DOWN_FORCE_DETACH,4.7609e-03,2.2350e-02,3.7714e-02,2.5907e+00,-3.9229e-02,3.8218e-02,1.0595e-05,1.7228e-02,4.5157e-02,1.3781e-01,-2.9804e-03,1.0845e-03,2.4912e-05,1.4604e-01,3.1716e-03
+26,1.4067e+01,DOWN_FORCE_DETACH,4.9531e-03,1.9311e-02,3.8835e-02,2.5961e+00,-3.9286e-02,3.8013e-02,7.8367e-06,1.4189e-02,4.6278e-02,1.4319e-01,-3.0376e-03,8.7963e-04,2.2154e-05,1.5115e-01,3.1625e-03
+27,1.4383e+01,DOWN_FORCE_DETACH,5.1408e-03,1.8387e-02,4.4049e-02,2.6006e+00,-3.9581e-02,3.7941e-02,2.0153e-06,1.3266e-02,5.1492e-02,1.4764e-01,-3.3324e-03,8.0746e-04,1.6332e-05,1.5692e-01,3.4288e-03
+28,1.4700e+01,DOWN_FORCE_DETACH,5.3364e-03,1.8797e-02,4.7453e-02,2.6075e+00,-3.9757e-02,3.7952e-02,-2.0739e-06,1.3675e-02,5.4896e-02,1.5460e-01,-3.5086e-03,8.1894e-04,1.2243e-05,1.6463e-01,3.6029e-03
+29,1.5000e+01,DOWN_FORCE_DETACH,5.5294e-03,1.9991e-02,4.7137e-02,2.6160e+00,-3.9717e-02,3.8015e-02,-7.7998e-07,1.4869e-02,5.4580e-02,1.6305e-01,-3.4690e-03,8.8184e-04,1.3537e-05,1.7258e-01,3.5794e-03
+30,1.5283e+01,DOWN_FORCE_DETACH,5.7153e-03,2.1516e-02,4.7145e-02,2.6211e+00,-3.9709e-02,3.8099e-02,-8.4686e-07,1.6395e-02,5.4588e-02,1.6817e-01,-3.4605e-03,9.6628e-04,1.3470e-05,1.7756e-01,3.5929e-03
+31,1.5550e+01,DOWN_FORCE_DETACH,5.8988e-03,2.3018e-02,5.1283e-02,2.6268e+00,-3.9953e-02,3.8188e-02,-4.0873e-06,1.7896e-02,5.8726e-02,1.7386e-01,-3.7045e-03,1.0552e-03,1.0230e-05,1.8438e-01,3.8519e-03
+32,1.5800e+01,DOWN_FORCE_DETACH,6.0932e-03,2.3364e-02,5.4325e-02,2.6313e+00,-4.0126e-02,3.8206e-02,-4.3088e-06,1.8242e-02,6.1768e-02,1.7841e-01,-3.8774e-03,1.0729e-03,1.0008e-05,1.8968e-01,4.0231e-03
+33,1.6067e+01,DOWN_FORCE_DETACH,6.2867e-03,2.2650e-02,5.0040e-02,2.6313e+00,-3.9851e-02,3.8160e-02,-4.2393e-07,1.7528e-02,5.7483e-02,1.7835e-01,-3.6026e-03,1.0269e-03,1.3893e-05,1.8820e-01,3.7461e-03
+34,1.6317e+01,DOWN_FORCE_DETACH,6.4793e-03,2.2169e-02,4.3596e-02,2.6334e+00,-3.9443e-02,3.8132e-02,3.6320e-06,1.7047e-02,5.1039e-02,1.8049e-01,-3.1945e-03,9.9917e-04,1.7949e-05,1.8834e-01,3.3472e-03
+35,1.6567e+01,DOWN_FORCE_DETACH,6.6677e-03,2.1015e-02,4.3731e-02,2.6357e+00,-3.9428e-02,3.8055e-02,5.1351e-06,1.5893e-02,5.1174e-02,1.8281e-01,-3.1801e-03,9.2173e-04,1.9452e-05,1.9051e-01,3.3110e-03
+36,1.6800e+01,DOWN_FORCE_DETACH,6.8570e-03,2.0350e-02,4.7845e-02,2.6395e+00,-3.9661e-02,3.8006e-02,3.1263e-06,1.5228e-02,5.5288e-02,1.8654e-01,-3.4126e-03,8.7313e-04,1.7443e-05,1.9516e-01,3.5225e-03
+37,1.7033e+01,DOWN_FORCE_DETACH,7.0439e-03,2.0556e-02,4.9576e-02,2.6450e+00,-3.9743e-02,3.8010e-02,1.3295e-06,1.5434e-02,5.7019e-02,1.9211e-01,-3.4947e-03,8.7727e-04,1.5646e-05,2.0099e-01,3.6032e-03
+38,1.7283e+01,DOWN_FORCE_DETACH,7.2339e-03,2.1344e-02,4.8009e-02,2.6485e+00,-3.9633e-02,3.8049e-02,1.0835e-06,1.6222e-02,5.5451e-02,1.9556e-01,-3.3850e-03,9.1588e-04,1.5400e-05,2.0392e-01,3.5067e-03
+39,1.7533e+01,DOWN_FORCE_DETACH,7.4339e-03,2.1383e-02,5.0153e-02,2.6483e+00,-3.9755e-02,3.8040e-02,-2.7255e-06,1.6261e-02,5.7596e-02,1.9535e-01,-3.5067e-03,9.0698e-04,1.1592e-05,2.0431e-01,3.6221e-03
+40,1.7767e+01,DOWN_FORCE_DETACH,7.6242e-03,2.2011e-02,5.4691e-02,2.6497e+00,-4.0022e-02,3.8075e-02,-6.1105e-06,1.6889e-02,6.2134e-02,1.9681e-01,-3.7732e-03,9.4196e-04,8.2065e-06,2.0708e-01,3.8890e-03
+41,1.7983e+01,DOWN_SETTLE,7.8083e-03,2.1171e-02,5.3491e-02,2.6504e+00,-3.9940e-02,3.8019e-02,-6.2732e-06,1.6049e-02,6.0934e-02,1.9745e-01,-3.6918e-03,8.8572e-04,8.0437e-06,2.0726e-01,3.7965e-03
+42,1.8233e+01,DOWN_SETTLE,8.0055e-03,2.1908e-02,4.8735e-02,2.6498e+00,-3.9649e-02,3.8070e-02,-2.9386e-06,1.6786e-02,5.6178e-02,1.9686e-01,-3.4003e-03,9.3731e-04,1.1378e-05,2.0540e-01,3.5271e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..608ece19d71f216d2eeae72027d22f9c4d819874
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8f030b194e30e7ebcfbd555fbdcda8e6bf63c70c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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+8987,1791454953590746612,9931980000000,1791454953583336929,UP_FORCE_HOLD,2,0.0375,0.03750157728791237,0.6759660593774391,-0.004724746981749197,0.09098606283235089,0.9999999678788787,2.664314233204786e-05,-0.00022925412503093919,-4.917107960784174e-05,0.6761,-0.0048,0.09133477219916435,1.0,0.0,0.0,0.0,0.04034668540643734,-0.11264146384962215,-0.3359609727917975,-0.01005858140474027,-0.0027700937895129406,-0.0004186217185469666,0.07407575030085074,-0.20205357824912407,-0.457256924555759,-0.01301460281921355,-0.005712479483501723,-0.001920218002282246,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,-1.111263632204921,-0.012332429269946947,2.5113704835898827,-0.25003984529140316,-1.7471848807332884,-0.05733453997548658,0.721557885649919,0.3359609727917975,-1.7898125979399637,0.3359609727917975,0.3859,0,0,2.5718297330752487e-05,-7.563471986375949e-06
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..49c35a32cf02d7ea6cfefa19980345180ad403e3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fe914d8254747b44c9a109308d5f47e4269a0a9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,6.333333333e-01,UP_FORCE_RAMP,1791454947991825119,-2.524362145e-06,3.782198640e-06,2.176577709e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.946465589e-07,2.596969289e-08,1.594090193e-08,7.015353471e-01,5.333159961e-06,8.407411588e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260927e-01,1.544271532e-06,8.297806435e-01
+7,7.000000000e-01,UP_FORCE_RAMP,1791454948088259389,-3.266089852e-06,2.029715855e-06,1.367183971e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.065174216e-07,2.779194783e-08,1.690318507e-08,7.015346054e-01,3.580677176e-06,8.407423084e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261046e-01,1.546093787e-06,8.297806445e-01
+8,8.000000000e-01,UP_FORCE_RAMP,1791454948237758166,-3.879259384e-06,4.244071197e-06,5.572585268e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.224855193e-07,3.030934682e-08,1.820070605e-08,7.015339922e-01,5.795032518e-06,8.407465138e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261205e-01,1.548611186e-06,8.297806458e-01
+9,9.000000000e-01,UP_FORCE_RAMP,1791454948387108107,-3.620477712e-06,3.862524207e-06,1.065498926e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.365199681e-07,3.258846684e-08,1.934787264e-08,7.015342510e-01,5.413485528e-06,8.407515962e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261346e-01,1.550890306e-06,8.297806470e-01
+10,1.050000000e+00,UP_FORCE_RAMP,1791454948606595599,-7.052581839e-06,5.481633396e-06,1.591102498e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.545133786e-07,3.559952675e-08,2.083687090e-08,7.015308189e-01,7.032594717e-06,8.407568522e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261526e-01,1.553901366e-06,8.297806484e-01
+11,1.133333333e+00,UP_FORCE_RAMP,1791454948777069094,-7.658070111e-06,2.265383881e-06,2.084987033e-05,-7.077452732e-06,-1.170721927e-06,1.851383263e-05,-6.901233769e-06,-1.079420166e-06,1.828654898e-05,7.015302134e-01,3.816345202e-06,8.407617911e-01,7.015307940e-01,3.802393942e-07,8.407594550e-01,7.017189968e-01,4.388816728e-07,8.297989142e-01
+12,1.233333333e+00,UP_FORCE_RAMP,1791454948939980561,-9.021459805e-06,5.622431807e-06,2.957365278e-05,-7.077452732e-06,-1.170721927e-06,1.851383263e-05,-6.904879826e-06,-1.078682849e-06,1.831853000e-05,7.015288500e-01,7.173393128e-06,8.407705148e-01,7.015307940e-01,3.802393942e-07,8.407594550e-01,7.017189932e-01,4.396189899e-07,8.297989461e-01
+13,1.283333333e+00,UP_FORCE_RAMP,1791454949018680949,-7.632279683e-06,2.077183260e-06,3.574671273e-05,-7.077452732e-06,-1.170721927e-06,1.851383263e-05,-6.906179116e-06,-1.078347572e-06,1.833245319e-05,7.015302392e-01,3.628144581e-06,8.407766879e-01,7.015307940e-01,3.802393942e-07,8.407594550e-01,7.017189919e-01,4.399542665e-07,8.297989601e-01
+14,1.350000000e+00,UP_FORCE_RAMP,1791454949113554235,-6.442135312e-06,-1.246030256e-07,4.411233051e-05,-8.401663953e-06,4.878337941e-06,3.932176228e-05,-8.199356226e-06,4.930116474e-06,3.892595003e-05,7.015314293e-01,1.426358295e-06,8.407850535e-01,7.015294698e-01,6.429299262e-06,8.407802629e-01,7.017176987e-01,6.448418313e-06,8.298195536e-01
+15,1.400000000e+00,UP_FORCE_RAMP,1791454949189268933,-8.929682696e-06,-1.716616162e-06,4.552338551e-05,-8.401663953e-06,4.878337941e-06,3.932176228e-05,-8.201329968e-06,4.931517483e-06,3.895672211e-05,7.015289418e-01,-1.656548408e-07,8.407864646e-01,7.015294698e-01,6.429299262e-06,8.407802629e-01,7.017176967e-01,6.449819322e-06,8.298195843e-01
+16,1.466666667e+00,UP_FORCE_RAMP,1791454949288087304,-1.049263039e-05,3.587087686e-06,4.831323791e-05,-8.401663953e-06,4.878337941e-06,3.932176228e-05,-8.203578885e-06,4.932490257e-06,3.899342461e-05,7.015273789e-01,5.138049007e-06,8.407892544e-01,7.015294698e-01,6.429299262e-06,8.407802629e-01,7.017176945e-01,6.450792096e-06,8.298196210e-01
+17,1.550000000e+00,UP_FORCE_RAMP,1791454949408988496,-1.163525775e-05,5.511048756e-06,5.436203983e-05,-8.401663953e-06,4.878337941e-06,3.932176228e-05,-8.205807086e-06,4.933416503e-06,3.903454782e-05,7.015262362e-01,7.062010077e-06,8.407953032e-01,7.015294698e-01,6.429299262e-06,8.407802629e-01,7.017176922e-01,6.451718342e-06,8.298196622e-01
+18,1.633333333e+00,UP_FORCE_RAMP,1791454949537960029,-1.098419571e-05,2.796833221e-06,6.042158682e-05,-1.101360441e-05,-1.155214600e-06,6.048362716e-05,-1.078491374e-05,-1.085296204e-06,5.996351906e-05,7.015268873e-01,4.347794542e-06,8.408013628e-01,7.015268579e-01,3.957467215e-07,8.408014248e-01,7.017151131e-01,4.330056352e-07,8.298405911e-01
+19,1.750000000e+00,UP_FORCE_RAMP,1791454949710428099,-1.099673150e-05,5.473641165e-06,7.088597155e-05,-1.101360441e-05,-1.155214600e-06,6.048362716e-05,-1.079199234e-05,-1.085549781e-06,6.005184570e-05,7.015268747e-01,7.024602486e-06,8.408118272e-01,7.015268579e-01,3.957467215e-07,8.408014248e-01,7.017151060e-01,4.327520579e-07,8.298406794e-01
+20,1.850000000e+00,UP_FORCE_RAMP,1791454949867317227,-1.008062829e-05,3.562933686e-06,8.700567141e-05,-9.758807247e-06,4.762230744e-06,8.106464462e-05,-9.459835061e-06,4.818205202e-06,8.040444051e-05,7.015277909e-01,5.113895007e-06,8.408279469e-01,7.015281127e-01,6.313192065e-06,8.408220058e-01,7.017164382e-01,6.336507041e-06,8.298610320e-01
+21,1.933333333e+00,UP_FORCE_RAMP,1791454949987781623,-1.362401096e-05,6.352192414e-06,8.995355238e-05,-9.758807247e-06,4.762230744e-06,8.106464462e-05,-9.461163098e-06,4.820456311e-06,8.048153035e-05,7.015242475e-01,7.903153736e-06,8.408308947e-01,7.015281127e-01,6.313192065e-06,8.408220058e-01,7.017164369e-01,6.338758150e-06,8.298611091e-01
+22,1.983333333e+00,UP_FORCE_RAMP,1791454950067454151,-8.599580550e-06,4.445533967e-06,1.021423582e-04,-8.489211582e-06,4.575906794e-06,1.022429870e-04,-8.052120845e-06,4.603436345e-06,1.014096649e-04,7.015292719e-01,5.996495288e-06,8.408430835e-01,7.015293823e-01,6.126868115e-06,8.408431842e-01,7.017178459e-01,6.121738184e-06,8.298820373e-01
+23,2.083333333e+00,UP_FORCE_RAMP,1791454950208006794,-1.102903246e-05,4.735996734e-07,1.093735853e-04,-8.489211582e-06,4.575906794e-06,1.022429870e-04,-8.049340706e-06,4.605574567e-06,1.015313267e-04,7.015268424e-01,2.024560994e-06,8.408503148e-01,7.015293823e-01,6.126868115e-06,8.408431842e-01,7.017178487e-01,6.123876406e-06,8.298821589e-01
+24,2.150000000e+00,UP_FORCE_RAMP,1791454950307497409,-9.073572338e-06,-3.151286634e-07,1.182495346e-04,-8.489211582e-06,4.575906794e-06,1.022429870e-04,-8.048762215e-06,4.606937068e-06,1.015974836e-04,7.015287979e-01,1.235832658e-06,8.408591907e-01,7.015293823e-01,6.126868115e-06,8.408431842e-01,7.017178493e-01,6.125238907e-06,8.298822251e-01
+25,2.216666667e+00,UP_FORCE_RAMP,1791454950408135341,-9.732156892e-06,1.824636390e-06,1.280969883e-04,-9.915842213e-06,5.522965153e-06,1.220965116e-04,-9.479110082e-06,5.561394626e-06,1.212923968e-04,7.015281393e-01,3.375597711e-06,8.408690382e-01,7.015279556e-01,7.073926474e-06,8.408630377e-01,7.017164189e-01,7.079696465e-06,8.299019200e-01
+26,2.283333333e+00,UP_FORCE_RAMP,1791454950508097226,-1.008570123e-05,6.530237068e-06,1.350104420e-04,-9.915842213e-06,5.522965153e-06,1.220965116e-04,-9.480658050e-06,5.562938599e-06,1.213707802e-04,7.015277858e-01,8.081198389e-06,8.408759516e-01,7.015279556e-01,7.073926474e-06,8.408630377e-01,7.017164174e-01,7.081240438e-06,8.299019984e-01
+27,2.333333333e+00,UP_FORCE_RAMP,1791454950588434108,-9.603427229e-06,1.770400014e-06,1.398721989e-04,-9.915842213e-06,5.522965153e-06,1.220965116e-04,-9.481876445e-06,5.563999133e-06,1.214240563e-04,7.015282681e-01,3.321361335e-06,8.408808134e-01,7.015279556e-01,7.073926474e-06,8.408630377e-01,7.017164162e-01,7.082300972e-06,8.299020517e-01
+28,2.400000000e+00,UP_FORCE_RAMP,1791454950689422317,-1.052994110e-05,4.488829836e-06,1.474592332e-04,-8.483991243e-06,4.340729938e-06,1.435736294e-04,-7.872287965e-06,4.392724654e-06,1.426627829e-04,7.015273415e-01,6.039791157e-06,8.408884004e-01,7.015293875e-01,5.891691259e-06,8.408845148e-01,7.017180258e-01,5.911026493e-06,8.299232904e-01
+29,2.466666667e+00,UP_FORCE_RAMP,1791454950787970552,-1.165849236e-05,1.759694175e-06,1.518504655e-04,-8.483991243e-06,4.340729938e-06,1.435736294e-04,-7.871868560e-06,4.394256107e-06,1.427480295e-04,7.015262130e-01,3.310655496e-06,8.408927917e-01,7.015293875e-01,5.891691259e-06,8.408845148e-01,7.017180262e-01,5.912557946e-06,8.299233756e-01
+30,2.550000000e+00,UP_FORCE_RAMP,1791454950910349869,-1.532472441e-05,5.193866536e-06,1.537312700e-04,-8.483991243e-06,4.340729938e-06,1.435736294e-04,-7.872225305e-06,4.396286682e-06,1.428417252e-04,7.015225468e-01,6.744827857e-06,8.408946725e-01,7.015293875e-01,5.891691259e-06,8.408845148e-01,7.017180258e-01,5.914588521e-06,8.299234693e-01
+31,2.583333333e+00,UP_FORCE_RAMP,1791454950967535338,-3.394861303e-05,2.609188894e-07,1.438568167e-04,-3.387954298e-05,2.778784716e-07,1.435723338e-04,-3.370642345e-05,3.613737960e-07,1.428688379e-04,7.015039229e-01,1.811880210e-06,8.408847980e-01,7.015039919e-01,1.828839793e-06,8.408845135e-01,7.016921916e-01,1.879675635e-06,8.299234964e-01
+32,2.666666667e+00,UP_FORCE_RAMP,1791454951088131516,-4.034909874e-05,7.799132098e-07,1.438001528e-04,-3.387954298e-05,2.778784716e-07,1.435723338e-04,-3.375992495e-05,3.589140418e-07,1.429471893e-04,7.014975224e-01,2.330874531e-06,8.408847413e-01,7.015039919e-01,1.828839793e-06,8.408845135e-01,7.016921381e-01,1.877215881e-06,8.299235748e-01
+33,2.733333333e+00,UP_FORCE_RAMP,1791454951188328960,-4.053465543e-05,1.079137923e-06,1.468376131e-04,-3.387954298e-05,2.778784716e-07,1.435723338e-04,-3.378986975e-05,3.577688012e-07,1.430038080e-04,7.014973368e-01,2.630099244e-06,8.408877788e-01,7.015039919e-01,1.828839793e-06,8.408845135e-01,7.016921082e-01,1.876070640e-06,8.299236314e-01
+34,2.850000000e+00,UP_FORCE_RAMP,1791454951367364720,-4.112975958e-05,2.230950547e-06,1.581830192e-04,-3.387954298e-05,2.778784716e-07,1.435723338e-04,-3.383519006e-05,3.560239886e-07,1.430906486e-04,7.014967417e-01,3.781911869e-06,8.408991242e-01,7.015039919e-01,1.828839793e-06,8.408845135e-01,7.016920628e-01,1.874325828e-06,8.299237183e-01
+35,2.933333333e+00,UP_FORCE_RAMP,1791454951487961449,-3.844003106e-05,-1.870641549e-06,1.677227725e-04,-3.763243326e-05,6.036910845e-06,1.659190288e-04,-3.758303863e-05,6.094716236e-06,1.651933246e-04,7.014994315e-01,-3.196802277e-07,8.409086640e-01,7.015002390e-01,7.587872166e-06,8.409068602e-01,7.016883150e-01,7.613018075e-06,8.299458209e-01
+36,3.033333333e+00,UP_FORCE_RAMP,1791454951638351721,-4.161362800e-05,1.506956329e-06,1.743236209e-04,-3.763243326e-05,6.036910845e-06,1.659190288e-04,-3.761992267e-05,6.094694260e-06,1.652867701e-04,7.014962579e-01,3.057917650e-06,8.409152648e-01,7.015002390e-01,7.587872166e-06,8.409068602e-01,7.016882781e-01,7.612996099e-06,8.299459144e-01
+37,3.100000000e+00,UP_FORCE_RAMP,1791454951737531768,-4.062996970e-05,2.679039498e-06,1.789108901e-04,-3.763243326e-05,6.036910845e-06,1.659190288e-04,-3.764165542e-05,6.094372485e-06,1.653411552e-04,7.014972415e-01,4.230000819e-06,8.409198521e-01,7.015002390e-01,7.587872166e-06,8.409068602e-01,7.016882564e-01,7.612674324e-06,8.299459688e-01
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+41,3.433333333e+00,UP_FORCE_RAMP,1791454952239275545,-4.457899510e-05,4.148699829e-07,2.024478665e-04,-3.841995454e-05,1.046650233e-06,1.871472268e-04,-3.844935871e-05,1.120224773e-06,1.866733161e-04,7.014932925e-01,1.965831304e-06,8.409433891e-01,7.014994515e-01,2.597611554e-06,8.409280884e-01,7.016874487e-01,2.638526612e-06,8.299673009e-01
+42,3.533333333e+00,UP_FORCE_RAMP,1791454952388088491,-4.452668760e-05,-5.429040438e-07,2.089868933e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.434256757e-05,-5.264365343e-07,2.076654629e-04,7.014933448e-01,1.008057277e-06,8.409499281e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016815555e-01,9.918653047e-07,8.299882931e-01
+43,3.633333333e+00,UP_FORCE_RAMP,1791454952537852843,-4.538908616e-05,3.499082147e-06,2.108991107e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.437319390e-05,-5.260864047e-07,2.077692901e-04,7.014924824e-01,5.050043468e-06,8.409518403e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016815248e-01,9.922154342e-07,8.299883969e-01
+44,3.700000000e+00,UP_FORCE_RAMP,1791454952637464876,-4.399542301e-05,7.368229153e-06,2.197588127e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.438991419e-05,-5.255774215e-07,2.078240431e-04,7.014938761e-01,8.919190474e-06,8.409607000e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016815081e-01,9.927244174e-07,8.299884516e-01
+45,3.766666667e+00,UP_FORCE_RAMP,1791454952737618541,-4.327000917e-05,8.727270440e-06,2.253059742e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.440497991e-05,-5.249791241e-07,2.078730558e-04,7.014946015e-01,1.027823176e-05,8.409662472e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016814931e-01,9.933227148e-07,8.299885007e-01
+46,3.816666667e+00,UP_FORCE_RAMP,1791454952808253449,-4.754709974e-05,3.577999841e-06,2.219307437e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.441531262e-05,-5.245321404e-07,2.079064735e-04,7.014903244e-01,5.128961162e-06,8.409628719e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016814827e-01,9.937696985e-07,8.299885341e-01
+47,3.900000000e+00,UP_FORCE_RAMP,1791454952937809442,-4.518520624e-05,4.881927868e-06,2.267337681e-04,-4.430787015e-05,-6.456921731e-07,2.084110272e-04,-4.443089391e-05,-5.238395627e-07,2.079564977e-04,7.014926863e-01,6.432889189e-06,8.409676750e-01,7.014935636e-01,9.052691479e-07,8.409493522e-01,7.016814671e-01,9.944622762e-07,8.299885841e-01
+48,3.966666667e+00,UP_FORCE_RAMP,1791454953037633344,-4.472152845e-05,3.540673327e-06,2.304612887e-04,-4.565642107e-05,9.955197655e-06,2.287416987e-04,-4.577284699e-05,9.988364155e-06,2.281256185e-04,7.014931500e-01,5.091634648e-06,8.409714025e-01,7.014922151e-01,1.150615898e-05,8.409696829e-01,7.016801252e-01,1.150666599e-05,8.300087532e-01
+49,4.066666667e+00,UP_FORCE_RAMP,1791454953188141155,-4.702797899e-05,6.493657178e-06,2.334629633e-04,-4.565642107e-05,9.955197655e-06,2.287416987e-04,-4.579077918e-05,9.992427800e-06,2.282070572e-04,7.014908435e-01,8.044618499e-06,8.409744042e-01,7.014922151e-01,1.150615898e-05,8.409696829e-01,7.016801073e-01,1.151072964e-05,8.300088347e-01
+50,4.150000000e+00,UP_FORCE_HOLD,1791454953307411973,-4.749337779e-05,5.216652015e-06,2.334680424e-04,-4.565642107e-05,9.955197655e-06,2.287416987e-04,-4.580358635e-05,9.994351862e-06,2.282647113e-04,7.014903781e-01,6.767613336e-06,8.409744092e-01,7.014922151e-01,1.150615898e-05,8.409696829e-01,7.016800945e-01,1.151265370e-05,8.300088923e-01
+51,4.250000000e+00,UP_FORCE_HOLD,1791454953467586439,-4.632485898e-05,3.938613917e-06,2.410874097e-04,-4.565642107e-05,9.955197655e-06,2.287416987e-04,-4.581691566e-05,9.996202612e-06,2.283242544e-04,7.014915466e-01,5.489575239e-06,8.409820286e-01,7.014922151e-01,1.150615898e-05,8.409696829e-01,7.016800811e-01,1.151450445e-05,8.300089519e-01
+52,4.333333333e+00,UP_FORCE_HOLD,1791454953588328019,-4.706089355e-05,2.801988703e-06,2.422641436e-04,-4.565642107e-05,9.955197655e-06,2.287416987e-04,-4.582657996e-05,9.997486524e-06,2.283669641e-04,7.014908106e-01,4.352950024e-06,8.409832053e-01,7.014922151e-01,1.150615898e-05,8.409696829e-01,7.016800715e-01,1.151578836e-05,8.300089946e-01
+53,4.450000000e+00,UP_FORCE_HOLD,1791454953767083341,-4.598728573e-05,2.071201357e-06,2.496495579e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.571193903e-05,2.516257527e-06,2.471133899e-04,7.014918842e-01,3.622162678e-06,8.409905907e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801861e-01,4.034559366e-06,8.300277410e-01
+54,4.533333333e+00,UP_FORCE_HOLD,1791454953887965347,-4.497285579e-05,5.874504890e-06,2.529164127e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.571915815e-05,2.516314945e-06,2.471711566e-04,7.014928986e-01,7.425466211e-06,8.409938576e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801789e-01,4.034616784e-06,8.300277988e-01
+55,4.616666667e+00,UP_FORCE_HOLD,1791454954010329402,-4.484779874e-05,6.694027748e-06,2.555859436e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.572589823e-05,2.517695083e-06,2.472204911e-04,7.014930237e-01,8.244989069e-06,8.409965271e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801721e-01,4.035996921e-06,8.300278481e-01
+56,4.716666667e+00,UP_FORCE_HOLD,1791454954167420574,-4.431951992e-05,1.508469517e-06,2.605340106e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.573305320e-05,2.519507839e-06,2.472713074e-04,7.014935520e-01,3.059430838e-06,8.410014752e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801650e-01,4.037809678e-06,8.300278989e-01
+57,4.783333333e+00,UP_FORCE_HOLD,1791454954267386372,-4.722449300e-05,5.089699499e-06,2.579367289e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.573730870e-05,2.520622602e-06,2.473008500e-04,7.014906470e-01,6.640660820e-06,8.409988779e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801607e-01,4.038924441e-06,8.300279285e-01
+58,4.850000000e+00,UP_SETTLE,1791454954367685510,-4.439623978e-05,-6.633247188e-07,2.660858006e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.574119824e-05,2.521636883e-06,2.473273649e-04,7.014934752e-01,8.876366023e-07,8.410070270e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801568e-01,4.039938722e-06,8.300279550e-01
+59,4.933333333e+00,UP_SETTLE,1791454954489841471,-4.424101346e-05,4.863288498e-06,2.672542566e-04,-4.557456508e-05,2.431092366e-06,2.477075496e-04,-4.574559882e-05,2.522789556e-06,2.473567251e-04,7.014936305e-01,6.414249819e-06,8.410081954e-01,7.014922969e-01,3.982053687e-06,8.409886487e-01,7.016801524e-01,4.041091395e-06,8.300279843e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_02/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9fe6a0c83d48dbc7011885fea696bf610bbff594
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,5.4600e-03,-7.4708e-03,2.4529e+00,-3.6245e-02,3.7156e-02,-1.4464e-05,3.3815e-04,-2.7805e-05,7.6294e-06,2.9355e-06,2.3194e-05,-1.4727e-07,3.3938e-04,2.3379e-05
+1,1.0000e-01,UP_FORCE_RAMP,2.1410e-05,7.3925e-03,-7.6051e-03,2.4530e+00,-3.6230e-02,3.7290e-02,-1.5076e-05,2.2706e-03,-1.6212e-04,8.9407e-05,1.7948e-05,1.5670e-04,-7.5888e-07,2.2782e-03,1.5773e-04
+2,2.0000e-01,UP_FORCE_RAMP,3.9031e-05,1.5057e-02,-8.1486e-03,2.4535e+00,-3.6167e-02,3.7831e-02,-1.5510e-05,9.9355e-03,-7.0569e-04,6.1274e-04,8.0906e-05,6.9788e-04,-1.1931e-06,9.9794e-03,7.0256e-04
+3,3.1667e-01,UP_FORCE_RAMP,6.1913e-05,1.3745e-02,-8.2977e-03,2.4534e+00,-3.6157e-02,3.7753e-02,-1.5295e-05,8.6233e-03,-8.5471e-04,5.1689e-04,9.1337e-05,6.1966e-04,-9.7774e-07,8.6809e-03,6.2636e-04
+4,4.3333e-01,UP_FORCE_RAMP,8.2510e-05,1.4022e-02,-8.3050e-03,2.4534e+00,-3.6156e-02,3.7776e-02,-1.4589e-05,8.9005e-03,-8.6206e-04,5.2643e-04,9.2667e-05,6.4321e-04,-2.7238e-07,8.9576e-03,6.4985e-04
+5,5.5000e-01,UP_FORCE_RAMP,1.0226e-04,1.4822e-02,-8.2629e-03,2.4535e+00,-3.6158e-02,3.7833e-02,-1.3443e-05,9.7000e-03,-8.1990e-04,5.8413e-04,9.0800e-05,7.0024e-04,8.7396e-07,9.7521e-03,7.0610e-04
+6,6.3333e-01,UP_FORCE_RAMP,1.2452e-04,1.6938e-02,-8.3196e-03,2.4537e+00,-3.6149e-02,3.8005e-02,-3.7923e-06,1.1816e-02,-8.7660e-04,7.4291e-04,9.8959e-05,8.7147e-04,1.0525e-05,1.1872e-02,8.7714e-04
+7,7.0000e-01,UP_FORCE_RAMP,1.4283e-04,1.7172e-02,-8.2919e-03,2.4537e+00,-3.6151e-02,3.8020e-02,-3.4603e-06,1.2051e-02,-8.4897e-04,7.4291e-04,9.7163e-05,8.8674e-04,1.0857e-05,1.2103e-02,8.9212e-04
+8,8.0000e-01,UP_FORCE_RAMP,1.6734e-04,1.7635e-02,-8.2378e-03,2.4537e+00,-3.6155e-02,3.8050e-02,-2.7607e-06,1.2513e-02,-7.9487e-04,7.6580e-04,9.3672e-05,9.1714e-04,1.1556e-05,1.2562e-02,9.2198e-04
+9,9.0000e-01,UP_FORCE_RAMP,1.8511e-04,1.8152e-02,-8.1777e-03,2.4537e+00,-3.6159e-02,3.8085e-02,-1.8205e-06,1.3031e-02,-7.3475e-04,8.0347e-04,8.9813e-05,9.5148e-04,1.2496e-05,1.3076e-02,9.5579e-04
+10,1.0500e+00,UP_FORCE_RAMP,2.0628e-04,1.9448e-02,-8.0557e-03,2.4538e+00,-3.6167e-02,3.8181e-02,9.0592e-06,1.4327e-02,-6.1272e-04,9.2936e-04,8.1666e-05,1.0483e-03,2.3376e-05,1.4370e-02,1.0517e-03
+11,1.1333e+00,UP_FORCE_RAMP,2.2744e-04,2.3700e-02,-7.5142e-03,2.4433e+00,-3.6202e-02,3.8466e-02,1.0642e-05,1.8578e-02,-7.1269e-05,-9.6180e-03,4.6410e-05,1.3325e-03,2.4959e-05,2.0920e-02,1.3335e-03
+12,1.2333e+00,UP_FORCE_RAMP,2.4804e-04,2.3509e-02,-7.5086e-03,2.4441e+00,-3.6203e-02,3.8458e-02,1.1078e-05,1.8388e-02,-6.5687e-05,-8.8515e-03,4.5538e-05,1.3252e-03,2.5395e-05,2.0407e-02,1.3263e-03
+13,1.2833e+00,UP_FORCE_RAMP,2.6515e-04,2.3440e-02,-7.5005e-03,2.4445e+00,-3.6203e-02,3.8455e-02,1.1340e-05,1.8318e-02,-5.7580e-05,-8.3730e-03,4.4849e-05,1.3224e-03,2.5657e-05,2.0141e-02,1.3234e-03
+14,1.3500e+00,UP_FORCE_RAMP,2.8441e-04,2.3827e-02,-1.0540e-02,2.4353e+00,-3.6003e-02,3.8491e-02,1.2115e-05,1.8706e-02,-3.0966e-03,-1.7651e-02,2.4553e-04,1.3580e-03,2.6432e-05,2.5904e-02,1.3802e-03
+15,1.4000e+00,UP_FORCE_RAMP,3.0718e-04,2.3822e-02,-1.0271e-02,2.4356e+00,-3.6020e-02,3.8492e-02,1.2206e-05,1.8700e-02,-2.8280e-03,-1.7297e-02,2.2830e-04,1.3585e-03,2.6523e-05,2.5630e-02,1.3778e-03
+16,1.4667e+00,UP_FORCE_RAMP,3.3155e-04,2.3846e-02,-1.0112e-02,2.4364e+00,-3.6029e-02,3.8495e-02,1.2399e-05,1.8724e-02,-2.6693e-03,-1.6488e-02,2.1936e-04,1.3615e-03,2.6716e-05,2.5091e-02,1.3793e-03
+17,1.5500e+00,UP_FORCE_RAMP,3.5089e-04,2.3865e-02,-1.0018e-02,2.4377e+00,-3.6034e-02,3.8497e-02,1.2712e-05,1.8743e-02,-2.5753e-03,-1.5182e-02,2.1467e-04,1.3643e-03,2.7029e-05,2.4257e-02,1.3813e-03
+18,1.6333e+00,UP_FORCE_RAMP,3.7092e-04,2.3990e-02,-9.5602e-03,2.4385e+00,-3.6064e-02,3.8508e-02,1.3157e-05,1.8869e-02,-2.1173e-03,-1.4449e-02,1.8451e-04,1.3745e-03,2.7474e-05,2.3860e-02,1.3871e-03
+19,1.7500e+00,UP_FORCE_RAMP,3.9259e-04,2.4501e-02,-8.4356e-03,2.4356e+00,-3.6137e-02,3.8544e-02,1.3992e-05,1.9379e-02,-9.9264e-04,-1.7276e-02,1.1107e-04,1.4113e-03,2.8309e-05,2.5981e-02,1.4160e-03
+20,1.8500e+00,UP_FORCE_RAMP,4.1524e-04,2.4439e-02,-8.7409e-03,2.4340e+00,-3.6117e-02,3.8542e-02,1.4492e-05,1.9317e-02,-1.2980e-03,-1.8866e-02,1.3143e-04,1.4093e-03,2.8809e-05,2.7032e-02,1.4157e-03
+21,1.9333e+00,UP_FORCE_RAMP,4.2961e-04,2.4201e-02,-9.3697e-03,2.4318e+00,-3.6077e-02,3.8529e-02,1.4731e-05,1.9079e-02,-1.9267e-03,-2.1156e-02,1.7167e-04,1.3959e-03,2.9048e-05,2.8554e-02,1.4067e-03
+22,1.9833e+00,UP_FORCE_RAMP,4.5355e-04,2.4135e-02,-9.5823e-03,2.4315e+00,-3.6063e-02,3.8526e-02,1.4860e-05,1.9013e-02,-2.1393e-03,-2.1445e-02,1.8515e-04,1.3927e-03,2.9177e-05,2.8740e-02,1.4052e-03
+23,2.0833e+00,UP_FORCE_RAMP,4.7390e-04,2.3649e-02,-9.8367e-03,2.4276e+00,-3.6047e-02,3.8496e-02,1.5056e-05,1.8527e-02,-2.3938e-03,-2.5357e-02,2.0095e-04,1.3632e-03,2.9373e-05,3.1495e-02,1.3782e-03
+24,2.1500e+00,UP_FORCE_RAMP,4.9081e-04,2.3569e-02,-9.9094e-03,2.4272e+00,-3.6043e-02,3.8492e-02,1.5121e-05,1.8447e-02,-2.4664e-03,-2.5677e-02,2.0523e-04,1.3589e-03,2.9438e-05,3.1713e-02,1.3746e-03
+25,2.2167e+00,UP_FORCE_RAMP,5.1311e-04,2.3660e-02,-1.0100e-02,2.4260e+00,-3.6031e-02,3.8500e-02,1.5145e-05,1.8538e-02,-2.6568e-03,-2.6873e-02,2.1710e-04,1.3665e-03,2.9462e-05,3.2755e-02,1.3840e-03
+26,2.2833e+00,UP_FORCE_RAMP,5.3847e-04,2.3772e-02,-1.0238e-02,2.4248e+00,-3.6023e-02,3.8508e-02,1.5123e-05,1.8650e-02,-2.7955e-03,-2.8142e-02,2.2544e-04,1.3751e-03,2.9440e-05,3.3877e-02,1.3938e-03
+27,2.3333e+00,UP_FORCE_RAMP,5.5729e-04,2.3824e-02,-1.0310e-02,2.4247e+00,-3.6019e-02,3.8512e-02,1.5080e-05,1.8702e-02,-2.8668e-03,-2.8245e-02,2.2948e-04,1.3791e-03,2.9397e-05,3.3997e-02,1.3984e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..5858fdc2b875c160491ab34f9fd33db9ed4875a8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:f1aad6c9fbcdad00f2887d57892026422e55fc760b4bffb7049b8d14ca5c25fb
+size 3758080
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42ebb22fe53ee13b51817ea2343331528c46c297
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/fem_node.csv
@@ -0,0 +1,13381 @@
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+59,2.535000e+01,234,6.959116e-01,1.476539e-02,8.278569e-01,-4.961184e-05,-1.161146e-04,-8.789726e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,238,7.002723e-01,1.048155e-02,8.242616e-01,-1.853037e-05,-4.862693e-05,-8.769967e-03,-3.363625e-05,1.682292e-03,1.883054e-04
+59,2.535000e+01,239,6.967656e-01,1.808445e-02,8.296517e-01,-4.014128e-05,-1.154791e-04,-8.822471e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,241,6.929388e-01,1.491198e-02,8.234856e-01,-5.858219e-05,-1.221375e-04,-8.802640e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,243,6.961187e-01,1.625095e-02,8.287948e-01,-4.620401e-05,-1.153445e-04,-8.801879e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,244,6.921518e-01,1.640804e-02,8.227994e-01,-6.042859e-05,-1.238824e-04,-8.811437e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,245,7.004628e-01,1.821179e-02,8.308391e-01,-3.225879e-05,-1.119356e-04,-8.831582e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,246,6.976631e-01,1.608417e-02,8.123046e-01,-7.908753e-05,-1.344593e-04,-8.822593e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,247,7.053898e-01,1.639414e-02,8.121465e-01,-8.102899e-05,-1.316992e-04,-8.855447e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,248,6.939689e-01,1.295895e-02,8.210605e-01,-4.380354e-05,-1.147254e-04,-8.792911e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,249,7.020869e-01,1.623325e-02,8.114211e-01,-8.402964e-05,-1.343094e-04,-8.839624e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,250,7.113843e-01,1.804146e-02,8.224801e-01,-4.346477e-05,-1.187361e-04,-8.878318e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,251,7.114271e-01,1.806315e-02,8.196565e-01,-5.331282e-05,-1.222672e-04,-8.881330e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.535000e+01,252,6.959911e-01,1.361002e-02,8.269579e-01,-4.796009e-05,-1.151786e-04,-8.781405e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,254,7.094520e-01,1.504904e-02,8.254927e-01,-5.028625e-06,-1.170820e-04,-8.840037e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,256,7.007015e-01,1.825897e-02,8.110064e-01,-8.961377e-05,-1.357705e-04,-8.847666e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.535000e+01,266,6.947704e-01,1.375219e-02,8.256923e-01,-5.156008e-05,-1.174836e-04,-8.788095e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90bc6c600e61f71ccef3efa01d128c5bfebd77b2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+17106,1791455021172963942,9999562000000,1791455021167347008,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760433285079905,-0.004779310901113551,0.09028356563373341,0.999999984013676,0.0001219587327731761,-8.04217763930486e-05,4.5540283840968654e-05,0.6761,-0.0048,0.09030784526414587,1.0,0.0,0.0,0.0,-0.0209197217840304,-0.06935362195795222,0.48874739863589,-0.005257784996044372,0.0020177239479015514,7.107740497041843e-05,0.012809343110383002,-0.15876573635745414,0.36745144687192843,-0.008213806410517652,-0.0009246617460872312,-0.001430518878764861,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5319570970110511,-0.17446798386887172,0.4010918388225838,0.17647652455352494,-0.11827156960487464,-0.19164867655589618,0.721557885649919,0.48874739863589,0.32046604682733515,0.32046604682733515,0.4225200000000259,0,0,-7.500541098351553e-05,9.373545969826864e-05
+17226,1791455022172975148,10000562000000,1791455022171346644,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760446878933045,-0.004782492264839384,0.09020497698012153,0.9999999858121715,0.00010436869154881692,-7.922679067129661e-05,5.1466620968013404e-05,0.6761,-0.0048,0.09022800679560325,1.0,0.0,0.0,0.0,-0.029728811826093618,-0.07555590931874179,0.4923834272925407,-0.005259199492498557,0.0020176306081795175,6.706277124973758e-05,0.004000253068319782,-0.1649680237182437,0.3710874755285792,-0.008215220906971837,-0.0009247550858092653,-0.0014345335124855418,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.556264203162942,-0.14349224332575977,0.3730903021633166,0.17908653971918592,-0.10375547849345704,-0.16265785373903774,0.721557885649919,0.4923834272925407,0.34846758348660234,0.34846758348660234,0.48252000000003037,0,0,-8.547118375970696e-05,4.925053006943898e-05
+17349,1791455023198008796,10001587000000,1791455023195337603,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760476513908601,-0.004782439090804614,0.09011482857569171,0.9999999882532045,8.385516410223744e-05,-7.615223508156314e-05,4.588685771733391e-05,0.6761,-0.0048,0.0901340355842192,1.0,0.0,0.0,0.0,-0.02094154332515197,-0.06894847471788362,0.4987819015048074,-0.0052596308585958675,0.002015528316295892,6.29692904046005e-05,0.01278752156926143,-0.15836058911738554,0.37748594974084587,-0.008215652273069148,-0.0009268573776928904,-0.001438626993330679,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5320503894779645,-0.03899660325291086,0.3876310335340638,0.16075049817132328,-0.12265816190533137,-0.092138943564781,0.721557885649919,0.4987819015048074,0.33392685211585516,0.33392685211585516,0.5440199999999943,0,0,-0.00010120874586602569,-9.992482816046361e-05
+17469,1791455024198042718,10002587000000,1791455024191346056,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.676049755655579,-0.004783401430808148,0.09001584069971265,0.9999999888905454,7.547390845431012e-05,-7.233681061053844e-05,5.22766506583477e-05,0.6761,-0.0048,0.09002617678789604,1.0,0.0,0.0,0.0,-0.029847221324632432,-0.06856449618133428,0.5089111417819248,-0.005261322481304573,0.002013488658946293,5.370633300412573e-05,0.003881843569780968,-0.1579766105808362,0.38761519001796324,-0.008217343895777853,-0.00092889703504249,-0.0014478899507311537,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6031300498326934,-0.28369617103233324,0.3220432797191838,0.23842084715389045,-0.06604364705066208,-0.24845834132692635,0.721557885649919,0.5089111417819248,0.3995146059307352,0.3995146059307352,0.6040199999999433,0,0,-0.00011365394201512991,-9.140701440802967e-05
+17591,1791455025214967690,10003604000000,1791455025211337166,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760452205957732,-0.004785135082971809,0.08989448688867634,0.9999999900554079,5.235480134365673e-05,-7.929299359212123e-05,4.799629763342567e-05,0.6761,-0.0048,0.08990442816227948,1.0,0.0,0.0,0.0,-0.03013146033148891,-0.0729444823424874,0.5188279322104087,-0.005263908362394433,0.002011649633732799,4.566226283125711e-05,0.0035976045629244895,-0.16235659674198932,0.39753198044644716,-0.008219929776867713,-0.0009307360602559835,-0.0014559340209040223,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6323956889933512,-0.15146551005956516,0.2619853657722387,0.2087644430324678,-0.029183850971483252,-0.16390104834412972,0.721557885649919,0.5188279322104087,0.4595725198776803,0.4595725198776803,0.6650399999998914,0,0,-0.00012779115121102987,4.556225391619419e-05
+17709,1791455026197946928,10004587000000,1791455026191346056,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760437889973242,-0.004791417770712883,0.08975926731944063,0.9999999908595906,2.6219872906024092e-05,-8.03181509341211e-05,5.084482413487586e-05,0.6761,-0.0048,0.08977135200888563,1.0,0.0,0.0,0.0,-0.030263686870375884,-0.07789027987248379,0.5288453637194255,-0.005267819127512546,0.002010100742569903,3.753445399119651e-05,0.003465378024037516,-0.1673023942719857,0.4075494119554639,-0.008223840541985826,-0.0009322849514188796,-0.001464061829744083,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6769951382439126,-0.1820372145879808,0.19172749156789357,0.22092431373483068,0.02499439744873741,-0.1869568698653339,0.721557885649919,0.5288453637194255,0.5298303940820254,0.5298303940820254,0.7240199999998412,0,0,-0.00014260827255610652,9.708360090699415e-05
+17814,1791455027073020965,10005462000000,1791455027067346492,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760431309676245,-0.004795804701987581,0.08963273119043083,0.9999999869618617,8.948866033354093e-05,-8.20988505819039e-05,5.2637434552886226e-05,0.6761,-0.0048,0.08964190491949117,1.0,0.0,0.0,0.0,-0.03187756132030451,-0.06828445029004607,0.5389122156373315,-0.005266924042238901,0.0020069822987559137,2.923416433160751e-05,0.0018515035741088926,-0.15769656468954799,0.41761626387337,-0.00822294545671218,-0.0009354033952328691,-0.001472362119403672,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6677533571355139,-0.16736029810883485,0.2159182133752445,0.23718836905512364,-0.0032863567790962483,-0.15988322343368078,0.721557885649919,0.5389122156373315,0.5056396722746744,0.5056396722746744,0.7765199999997966,0,0,-0.00015331561986217513,-5.9707012971205134e-05
+17927,1791455028014993011,10006404000000,1791455028011347068,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760487970239882,-0.0047969417863718816,0.08949447055495406,0.9999999884035927,7.541400494850465e-05,-7.668001506263037e-05,5.539478117728856e-05,0.6761,-0.0048,0.08949281983838865,1.0,0.0,0.0,0.0,-0.030538968119605703,-0.07724995943503835,0.5401265184431575,-0.005296086480896918,0.0030210195652681164,4.4920019587143915e-05,0.0031900967748076975,-0.16666207383454026,0.418830566679196,-0.008252107895370198,7.863387127933362e-05,-0.0014566762641481355,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6776119390794146,-0.21688022328453033,0.18263380465752388,0.2583391280809409,0.013073977266567303,-0.19568353413757353,0.721557885649919,0.5401265184431575,0.5389240809923951,0.5389240809923951,0.8330399999997485,0,0,-0.0001645429290417485,-9.999999025923074e-05
+18027,1791455028848051664,10007237000000,1791455028847345932,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760483678506527,-0.00480495151216638,0.08935626530914906,0.9999999874962313,8.4018071196298e-05,-7.974063393115985e-05,5.507083363018578e-05,0.6761,-0.0048,0.08935300735764037,1.0,0.0,0.0,0.0,-0.03923602476904766,-0.0899083513126446,0.5444525742674835,-0.006317708889958399,0.0030403692184368222,3.1133379828341985e-05,-0.005506959874634257,-0.17932046571214652,0.423156622503522,-0.009273730304431679,9.79835244480395e-05,-0.0014704629039069374,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6791249197603931,-0.24198294297609022,0.19292139524967702,0.27541273991242315,-0.003177468918988701,-0.2061916567802201,0.721557885649919,0.5444525742674835,0.528636490400242,0.528636490400242,0.883019999999706,0,0,-0.00017401010337789036,-9.999999025923074e-05
+18119,1791455029614954628,10008004000000,1791455029607346385,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760517545367517,-0.004804362827307392,0.08922265646577494,0.9999999880370144,7.854274546749041e-05,-7.598548211014626e-05,5.853271939900177e-05,0.6761,-0.0048,0.08921645157478664,1.0,0.0,0.0,0.0,-0.03952895262539044,-0.08015243692199556,0.5588423273821962,-0.005302930475462446,0.003017457120206947,2.622669417369451e-05,-0.005799887730977037,-0.16956455132149748,0.4375463756182347,-0.008258951889935726,7.50714262181645e-05,-0.001475369589561585,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7559539889066637,-0.2209477630992811,0.06376711295909963,0.2749099561595203,0.09851835959211765,-0.19428033779251663,0.721557885649919,0.5588423273821962,0.6577907726908193,0.6577907726908193,0.9290399999996669,0,0,-0.00018253504153045862,9.999999025923074e-05
+18209,1791455030365057883,10008754000000,1791455030363346132,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760443255736825,-0.004814696743644774,0.08906988608155687,0.9999999886039334,5.424903488230951e-05,-8.785262450026298e-05,5.978257358844347e-05,0.6761,-0.0048,0.08907522703258225,1.0,0.0,0.0,0.0,-0.030205053692249132,-0.07921414065226559,0.5673647037303862,-0.006321303995716711,0.00303356897840126,1.0184889937761175e-05,0.003524011202164268,-0.1686262550517675,0.44606875196642465,-0.00927732541018999,9.11832844124776e-05,-0.0014914113937975182,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6962374640537529,-0.1630709888520224,0.07033877982277083,0.2619560311849427,0.0698697641042499,-0.15559236211963626,0.721557885649919,0.5673647037303862,0.6512191058271481,0.6512191058271481,0.9740399999996286,0,0,-0.00019468977999003502,1.0073166530775101e-05
+18296,1791455031090043795,10009479000000,1791455031087336625,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760388249540183,-0.004817722670807016,0.08891504775347518,0.9999999876961614,4.371335168197047e-05,-9.917764423388833e-05,6.560090913377333e-05,0.6761,-0.0048,0.088931504879465,1.0,0.0,0.0,0.0,-0.03876163678448322,-0.10204822315711523,0.5680940151898239,-0.007343947861072212,0.003054160391945687,-2.5340052442854744e-06,-0.005032571890069814,-0.19146033755661715,0.4467980634258624,-0.010299969275545492,0.00011177469795690454,-0.001504130288979565,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7102175422095153,-0.28568345933131695,0.06189699044975887,0.3060548308881732,0.07777156375394567,-0.23619650389598043,0.721557885649919,0.5680940151898239,0.6596608952001601,0.6596608952001601,1.0175399999995918,0,0,-0.00020344019030091166,-4.211108825392103e-05
+18373,1791455031730979889,10010120000000,1791455031727336661,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760360531093306,-0.004818991261184064,0.08877704483650162,0.9999999871927273,4.006958200787148e-05,-0.00010406012045563095,6.79950697286742e-05,0.6761,-0.0048,0.08879683477231413,1.0,0.0,0.0,0.0,-0.038853831459290514,-0.10100716531834036,0.5680887658175435,-0.007343766616406976,0.0030540610779351135,-2.542031075483892e-06,-0.005124766564877112,-0.19041927971784228,0.44679281405358195,-0.010299788030880256,0.00011167538394633081,-0.0015041383148107633,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7048711035098081,-0.3021123207293082,0.0765387042774733,0.3139354567399827,0.061756481554607286,-0.24766307697565648,0.721557885649919,0.5680887658175435,0.6450191813724456,0.6450191813724456,1.055999999999559,0,0,-0.0002183748690584838,-9.99963681566129e-05
+18459,1791455032447960680,10010837000000,1791455032443346519,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.676037531034852,-0.004829093911888812,0.08861680969634694,0.9999999872050913,3.545977939978052e-05,-0.0001014342917040065,7.40700354546505e-05,0.6761,-0.0048,0.08863237010934345,1.0,0.0,0.0,0.0,-0.040813140933394734,-0.10128365379939508,0.5881121189242736,-0.0073476086981981385,0.0030498252211760566,-1.8978609028040896e-05,-0.007084076038981337,-0.190695768198897,0.4668161671603121,-0.010303630112671418,0.00010743952718727391,-0.0015205748927633203,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6873135220904293,-0.23660317129434405,0.045523014009242434,0.30714651844337665,0.07075701505659653,-0.2013936628815371,0.721557885649919,0.5881121189242736,0.6760348716406765,0.6760348716406765,1.0990199999995225,0,0,-0.000237864860706842,-9.990742541455262e-05
+18537,1791455033098078581,10011487000000,1791455033095346815,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760352346419757,-0.00482924244511699,0.08845374853930038,0.9999999792795796,0.00012630231873530238,-0.00010592118745898542,7.557864107358624e-05,0.6761,-0.0048,0.08847292135305838,1.0,0.0,0.0,0.0,-0.04462352913197533,-0.09129455203868955,0.587617169757755,-0.007373747374232213,0.004062398804582081,-3.5266088011494737e-06,-0.01089446423756193,-0.18070666643819147,0.46632121799379345,-0.010329768788705493,0.0011200131105932978,-0.001505122892536429,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7211994802815391,-0.24103068548010353,0.035118898155853895,0.30329201936430844,0.08467606134325342,-0.2175195849175982,0.721557885649919,0.587617169757755,0.6864389874940651,0.6864389874940651,1.1380199999994893,0,0,-0.00025362815822135696,-7.0110801912665e-05
+18609,1791455033698044148,10012087000000,1791455033691346725,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760328902744874,-0.004832119190809151,0.08829418649097329,0.9999999824716843,9.160544403597059e-05,-0.00011039893698498066,7.694162035846742e-05,0.6761,-0.0048,0.08831522490297858,1.0,0.0,0.0,0.0,-0.04462400067154673,-0.0914644136029523,0.587616096929329,-0.007373751418570667,0.00406241731508858,-3.452372964963526e-06,-0.010894935777133333,-0.1808765280024542,0.4663201451653675,-0.010329772833043947,0.001120031621099797,-0.001505048656700243,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7405757281768764,-0.18363270434028028,-0.00924983956351977,0.3084702788608733,0.11305827950937715,-0.16808719278543632,0.721557885649919,0.587616096929329,0.7308077252134387,0.7308077252134387,1.1740199999994587,0,0,-0.00027342413868529293,7.572498801697932e-05
+18678,1791455034273020378,10012662000000,1791455034271346729,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760310442634108,-0.004832520015571555,0.08812761271905276,0.9999999838920558,6.714897542035575e-05,-0.00011364095637042407,7.896518612786891e-05,0.6761,-0.0048,0.08815306968473223,1.0,0.0,0.0,0.0,-0.04827707528012815,-0.0931977855727261,0.5880968475032734,-0.0073739845538261985,0.004062571973795724,-4.129287440937223e-06,-0.014548010385714752,-0.182609899972228,0.4668008957393119,-0.010330005968299479,0.0011201862798069413,-0.0015057255711762166,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7489287897420088,-0.14183249913271925,-0.07691116565774996,0.3011498948135976,0.156321432761347,-0.13999442435375686,0.721557885649919,0.5880968475032734,0.7984690513076689,0.7984690513076689,1.2085199999994294,0,0,-0.0002918096966744458,9.950403975634287e-05
+18743,1791455034814962953,10013204000000,1791455034811346867,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760287712360111,-0.0048405295590533545,0.08796350122647495,0.999999984080816,4.324014321690614e-05,-0.00011898410158958074,8.517221269080124e-05,0.6761,-0.0048,0.08799043692010017,1.0,0.0,0.0,0.0,-0.048138983016841615,-0.0992785608957917,0.5881162511987584,-0.007374995366759415,0.004063147776268757,-4.11759455167123e-06,-0.014409918122428214,-0.18869067529529363,0.46682029943479686,-0.010331016781232695,0.0011207620822799747,-0.0015057138782869506,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7158939592642656,-0.2767830999642075,0.057911433519110676,0.3543058735552325,0.058620446623284375,-0.23155883100745675,0.721557885649919,0.5881162511987584,0.6636464521308083,0.6636464521308083,1.2410399999994017,0,0,-0.00030888999267705684,-9.999999025923074e-05
+18803,1791455035314989134,10013704000000,1791455035307346557,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760241350162038,-0.004840103806694352,0.08779677104919595,0.9999999836585276,2.522273650312015e-05,-0.00012568913823867654,8.770326714230666e-05,0.6761,-0.0048,0.08783100932192475,1.0,0.0,0.0,0.0,-0.04794221812427598,-0.10088569103330308,0.5981499980363273,-0.007359432163551529,0.0034180160409745036,-2.2189618243014008e-05,-0.014213153229862578,-0.190297805432805,0.4768540462723658,-0.010315453578024809,0.00047563034698572064,-0.0015237859019782934,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6801515294548232,-0.25173550592376975,0.06287615782075102,0.35596350509953495,0.042880262622454965,-0.216200434528469,0.721557885649919,0.5981499980363273,0.6586817278291679,0.6586817278291679,1.2710399999993762,0,0,-0.000328111272730773,-9.999999025923074e-05
+18867,1791455035848036092,10014237000000,1791455035847346701,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760250609592591,-0.004848397181639268,0.08761997503590362,0.9999999822315375,5.213553778868166e-05,-0.00012590911466455436,9.16982536740017e-05,0.6761,-0.0048,0.08765062699592104,1.0,0.0,0.0,0.0,-0.048855115802428545,-0.08851246612018285,0.6001775911277335,-0.0063559831541716745,0.0040438577551254185,-3.0934364133445007e-06,-0.015126050908015144,-0.17792458051968477,0.4788816393637719,-0.009312004568644955,0.0011014720611366353,-0.001504689720148624,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7199262335801039,-0.28078349260391133,0.01893410172336744,0.3812285169427156,0.08058108510622647,-0.23009580834976578,0.721557885649919,0.6001775911277335,0.7026237839265516,0.7026237839265516,1.303019999999349,0,0,-0.0003489366412021396,-9.987325830096978e-05
+18923,1791455036314966390,10014704000000,1791455036311346457,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.67602548557847,-0.004846115425775763,0.08745493699893381,0.9999999794945227,8.954202918100417e-05,-0.00012601404178634793,9.2501377407524e-05,0.6761,-0.0048,0.08748345914881825,1.0,0.0,0.0,0.0,-0.045224125479535617,-0.08195858622842983,0.6141480128096014,-0.00635785902370462,0.004037055336648222,-1.3287922269951446e-05,-0.011495060585122216,-0.17137070062793175,0.49285206104563983,-0.0093138804381779,0.0010946696426594393,-0.0015148842060052309,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7017122230699251,-0.20277613954901433,0.011182903075084363,0.36675421501986866,0.07902710201817831,-0.1813145902994225,0.721557885649919,0.6141480128096014,0.7103749825748346,0.7103749825748346,1.3310399999993252,0,0,-0.0003677755413781334,-4.670170784404977e-05
+18979,1791455036781005354,10015170000000,1791455036775346332,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760209491637829,-0.004845948222159689,0.08727879927253078,0.9999999802899351,6.592801001393958e-05,-0.00013223140847324632,9.503339472958642e-05,0.6761,-0.0048,0.08730768593027197,1.0,0.0,0.0,0.0,-0.04887911958645807,-0.0778513754480239,0.6186105040321996,-0.0063580180466763,0.004036117074053417,-1.7325309746724256e-05,-0.015150054692044666,-0.16726348984752581,0.4973145522682381,-0.00931403946114958,0.0010937313800646335,-0.0015189215934820037,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.671390995056715,-0.1889210089163825,0.08796180902014326,0.37233403195673653,0.02139407778428367,-0.17706442611519557,0.721557885649919,0.6186105040321996,0.6335960766297757,0.6335960766297757,1.3589999999993014,0,0,-0.00038669282156486427,-9.999999025923074e-05
+19037,1791455037265043966,10015654000000,1791455037263346663,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.676022297254293,-0.0048467618061444895,0.08709114648173745,0.9999999817762889,4.1530898324393114e-05,-0.000128639753940745,9.806775627425308e-05,0.6761,-0.0048,0.08711502628972854,1.0,0.0,0.0,0.0,-0.04888012286991386,-0.07735924610337824,0.6185095312198079,-0.00635481418199044,0.0040360453276917325,-1.725083774421223e-05,-0.015151057975500457,-0.16677136050288016,0.4972135794558463,-0.00931083559646372,0.0010936596337029498,-0.0015188471214794916,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6557600381015434,-0.2312173656277142,0.11183536916259042,0.3978353395152117,-0.0027807036216780595,-0.20111566393912572,0.721557885649919,0.6185095312198079,0.6097225164873286,0.6097225164873286,1.3880399999992767,0,0,-0.000408667940317324,-9.999999025923074e-05
+19085,1791455037664982152,10016054000000,1791455037663346434,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760252341402327,-0.004847481631283502,0.08692833061747351,0.9999999816244004,5.2779239658838216e-05,-0.00012324151919521791,0.00010109373331194764,0.6761,-0.0048,0.08694808853636467,1.0,0.0,0.0,0.0,-0.05335208029940815,-0.07683048972671774,0.6189676744699659,-0.005348964783473305,0.004017669264438832,-3.5568392219367806e-06,-0.019623015404994743,-0.16624260412621966,0.4976717227060044,-0.008304986197946585,0.0010752835704500494,-0.0015051531229572162,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7183184531797173,-0.2522301350108639,0.03642543344118706,0.4153265207554419,0.06480145683017845,-0.21572777607219137,0.721557885649919,0.6189676744699659,0.6851324522087319,0.6851324522087319,1.4120399999992563,0,0,-0.00042663090480818253,-9.254625818322921e-05
+19135,1791455038081069663,10016470000000,1791455038075346820,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760234086740955,-0.004845423854858657,0.08674565622899745,0.9999999801351799,7.152013975896993e-05,-0.00012407768728408853,0.00010325745194921106,0.6761,-0.0048,0.086767322636359,1.0,0.0,0.0,0.0,-0.05868781803568359,-0.08106672336468304,0.6189537736501922,-0.005338888998562772,0.004017924576766026,-7.290283508756693e-06,-0.02495875314127019,-0.17047883776418496,0.4976578218862307,-0.008294910413036052,0.0010755388827772432,-0.0015088865672440361,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7012739724077586,-0.16298953815471598,0.01656003967967113,0.40809466508010234,0.07001118259402332,-0.1535304877869762,0.721557885649919,0.6189537736501922,0.7049978459702478,0.7049978459702478,1.4369999999992351,0,0,-0.0004390787198924314,-8.403974594557679e-08
+19183,1791455038481041248,10016870000000,1791455038479346409,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760224850158474,-0.004850026963286936,0.08657297677806317,0.9999999795293882,6.720905728401777e-05,-0.00012653447818173803,0.00010888551734268098,0.6761,-0.0048,0.08658864370818568,1.0,0.0,0.0,0.0,-0.049471826279605446,-0.08089254335243548,0.6211958848418131,-0.005339627861387277,0.004017391630964233,-6.848438735361029e-06,-0.015742761385192046,-0.1703046577519374,0.4998999330778515,-0.008295649275860557,0.0010750059369754497,-0.0015084447224706404,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6462067395552835,-0.2072355219924667,0.08549386568322347,0.4232729769894506,0.01141554922596908,-0.18580829757557707,0.721557885649919,0.6211958848418131,0.6360640199666955,0.6360640199666955,1.4609999999992147,0,0,-0.0004544833413597501,-9.999994862586731e-05
+19235,1791455038914988983,10017304000000,1791455038907346506,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760242819349307,-0.004845979660459648,0.08637693991069065,0.9999999809751887,5.399826851356179e-05,-0.0001238826664077173,0.00010597055507723617,0.6761,-0.0048,0.08638794851162655,1.0,0.0,0.0,0.0,-0.05868037126185144,-0.07448237550769782,0.6276684311214052,-0.005337678211746367,0.004016734818182794,-1.4319786820994477e-05,-0.024951306367438038,-0.16389448990719974,0.5063724793574437,-0.008293699626219647,0.0010743491241940115,-0.001515916070556274,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7539383571354636,-0.2512835019104413,0.10810133797812745,0.4548716279804108,0.02440138633898145,-0.2133539782825093,0.721557885649919,0.6276684311214052,0.6134565476717915,0.6134565476717915,1.4870399999991926,0,0,-0.0004695372320909482,-9.996104918664201e-05
+19279,1791455039281076149,10017670000000,1791455039279346214,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760204679760894,-0.0048517834181089885,0.08620061208364418,0.9999999806271399,5.25707538786385e-05,-0.0001280405686508532,0.00010502624899893845,0.6761,-0.0048,0.08621428945123769,1.0,0.0,0.0,0.0,-0.05827657610411549,-0.0738530033872587,0.6390040983468807,-0.005341658300483035,0.004012998082544522,-2.3470744708558103e-05,-0.024547511209702087,-0.16326511778676062,0.5177081465829191,-0.008297679714956315,0.0010706123885557389,-0.0015250670284438375,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7366807599921273,-0.2504577009901524,0.03137397444110164,0.463092933876923,0.06501529562535488,-0.21102509496434457,0.721557885649919,0.6390040983468807,0.6901839112088173,0.6901839112088173,1.508999999999174,0,0,-0.0004791459530209804,-9.099334760532258e-05
+19325,1791455039665035994,10018054000000,1791455039659346735,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760210953460525,-0.004857391445146574,0.08601932848910172,0.9999999791455271,7.359760188145352e-05,-0.00012469655157160492,0.00011039009437668937,0.6761,-0.0048,0.08602801184753761,1.0,0.0,0.0,0.0,-0.04950141147121384,-0.0738622985432105,0.6390105380077417,-0.0053417667280098845,0.004012892658740025,-2.2393592890058555e-05,-0.015772346576800437,-0.16327441294271242,0.5177145862437801,-0.008297788142483165,0.0010705069647512422,-0.001523989876625338,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8223309451763516,-0.2207439964692503,-0.014933826008003338,0.4587028733587065,0.1202767625992544,-0.19242729348146598,0.721557885649919,0.6390105380077417,0.7364917116579223,0.7364917116579223,1.5320399999991543,0,0,-0.0004904415621994909,9.426090050024811e-05
+19371,1791455040048011190,10018437000000,1791455040043347186,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.676020611139064,-0.0048557298914646595,0.0858328533934843,0.9999999805300245,5.8623937045643374e-05,-0.00012386451619738484,0.00010772015003118643,0.6761,-0.0048,0.08583904663133436,1.0,0.0,0.0,0.0,-0.049934205982341884,-0.07371080997878618,0.6390563934345527,-0.005341818398256926,0.004012801242444947,-2.2458579987829404e-05,-0.016205141087928483,-0.1631229243782881,0.5177604416705911,-0.008297839812730206,0.001070415548456164,-0.0015240548637231088,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7462725284706473,-0.1961562171043239,0.06651412485118255,0.462433032948644,0.04021516157994525,-0.1731636381364753,0.721557885649919,0.6390563934345527,0.6550437607987364,0.6550437607987364,1.5550199999991348,0,0,-0.0004969488324693946,-9.93733803841323e-05
+19412,1791455040390054272,10018779000000,1791455040387346451,DOWN_FORCE_DETACH,3,0.037,0.03700251132249832,0.6760135917809571,-0.004859562694410802,0.08565029599217651,0.999999979480172,4.844967335193772e-05,-0.0001332424501093029,0.00011127263175621784,0.6761,-0.0048,0.0856677532287996,1.0,0.0,0.0,0.0,-0.05021601380039875,-0.07387586726640158,0.6388242680799019,-0.005341832166761125,0.004012850530332394,-2.2422115423904616e-05,-0.01648694890598535,-0.1632879816659035,0.5175283163159403,-0.008297853581234405,0.0010704648363436113,-0.001524018399159184,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8293739210504175,-0.1312326033427683,0.010235913344432383,0.44360752410614407,0.09955286092168394,-0.13212009687501142,0.721557885649919,0.6388242680799019,0.7113219723054865,0.7113219723054865,1.5755399999991173,0,0,-0.0005035787279214762,-8.561227701620595e-05
+19455,1791455040748082882,10019137000000,1791455040747346432,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.676015534360787,-0.004858857214905301,0.085471082127192,0.9999999793064844,5.3106954221159075e-05,-0.00013171244257987192,0.00011252279340392259,0.6761,-0.0048,0.08548574742614147,1.0,0.0,0.0,0.0,-0.04946671509452539,-0.0660155645367203,0.6390794472674634,-0.00534070975162664,0.004012151788991729,-2.2410675726818735e-05,-0.01573765020011199,-0.15542767893622222,0.5177834955035018,-0.00829673116609992,0.001069766095002946,-0.0015240069594620982,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8492128129380847,-0.23490530202277216,0.03390189293262492,0.4786727824864222,0.08583511365282191,-0.19895471618276295,0.721557885649919,0.6390794472674634,0.687655992717294,0.687655992717294,1.597019999999099,0,0,-0.0005122634882906693,-9.999997638144293e-05
+19499,1791455041115012524,10019504000000,1791455041107346603,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760145844815593,-0.004856625219341785,0.08528250186143545,0.9999999786574238,6.024624836955241e-05,-0.00013425791597267955,0.00011168356114799373,0.6761,-0.0048,0.0852965449277951,1.0,0.0,0.0,0.0,-0.05744756836980659,-0.07422511850618466,0.629020482632022,-0.005340133403647744,0.004015020169132681,-1.525590492245819e-05,-0.023718503475393192,-0.16363723290568657,0.5077245308680605,-0.008296154818121024,0.0010726344751438982,-0.0015168521886577376,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.929701925041637,-0.270243216007349,-0.024485655382378187,0.49649461956753654,0.14227497982331458,-0.21760212479451502,0.721557885649919,0.629020482632022,0.7460435410322972,0.7460435410322972,1.6190399999990803,0,0,-0.0005192855238629704,-4.557930825352971e-05
+19541,1791455041465083829,10019854000000,1791455041463337904,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760196122384332,-0.004856442245743459,0.08511317088695425,0.9999999803510029,6.24579945136364e-05,-0.0001212514784108818,0.00011017230168663496,0.6761,-0.0048,0.08511424973622234,1.0,0.0,0.0,0.0,-0.049500462442283885,-0.06349106582941305,0.6490860388193666,-0.005312007374507112,0.004009589460283515,-3.0370121228285706e-05,-0.015771397547870488,-0.15290318022891497,0.527790087055405,-0.008268028788980392,0.001067203766294733,-0.0015319664049635651,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.887108710503446,-0.24637892144656753,-0.06138733632873029,0.49619643127554786,0.15071872325317107,-0.20104997470500213,0.721557885649919,0.6490860388193666,0.7829452219786492,0.7829452219786492,1.6400399999990625,0,0,-0.0005242701150473275,9.604583381251359e-05
+19583,1791455041815030018,10020204000000,1791455041807346864,DOWN_FORCE_DETACH,3,0.037,0.037001851946115494,0.6760151120069241,-0.004859443427853079,0.084930164526807,0.9999999795552691,6.1019377410093554e-05,-0.00012801795387077966,0.00011054575955570154,0.6761,-0.0048,0.08493055383791494,1.0,0.0,0.0,0.0,-0.04951245141955002,-0.07346097917020258,0.6490925215077468,-0.005327806964763671,0.0040104343859916885,-3.042723750224072e-05,-0.015783386525136618,-0.1628730935697045,0.5277965697437852,-0.008283828379236951,0.0010680486920029055,-0.0015320235212375201,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9421228447602608,-0.16343279324824997,0.008774812875426384,0.47549537359214583,0.11575156793065353,-0.14429427528649158,0.721557885649919,0.6490925215077468,0.7127830727744926,0.7127830727744926,1.6610399999990446,0,0,-0.0005257454825061389,-9.839086076291465e-05
+19626,1791455042167011137,10020556000000,1791455042163346730,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6760159521392953,-0.004859561844063551,0.08474892050955392,0.9999999799939662,5.409307335783671e-05,-0.0001258298063213328,0.00011267533356457356,0.6761,-0.0048,0.08474567994086142,1.0,0.0,0.0,0.0,-0.04988814000145421,-0.0698952288195028,0.6593154063416966,-0.004308169331914271,0.0029845869218573418,-2.8088662986117292e-05,-0.01615907510704081,-0.15930734321900472,0.538019454577735,-0.007264190746387551,4.220122786855905e-05,-0.0015296849467213967,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9719842632019161,-0.2712884735546565,-0.0752772252464061,0.5078159475895838,0.17639021429535212,-0.21527474842023503,0.721557885649919,0.6593154063416966,0.7968351108963251,0.7968351108963251,1.6701599999990369,0,0,-0.0005183563639057656,9.999999025923074e-05
+19668,1791455042517082851,10020906000000,1791455042515346634,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6760140663885928,-0.004862108675362272,0.08456929386254816,0.9999999798199195,5.420733728905016e-05,-0.00012674923364535835,0.00011313364324346806,0.6761,-0.0048,0.08456730896289608,1.0,0.0,0.0,0.0,-0.049985815833875465,-0.060260446158550834,0.6494976130738328,-0.004322347916934196,0.003990841919510873,-1.9375404559607897e-05,-0.016256750939462064,-0.14967256055805275,0.5282016613098712,-0.007278369331407476,0.0010484562255220905,-0.0015209716882948873,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.010872566798645,-0.2682414823269383,-0.1165070915812554,0.5061481111782405,0.21268811423827913,-0.20847589626579205,0.721557885649919,0.6494976130738328,0.8380649772311743,0.8380649772311743,1.6701599999990369,0,0,-0.0005008563673150349,9.999999025923074e-05
+19714,1791455042901060911,10021290000000,1791455042899346365,DOWN_SETTLE,3,0.037,0.03700251132249832,0.676010445898501,-0.004866148751033011,0.08437773969495911,0.9999999795428993,5.0903379257229636e-05,-0.0001327924369610557,0.00011014572168832951,0.6761,-0.0048,0.08437865691712707,1.0,0.0,0.0,0.0,-0.04875494277517296,-0.052313092224924806,0.63949428930267,-0.004315765515763469,0.0038566324312667138,-1.1998440326877868e-05,-0.015025877880759566,-0.14172520662442673,0.5181983375387085,-0.0072717869302367484,0.0009142467372779312,-0.0015135947240621573,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0904994331266256,-0.23621798460017102,-0.028976936863403784,0.49927037094171683,0.17494453371792135,-0.18710720963086105,0.721557885649919,0.63949428930267,0.7505348225133227,0.7505348225133227,1.6701599999990369,0,0,-0.0004816563710554903,9.999999025923074e-05
+19760,1791455043284058398,10021673000000,1791455043283346585,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6760100868109358,-0.004865511663041125,0.08420186073060047,0.9999999796823639,4.772303728071184e-05,-0.0001304002715802401,0.00011312124988885973,0.6761,-0.0048,0.08419784017629652,1.0,0.0,0.0,0.0,-0.04130474659309576,-0.07081519385523297,0.6395118985032316,-0.004295262871133201,0.003009916731674672,-2.5462917197378344e-05,-0.007575681698682361,-0.16022730825473488,0.5182159467392701,-0.0072512842856064805,6.75310376858893e-05,-0.0015270592009326578,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0545498456262443,-0.21673022833744054,-0.1116090464660033,0.49243972972457717,0.21306684485606472,-0.1719765863733423,0.721557885649919,0.6395118985032316,0.8331669321159223,0.8331669321159223,1.6701599999990369,0,0,-0.00046250637478620495,9.999999025923074e-05
+19809,1791455043691991446,10022081000000,1791455043687346368,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6760097348785804,-0.004867290506413558,0.08402052810847856,0.99999997995325,4.099918724692855e-05,-0.00013167356407271333,0.00011188164853368243,0.6761,-0.0048,0.08401328897457101,1.0,0.0,0.0,0.0,-0.04611363288486054,-0.06678930494368379,0.6350559983682471,-0.004292165509480134,0.002981474888020997,-2.29601656470096e-05,-0.01238456799044714,-0.1562014193431857,0.5137600466042855,-0.007248186923953414,3.908919403221437e-05,-0.001524556449382289,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1167678711544224,-0.21690520050130846,-0.08485996723340632,0.49793803243788565,0.2065110786860965,-0.16765533945506772,0.721557885649919,0.6350559983682471,0.8064178528833252,0.8064178528833252,1.6701599999990369,0,0,-0.0004421063787604388,9.999999025923074e-05
+19860,1791455044117092393,10022506000000,1791455044115346567,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6760094045781255,-0.004872395944471789,0.08384421454719211,0.9999999800875816,4.2226195535384134e-05,-0.00012980083652741712,0.00011241170766054252,0.6761,-0.0048,0.08382989876271604,1.0,0.0,0.0,0.0,-0.04212215822214527,-0.06113240565743813,0.6358690311746663,-0.004292885066659126,0.00298013016345442,-2.500310754137208e-05,-0.00839309332773187,-0.15054452005694005,0.5145730794107047,-0.007248906481132405,3.7744469465636874e-05,-0.0015265993912766515,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.129179072565769,-0.2616069345949243,-0.1845689064961793,0.5023589106724133,0.2692214095483169,-0.19967609590356541,0.721557885649919,0.6358690311746663,0.9061267921460983,0.9061267921460983,1.6701599999990369,0,0,-0.00042085638290026574,9.999999025923074e-05
+19910,1791455044534049373,10022923000000,1791455044531346220,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6760031854326722,-0.00487428170703214,0.08366622751626149,0.9999999792752281,3.612745694501929e-05,-0.0001383066107363112,0.00011161763387357086,0.6761,-0.0048,0.0836587384501977,1.0,0.0,0.0,0.0,-0.04049064728856652,-0.06176809889468682,0.6199658175092468,-0.004289376916255914,0.0029839415326708943,-9.825818240344602e-06,-0.006761582394153119,-0.15118021329418874,0.49866986574528527,-0.007245398330729194,4.155583868211154e-05,-0.001511422101975624,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2336287735353495,-0.22325706796886916,-0.17141524472967534,0.4980059715318578,0.2873240235293623,-0.1704898865794317,0.721557885649919,0.6199658175092468,0.8929731303795942,0.8929731303795942,1.6701599999990369,0,0,-0.0004000063869621665,9.999999025923074e-05
+19969,1791455045026093578,10023415000000,1791455045023336644,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6760043000449993,-0.004875746540839849,0.08347752933829505,0.9999999794864554,3.4149613395268993e-05,-0.00013545024433555167,0.00011382876885571009,0.6761,-0.0048,0.08346797460663097,1.0,0.0,0.0,0.0,-0.04636732171797005,-0.06397535689929004,0.6200904872300843,-0.004290837340299412,0.002983478413383893,-1.5586912219670837e-05,-0.012638256823556644,-0.15338747129879196,0.49879453546612273,-0.007246858754772692,4.109271939511026e-05,-0.0015171831959549503,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2110844971529313,-0.23351960115208745,-0.1849013179261943,0.5011518087016442,0.2857623145098526,-0.17553395518782597,0.721557885649919,0.6200904872300843,0.9064592035761132,0.9064592035761132,1.6701599999990369,0,0,-0.000375406391754625,9.999999025923074e-05
+20024,1791455045484067494,10023873000000,1791455045483345892,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6760042085482635,-0.00487859454750401,0.0833079397186785,0.9999999799157304,2.6856877632859847e-05,-0.0001365589973800647,0.00011064244987005866,0.6761,-0.0048,0.08330127112818349,1.0,0.0,0.0,0.0,-0.040490039177849185,-0.062301118131858096,0.619476373826665,-0.004289344005978576,0.0029839804674229964,-9.68198319084828e-06,-0.006760974283435788,-0.15171323253136001,0.4981804220627034,-0.007245365420451855,4.1594773434213636e-05,-0.0015112782669261277,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2970086938758902,-0.23292612591243736,-0.16617882695310354,0.499791326878993,0.29107947576803334,-0.17332596184930077,0.721557885649919,0.619476373826665,0.8877367126030224,0.8877367126030224,1.6701599999990369,0,0,-0.0003525063962158973,9.999999025923074e-05
+20079,1791455045942100722,10024331000000,1791455045935346783,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6759979918831721,-0.004885115437684333,0.08314493897552457,0.9999999789487036,1.894871096067575e-05,-0.00014473119279803618,0.00011063130243712934,0.6761,-0.0048,0.08314505584769274,1.0,0.0,0.0,0.0,-0.040418544105176264,-0.06817254771518838,0.6191545326328395,-0.0042904580510655516,0.002984659453551947,-9.57507941958132e-06,-0.006689479210762864,-0.1575846621146903,0.4978585808688779,-0.0072464794655388316,4.22737595631644e-05,-0.0015111713631548607,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3126145473306685,-0.2400479543962561,-0.27226131161654393,0.5136893371328877,0.36104065873720886,-0.16827298751830527,0.721557885649919,0.6191545326328395,0.993819197266463,0.993819197266463,1.6701599999990369,0,0,-0.00032960640067716964,9.999999025923074e-05
+20143,1791455046476071677,10024865000000,1791455046471346418,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6759960173017852,-0.0048827783428139065,0.0829740337599348,0.9999999772037814,3.2156493713194684e-05,-0.00014694101904776991,0.00012003998520614936,0.6761,-0.0048,0.08297616157833972,1.0,0.0,0.0,0.0,-0.04046797947831961,-0.06215183951688277,0.6094005278625672,-0.0042874886045007506,0.002986176820563442,-1.5588406230588204e-06,-0.006738914583906208,-0.1515639539163847,0.48810457609860564,-0.00724351001897403,4.3791126574659026e-05,-0.0015031551243583382,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3289984631653777,-0.2499061457470352,-0.25763120722653515,0.5051695815697143,0.3538577014470168,-0.17751890983696095,0.721557885649919,0.6094005278625672,0.9791890928764542,0.9791890928764542,1.6701599999990369,0,0,-0.0003029064058787404,9.999999025923074e-05
+20214,1791455047067010281,10025456000000,1791455047063346185,DOWN_SETTLE,3,0.037,0.03700251132249832,0.675995063424407,-0.004887871702798122,0.08280580300652522,0.9999999784481152,1.706447042637185e-05,-0.00014768616940623804,0.00011155372233710951,0.6761,-0.0048,0.08280586114076137,1.0,0.0,0.0,0.0,-0.031975170133141426,-0.058738969884694736,0.5894002079298526,-0.00428291500698608,0.0029899595227187805,1.5652260720523843e-05,0.0017538947612719732,-0.14815108428419665,0.4681042561658911,-0.007238936421459359,4.757382872999772e-05,-0.0014859440230147556,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3879460197868105,-0.24037532491607932,-0.20272027170461795,0.5059154896040765,0.3283842757367445,-0.16869035460157433,0.721557885649919,0.5894002079298526,0.9242781573545369,0.9242781573545369,1.6701599999990369,0,0,-0.00027335641163553506,9.999999025923074e-05
+20292,1791455047717099020,10026106000000,1791455047715346291,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6759891948644257,-0.004884659859853183,0.08263145313840115,0.9999999770900614,2.000377880693931e-05,-0.00015706977937890483,0.00011041591570144412,0.6761,-0.0048,0.08263872572113737,1.0,0.0,0.0,0.0,-0.03970624957423181,-0.059240452652466774,0.5793865884114606,-0.004281376639524329,0.0029923925484437934,2.2805935110012518e-05,-0.005977184679818406,-0.1486525670519687,0.45809063664749905,-0.007237398053997608,5.0006854455010654e-05,-0.001478790348625267,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4257944486175451,-0.21006280207090838,-0.2978088942075634,0.49441027392603465,0.3946641043408611,-0.1466078847944179,0.721557885649919,0.5793865884114606,1.0193667798574824,1.0193667798574824,1.6701599999990369,0,0,-0.00024085641796703505,9.999999025923074e-05
+20372,1791455048384122734,10026773000000,1791455048383345898,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6759799550898606,-0.004886404107389087,0.08246965247377781,0.999999975309989,1.6725439151478108e-05,-0.00016846425061807212,0.00011028572786760133,0.6761,-0.0048,0.08248918003818333,1.0,0.0,0.0,0.0,-0.027419852599789456,-0.06773183904432595,0.5690315071097655,-0.005272675237126488,0.002000285393216565,5.709380138292598e-06,0.006309212294623945,-0.15714395344382787,0.4477355553458039,-0.008228696651599768,-0.000942100300772218,-0.0014958869035969868,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4145664792235126,-0.17815771448709067,-0.3574851271681823,0.4838323911390166,0.42596889559983137,-0.12247435265237977,0.721557885649919,0.5690315071097655,1.0790430128181012,1.0790430128181012,1.6701599999990369,0,0,-0.00020750642446412814,9.999999025923074e-05
+20457,1791455049092109922,10027481000000,1791455049091346151,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6759670777842978,-0.004892262524752909,0.08231679598424278,0.9999999720204058,6.9438456111567476e-06,-0.00018589220888735414,0.00011312790009632156,0.6761,-0.0048,0.08235477938721793,1.0,0.0,0.0,0.0,-0.02503245672526115,-0.08465782463461502,0.5589368387616906,-0.005272867734104054,0.002003707821597626,1.3855819437860566e-05,0.00869660816915225,-0.17406993903411694,0.43764088699772913,-0.008228889148577334,-0.0009386778723911569,-0.0014877404642974189,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4561625240634184,-0.2945535043115089,-0.2986838415620938,0.5145657948423458,0.3996279086402623,-0.20135493795293155,0.721557885649919,0.5589368387616906,1.0202417272120128,1.0202417272120128,1.6701599999990369,0,0,-0.00017210643136059278,9.999999025923074e-05
+20568,1791455050017064528,10028406000000,1791455050011347155,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6759817275760658,-0.00488431685227248,0.08218724541190972,0.9999999734857717,1.8077591498038693e-05,-0.00017481518491850213,0.00011655115759147179,0.6761,-0.0048,0.08221694843403765,1.0,0.0,0.0,0.0,-0.04206505739526951,-0.05227566231584674,0.5273627778658405,-0.003251388378735894,0.002990921249628934,7.508465560764153e-05,-0.008335992500856109,-0.14168777671534866,0.40606682610187894,-0.006207409793209173,4.853555564015126e-05,-0.001426511628127638,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5360177090794846,-0.19455329113779124,-0.19351411989906606,0.48713106679280566,0.34245316264413317,-0.12822378820524208,0.721557885649919,0.5273627778658405,0.915072005548985,0.915072005548985,1.6701599999990369,0,0,-0.00012585644037080434,9.999999025923074e-05
+20696,1791455051084067279,10029473000000,1791455051079346599,DOWN_SETTLE,3,0.037,0.03700251132249832,0.6759671660782041,-0.004882335801484625,0.08206004205192985,0.9999999680665828,3.689989965093479e-05,-0.0001966116594443697,0.000123660626643455,0.6761,-0.0048,0.08211109515661193,1.0,0.0,0.0,0.0,-0.030524318968718638,-0.0661737380515249,0.49914369022887317,-0.004239613350116859,0.0019968112298211155,7.302339004050138e-05,0.0032047459256947623,-0.15558585245102682,0.3778477384649116,-0.007195634764590138,-0.0009455744641676673,-0.001428572893694778,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4941639261631248,-0.21478939050247975,-0.27830732992964985,0.4907034791874463,0.3845757781735148,-0.13891384163715514,0.721557885649919,0.49914369022887317,0.9998652155795689,0.9998652155795689,1.6701599999990369,0,0,-7.250645076420514e-05,9.999999025923074e-05
+20846,1791455052334122969,10030723000000,1791455052327337350,DOWN_SETTLE,3,0.037,0.037001851946115494,0.6759602885207878,-0.004880139389597195,0.08199257228019166,0.9999999656967234,4.1846254614592246e-05,-0.00020753324313686332,0.00012340283809620834,0.6761,-0.0048,0.0820594933355406,1.0,0.0,0.0,0.0,-0.02998661377565024,-0.07109937685823639,0.4398184921369893,-0.005248486870194762,0.0020286937528581615,0.00010942789973273303,0.0037424511187631607,-0.1605114912577383,0.3185225403730278,-0.008204508284668042,-0.0009136919411306212,-0.0013921683840025464,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4232831131845987,-0.17809657782085203,-0.14048847013118465,0.47470567014062043,0.27958132583028833,-0.12176707599869026,0.721557885649919,0.4398184921369893,0.8620463557811036,0.8620463557811036,1.6701599999990369,0,0,-1.0006462940166711e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56a91551bf1df8c709a81e32ca23c91d4e65a86e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e17aa493697e1d35a544a3fa9e98ed1a168d2a10
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.283333333e+00,DOWN_FORCE_DETACH,1791455019046939625,5.349729146e-05,-1.116455284e-05,-3.847951328e-04,5.171620448e-05,-1.652788610e-05,-3.841349382e-04,5.193751273e-05,-1.624259564e-05,-3.823314514e-04,7.015913688e-01,-9.613591519e-06,8.403561461e-01,7.015895877e-01,-1.497692478e-05,8.403568062e-01,7.017778222e-01,-1.470244152e-05,8.293982845e-01
+6,3.950000000e+00,DOWN_FORCE_DETACH,1791455020045349435,5.301302863e-05,-2.396063219e-05,-4.801637126e-04,5.275360535e-05,-1.468871716e-05,-4.694161271e-04,5.273534590e-05,-1.436624578e-05,-4.677640940e-04,7.015908845e-01,-2.240967087e-05,8.402607775e-01,7.015906251e-01,-1.313775584e-05,8.402715251e-01,7.017786200e-01,-1.282609166e-05,8.293128519e-01
+7,4.700000000e+00,DOWN_FORCE_DETACH,1791455021175817680,5.182618300e-05,-2.227447813e-05,-5.651746476e-04,5.106426879e-05,-2.553295853e-05,-5.580491086e-04,5.076615455e-05,-2.517774594e-05,-5.564467021e-04,7.015896977e-01,-2.072351681e-05,8.401757665e-01,7.015889358e-01,-2.398199721e-05,8.401828921e-01,7.017766508e-01,-2.363759182e-05,8.292241693e-01
+8,5.366666667e+00,DOWN_FORCE_DETACH,1791455022175889360,5.309033269e-05,-2.807657634e-05,-6.427878466e-04,5.048835024e-05,-2.694975944e-05,-6.250871148e-04,4.993507358e-05,-2.658314498e-05,-6.236966413e-04,7.015909618e-01,-2.652561502e-05,8.400981533e-01,7.015883598e-01,-2.539879812e-05,8.401158541e-01,7.017758198e-01,-2.504299086e-05,8.291569194e-01
+9,6.050000000e+00,DOWN_FORCE_DETACH,1791455023196005384,5.354003591e-05,-3.004473841e-05,-7.354048805e-04,5.204799121e-05,-3.073393986e-05,-7.276011643e-04,5.129719637e-05,-3.038551662e-05,-7.260122400e-04,7.015914115e-01,-2.849377709e-05,8.400055363e-01,7.015899195e-01,-2.918297854e-05,8.400133400e-01,7.017771819e-01,-2.884536250e-05,8.290546038e-01
+10,6.716666667e+00,DOWN_FORCE_DETACH,1791455024196378846,5.733909015e-05,-3.077793912e-05,-8.342809397e-04,5.439483662e-05,-3.196851015e-05,-8.203902320e-04,5.340080695e-05,-3.162988555e-05,-8.188029678e-04,7.015952106e-01,-2.922697780e-05,8.399066602e-01,7.015922663e-01,-3.041754883e-05,8.399205510e-01,7.017792855e-01,-3.008973143e-05,8.289618130e-01
+11,7.400000000e+00,DOWN_FORCE_DETACH,1791455025216575636,5.299664713e-05,-3.400282869e-05,-9.554049577e-04,5.189214909e-05,-3.286365696e-05,-9.470764938e-04,5.045073846e-05,-3.245847022e-05,-9.450618424e-04,7.015908681e-01,-3.245186737e-05,8.397855362e-01,7.015897636e-01,-3.131269564e-05,8.397938647e-01,7.017763354e-01,-3.091831610e-05,8.288355542e-01
+12,8.050000000e+00,DOWN_FORCE_DETACH,1791455026195427671,5.061960894e-05,-3.644225838e-05,-1.088653060e-03,4.881657759e-05,-3.654896185e-05,-1.084083792e-03,4.691571146e-05,-3.608309601e-05,-1.081861920e-03,7.015884911e-01,-3.489129706e-05,8.396522881e-01,7.015866881e-01,-3.499800053e-05,8.396568574e-01,7.017728004e-01,-3.454294189e-05,8.286987541e-01
+13,8.633333333e+00,DOWN_FORCE_DETACH,1791455027076704879,5.147584956e-05,-4.340275827e-05,-1.213558166e-03,5.113928164e-05,-4.038359303e-05,-1.210090815e-03,4.875233175e-05,-3.983386267e-05,-1.207848635e-03,7.015893473e-01,-4.185179695e-05,8.395273830e-01,7.015890108e-01,-3.883263170e-05,8.395308504e-01,7.017746370e-01,-3.829370855e-05,8.285727674e-01
+14,9.250000000e+00,DOWN_FORCE_DETACH,1791455028017039935,5.312325858e-05,-4.422923600e-05,-1.358730548e-03,5.138837915e-05,-4.215543140e-05,-1.340222247e-03,4.858405337e-05,-4.160247300e-05,-1.338228176e-03,7.015909947e-01,-4.267827468e-05,8.393822106e-01,7.015892599e-01,-4.060447008e-05,8.394007189e-01,7.017744687e-01,-4.006231889e-05,8.284423878e-01
+15,9.800000000e+00,DOWN_FORCE_DETACH,1791455028844060599,5.740225471e-05,-4.381034511e-05,-1.489582871e-03,5.440002555e-05,-5.133312057e-05,-1.489425626e-03,5.103589609e-05,-5.082107522e-05,-1.487080349e-03,7.015952737e-01,-4.225938379e-05,8.392513583e-01,7.015922715e-01,-4.978215925e-05,8.392515156e-01,7.017769206e-01,-4.928092110e-05,8.282935356e-01
+16,1.031666667e+01,DOWN_FORCE_DETACH,1791455029613793716,5.794042864e-05,-5.003066032e-05,-1.628413892e-03,5.556981009e-05,-5.313587440e-05,-1.613767608e-03,5.177606297e-05,-5.265484269e-05,-1.611225701e-03,7.015958119e-01,-4.847969900e-05,8.391125273e-01,7.015934413e-01,-5.158491308e-05,8.391271736e-01,7.017776608e-01,-5.111468858e-05,8.281693903e-01
+17,1.081666667e+01,DOWN_FORCE_DETACH,1791455030363740300,5.476723294e-05,-5.694121956e-05,-1.776922919e-03,5.411372727e-05,-5.710591231e-05,-1.767702247e-03,4.969827962e-05,-5.660611339e-05,-1.764849671e-03,7.015926387e-01,-5.539025824e-05,8.389640183e-01,7.015919852e-01,-5.555495099e-05,8.389732389e-01,7.017755830e-01,-5.506595927e-05,8.280157663e-01
+18,1.130000000e+01,DOWN_FORCE_DETACH,1791455031088388470,4.684737456e-05,-6.195891656e-05,-1.931384888e-03,4.620109413e-05,-6.097022157e-05,-1.923455740e-03,4.108555607e-05,-6.037434985e-05,-1.920433064e-03,7.015847189e-01,-6.040795524e-05,8.388095563e-01,7.015840726e-01,-5.941926025e-05,8.388174854e-01,7.017669702e-01,-5.883419573e-05,8.278601829e-01
+19,1.171666667e+01,DOWN_FORCE_DETACH,1791455031730544692,4.739982834e-05,-6.773566304e-05,-2.065074316e-03,4.382406563e-05,-6.766721584e-05,-2.057831873e-03,3.805591347e-05,-6.696631645e-05,-2.054803483e-03,7.015852713e-01,-6.618470172e-05,8.386758669e-01,7.015816955e-01,-6.611625452e-05,8.386831093e-01,7.017639406e-01,-6.542616233e-05,8.277258125e-01
+20,1.218333333e+01,DOWN_FORCE_DETACH,1791455032447418967,4.666191223e-05,-7.178454747e-05,-2.225792487e-03,4.412723140e-05,-6.776820289e-05,-2.213487622e-03,3.771690588e-05,-6.705512836e-05,-2.210365184e-03,7.015845334e-01,-7.023358615e-05,8.385151487e-01,7.015819987e-01,-6.621724157e-05,8.385274536e-01,7.017636016e-01,-6.551497424e-05,8.275702508e-01
+21,1.261666667e+01,DOWN_FORCE_DETACH,1791455033097036544,4.292896268e-05,-7.487058448e-05,-2.394308102e-03,4.262032438e-05,-7.497517217e-05,-2.394316223e-03,3.548211807e-05,-7.427202554e-05,-2.390692911e-03,7.015808004e-01,-7.331962316e-05,8.383466331e-01,7.015804918e-01,-7.342421085e-05,8.383466250e-01,7.017613668e-01,-7.273187143e-05,8.273899231e-01
+22,1.301666667e+01,DOWN_FORCE_DETACH,1791455033697251472,4.042723447e-05,-7.743877063e-05,-2.551057818e-03,3.859153679e-05,-7.828717116e-05,-2.542535121e-03,3.087933844e-05,-7.750629228e-05,-2.538865262e-03,7.015782987e-01,-7.588780931e-05,8.381898834e-01,7.015764630e-01,-7.673620983e-05,8.381984061e-01,7.017567640e-01,-7.596613817e-05,8.272417507e-01
+23,1.340000000e+01,DOWN_FORCE_DETACH,1791455034276486000,3.700297376e-05,-8.269329037e-05,-2.722907554e-03,3.701070954e-05,-8.284064414e-05,-2.723066109e-03,2.862748066e-05,-8.193275585e-05,-2.718995124e-03,7.015748745e-01,-8.114232904e-05,8.380180336e-01,7.015748822e-01,-8.128968282e-05,8.380178751e-01,7.017545122e-01,-8.039260173e-05,8.270616209e-01
+24,1.376666667e+01,DOWN_FORCE_DETACH,1791455034817092703,3.645256213e-05,-8.519162724e-05,-2.883927217e-03,3.586457870e-05,-8.532985552e-05,-2.866379828e-03,2.691375074e-05,-8.442210343e-05,-2.862502555e-03,7.015743240e-01,-8.364066592e-05,8.378570140e-01,7.015737361e-01,-8.377889420e-05,8.378745614e-01,7.017527984e-01,-8.288194931e-05,8.269181134e-01
+25,1.410000000e+01,DOWN_FORCE_DETACH,1791455035318885871,3.182933691e-05,-8.573194606e-05,-3.051285592e-03,3.428158683e-05,-8.775019497e-05,-3.043808732e-03,2.455752458e-05,-8.692291330e-05,-3.039705725e-03,7.015697008e-01,-8.418098474e-05,8.376896556e-01,7.015721531e-01,-8.619923365e-05,8.376971325e-01,7.017504422e-01,-8.538275918e-05,8.267409103e-01
+26,1.445000000e+01,DOWN_FORCE_DETACH,1791455035847233195,3.522176399e-05,-8.892015670e-05,-3.227798854e-03,3.017268052e-05,-8.896777285e-05,-3.209977129e-03,1.977844405e-05,-8.821513513e-05,-3.205846510e-03,7.015730932e-01,-8.736919537e-05,8.375131423e-01,7.015680442e-01,-8.741681153e-05,8.375309641e-01,7.017456631e-01,-8.667498102e-05,8.265747695e-01
+27,1.476666667e+01,DOWN_FORCE_DETACH,1791455036317152567,3.317942094e-05,-9.349737398e-05,-3.391137454e-03,3.302847784e-05,-9.323071997e-05,-3.390902241e-03,2.202352568e-05,-9.246669179e-05,-3.386363477e-03,7.015710509e-01,-9.194641266e-05,8.373498037e-01,7.015709000e-01,-9.167975865e-05,8.373500389e-01,7.017479082e-01,-9.092653767e-05,8.263942525e-01
+28,1.506666667e+01,DOWN_FORCE_DETACH,1791455036780954699,2.783005280e-05,-9.384989297e-05,-3.568285434e-03,2.752048407e-05,-9.356735552e-05,-3.568405690e-03,1.576449713e-05,-9.272438124e-05,-3.563617605e-03,7.015657015e-01,-9.229893165e-05,8.371726558e-01,7.015653920e-01,-9.201639420e-05,8.371725355e-01,7.017416492e-01,-9.118422713e-05,8.262169984e-01
+29,1.538333333e+01,DOWN_FORCE_DETACH,1791455037263644484,3.258873567e-05,-8.740588114e-05,-3.750582318e-03,2.932568142e-05,-8.991301321e-05,-3.735738052e-03,1.701820800e-05,-8.905623069e-05,-3.731008759e-03,7.015704602e-01,-8.585491982e-05,8.369903589e-01,7.015671972e-01,-8.836205189e-05,8.370052031e-01,7.017429029e-01,-8.751607657e-05,8.260496072e-01
+30,1.565000000e+01,DOWN_FORCE_DETACH,1791455037663452669,3.292846093e-05,-9.310977065e-05,-3.919726024e-03,3.101200832e-05,-9.048647412e-05,-3.902116476e-03,1.809043836e-05,-8.966129005e-05,-3.897170803e-03,7.015707999e-01,-9.155880933e-05,8.368212152e-01,7.015688835e-01,-8.893551279e-05,8.368388247e-01,7.017439751e-01,-8.812113593e-05,8.258834452e-01
+31,1.593333333e+01,DOWN_FORCE_DETACH,1791455038082616333,2.974001152e-05,-8.947297207e-05,-4.100655104e-03,2.955464579e-05,-8.973465932e-05,-4.101128404e-03,1.597100380e-05,-8.892982217e-05,-4.095821504e-03,7.015676115e-01,-8.792201075e-05,8.366402861e-01,7.015674261e-01,-8.818369800e-05,8.366398128e-01,7.017418557e-01,-8.738966805e-05,8.256847945e-01
+32,1.620000000e+01,DOWN_FORCE_DETACH,1791455038483374423,2.779785769e-05,-9.308941704e-05,-4.282103576e-03,2.713497347e-05,-9.482530036e-05,-4.276827039e-03,1.291666876e-05,-9.387108764e-05,-4.271434754e-03,7.015656693e-01,-9.153845572e-05,8.364588376e-01,7.015650065e-01,-9.327433904e-05,8.364641141e-01,7.017388014e-01,-9.233093352e-05,8.255091812e-01
+33,1.648333333e+01,DOWN_FORCE_DETACH,1791455038914160509,3.170886493e-05,-9.740851665e-05,-4.470716818e-03,3.160839184e-05,-9.753293448e-05,-4.470385419e-03,1.672989706e-05,-9.653327904e-05,-4.464833181e-03,7.015695803e-01,-9.585755533e-05,8.362702244e-01,7.015694799e-01,-9.598197316e-05,8.362705558e-01,7.017426146e-01,-9.499312492e-05,8.253157828e-01
+34,1.673333333e+01,DOWN_FORCE_DETACH,1791455039283272065,2.900751983e-05,-9.653096853e-05,-4.644236432e-03,3.040908457e-05,-9.358863105e-05,-4.636416657e-03,1.496237144e-05,-9.271857474e-05,-4.631039610e-03,7.015668790e-01,-9.498000721e-05,8.360967048e-01,7.015682806e-01,-9.203766973e-05,8.361045245e-01,7.017408471e-01,-9.117842062e-05,8.251495764e-01
+35,1.698333333e+01,DOWN_FORCE_DETACH,1791455039663814047,2.767895537e-05,-9.937416976e-05,-4.825086746e-03,2.565931702e-05,-1.006857642e-04,-4.809917268e-03,9.531885154e-06,-9.984404891e-05,-4.804507149e-03,7.015655504e-01,-9.782320844e-05,8.359158544e-01,7.015635308e-01,-9.913480286e-05,8.359310239e-01,7.017354166e-01,-9.830389479e-05,8.249761088e-01
+36,1.723333333e+01,DOWN_FORCE_DETACH,1791455040044351532,2.504218919e-05,-1.020860138e-04,-5.021470589e-03,2.474245047e-05,-1.021102457e-04,-5.020970831e-03,7.834285541e-06,-1.012307449e-04,-5.015194097e-03,7.015629137e-01,-1.005350525e-04,8.357194706e-01,7.015626139e-01,-1.005592844e-04,8.357199704e-01,7.017337190e-01,-9.969059082e-05,8.247654219e-01
+37,1.746666667e+01,DOWN_FORCE_DETACH,1791455040387802602,2.285696725e-05,-1.054127169e-04,-5.192680087e-03,2.459350867e-05,-1.021326829e-04,-5.185385480e-03,7.002633082e-06,-1.011774821e-04,-5.179660270e-03,7.015607284e-01,-1.038617555e-04,8.355482611e-01,7.015624650e-01,-1.005817216e-04,8.355555557e-01,7.017328873e-01,-9.963732795e-05,8.246009557e-01
+38,1.770000000e+01,DOWN_FORCE_DETACH,1791455040744102237,2.427512439e-05,-1.031351245e-04,-5.372319137e-03,2.410166869e-05,-1.031687220e-04,-5.372164232e-03,5.870587903e-06,-1.022149856e-04,-5.366190346e-03,7.015621466e-01,-1.015841632e-04,8.353686221e-01,7.015619732e-01,-1.016177606e-04,8.353687770e-01,7.017317553e-01,-1.006748314e-04,8.244144256e-01
+39,1.795000000e+01,DOWN_FORCE_DETACH,1791455041115408396,2.277429106e-05,-1.013973765e-04,-5.565753700e-03,2.268302188e-05,-1.012978167e-04,-5.565148408e-03,3.758322144e-06,-1.004109087e-04,-5.559110962e-03,7.015606458e-01,-9.984641520e-05,8.351751875e-01,7.015605545e-01,-9.974685534e-05,8.351757928e-01,7.017296430e-01,-9.887075462e-05,8.242215050e-01
+40,1.818333333e+01,DOWN_FORCE_DETACH,1791455041464325457,2.665768443e-05,-1.046454041e-04,-5.737368181e-03,2.628249932e-05,-1.047121426e-04,-5.737535504e-03,6.818395924e-06,-1.037146976e-04,-5.731556396e-03,7.015645292e-01,-1.030944427e-04,8.350035730e-01,7.015641540e-01,-1.031611812e-04,8.350034057e-01,7.017327031e-01,-1.021745435e-04,8.240490596e-01
+41,1.841666667e+01,DOWN_FORCE_DETACH,1791455041813626889,2.246270670e-05,-1.054109834e-04,-5.918459814e-03,2.230927739e-05,-1.052806341e-04,-5.918483219e-03,2.194458318e-06,-1.041816892e-04,-5.912434769e-03,7.015603342e-01,-1.038600220e-04,8.348224814e-01,7.015601808e-01,-1.037296728e-04,8.348224580e-01,7.017280792e-01,-1.026415351e-04,8.238681812e-01
+42,1.865000000e+01,DOWN_SETTLE,1791455042167586002,2.297669640e-05,-1.036273099e-04,-6.102504856e-03,2.036838278e-05,-1.036867297e-04,-6.094114699e-03,-4.739645417e-07,-1.026639072e-04,-6.088160975e-03,7.015608482e-01,-1.020763486e-04,8.346384363e-01,7.015582399e-01,-1.021357683e-04,8.346468265e-01,7.017254107e-01,-1.011237530e-04,8.236924550e-01
+43,1.888333333e+01,DOWN_SETTLE,1791455042514977040,2.289843902e-05,-1.091755895e-04,-6.275118971e-03,2.129209687e-05,-1.105392065e-04,-6.259416071e-03,-5.879651532e-08,-1.096083418e-04,-6.253747200e-03,7.015607699e-01,-1.076246281e-04,8.344658222e-01,7.015591636e-01,-1.089882452e-04,8.344815251e-01,7.017258259e-01,-1.080681877e-04,8.235268688e-01
+44,1.913333333e+01,DOWN_SETTLE,1791455042898064294,1.773764939e-05,-1.101599326e-04,-6.466680899e-03,1.899589716e-05,-1.118069389e-04,-6.455381884e-03,-3.006859130e-06,-1.109000245e-04,-6.449679314e-03,7.015556091e-01,-1.086089713e-04,8.342742603e-01,7.015568674e-01,-1.102559775e-04,8.342855593e-01,7.017228778e-01,-1.093598704e-04,8.233309367e-01
+45,1.938333333e+01,DOWN_SETTLE,1791455043284075976,2.062451349e-05,-1.120338187e-04,-6.642124357e-03,1.787091012e-05,-1.150958540e-04,-6.623792292e-03,-4.751804933e-06,-1.140738249e-04,-6.618325930e-03,7.015584960e-01,-1.104828574e-04,8.340988168e-01,7.015557424e-01,-1.135448927e-04,8.341171489e-01,7.017211329e-01,-1.125336708e-04,8.231622901e-01
+46,1.965000000e+01,DOWN_SETTLE,1791455043688049349,1.592026278e-05,-1.141293684e-04,-6.823694851e-03,1.486982511e-05,-1.178846095e-04,-6.808549638e-03,-8.558068513e-06,-1.168936596e-04,-6.803100210e-03,7.015537917e-01,-1.125784070e-04,8.339172463e-01,7.015527413e-01,-1.163336482e-04,8.339323915e-01,7.017173266e-01,-1.153535055e-04,8.229775158e-01
+47,1.993333333e+01,DOWN_SETTLE,1791455044113414439,1.905276996e-05,-1.200831365e-04,-6.999885752e-03,1.872216731e-05,-1.199272285e-04,-6.999717213e-03,-5.273471204e-06,-1.189802397e-04,-6.994206524e-03,7.015569243e-01,-1.185321752e-04,8.337410554e-01,7.015565936e-01,-1.183762672e-04,8.337412240e-01,7.017206112e-01,-1.174400856e-04,8.227864095e-01
+48,2.021666667e+01,DOWN_SETTLE,1791455044533065605,1.087975337e-05,-1.199098464e-04,-7.181829125e-03,1.260734245e-05,-1.206675125e-04,-7.162003931e-03,-1.208014703e-05,-1.196589297e-04,-7.156856426e-03,7.015487512e-01,-1.183588851e-04,8.335591121e-01,7.015504788e-01,-1.191165511e-04,8.335789373e-01,7.017138045e-01,-1.181187756e-04,8.226237596e-01
+49,2.053333333e+01,DOWN_SETTLE,1791455045022573042,1.055560726e-05,-1.255750967e-04,-7.369674138e-03,1.038963574e-05,-1.255084620e-04,-7.369297507e-03,-1.503295497e-05,-1.243197015e-04,-7.364003997e-03,7.015484271e-01,-1.240241354e-04,8.333712670e-01,7.015482611e-01,-1.239575006e-04,8.333716437e-01,7.017108517e-01,-1.227795473e-04,8.224166120e-01
+50,2.083333333e+01,DOWN_SETTLE,1791455045484935222,1.148964940e-05,-1.238530424e-04,-7.539145579e-03,1.125744850e-05,-1.239894064e-04,-7.539008308e-03,-1.477612949e-05,-1.228961048e-04,-7.533990246e-03,7.015493611e-01,-1.223020811e-04,8.332017956e-01,7.015491289e-01,-1.224384451e-04,8.332019329e-01,7.017111086e-01,-1.213559507e-04,8.222466257e-01
+51,2.113333333e+01,DOWN_SETTLE,1791455045944708004,4.605529594e-06,-1.277753122e-04,-7.705441219e-03,4.710975544e-06,-1.236437191e-04,-7.694378069e-03,-2.194490772e-05,-1.226315097e-04,-7.689775267e-03,7.015424770e-01,-1.262243509e-04,8.330355000e-01,7.015425825e-01,-1.220927578e-04,8.330465631e-01,7.017039398e-01,-1.210913556e-04,8.220908407e-01
+52,2.148333333e+01,DOWN_SETTLE,1791455046487281663,2.825287096e-06,-1.338180908e-04,-7.875589402e-03,2.256147336e-06,-1.328683087e-04,-7.859987480e-03,-2.497911110e-05,-1.318083098e-04,-7.855660320e-03,7.015406968e-01,-1.322671295e-04,8.328653518e-01,7.015401276e-01,-1.313173474e-04,8.328809537e-01,7.017009056e-01,-1.302681557e-04,8.219249557e-01
+53,2.185000000e+01,DOWN_SETTLE,1791455047063797120,2.332096210e-06,-1.264246834e-04,-8.044611960e-03,2.098887059e-06,-1.261845422e-04,-8.044489931e-03,-2.586587187e-05,-1.250886924e-04,-8.040119666e-03,7.015402036e-01,-1.248737221e-04,8.326963292e-01,7.015399704e-01,-1.246335809e-04,8.326964513e-01,7.017000188e-01,-1.235485383e-04,8.217404963e-01
+54,2.228333333e+01,DOWN_SETTLE,1791455047715477188,-4.108097729e-06,-1.294989336e-04,-8.216955569e-03,-3.091346019e-06,-1.300940366e-04,-8.204980348e-03,-3.171135908e-05,-1.290139206e-04,-8.201161449e-03,7.015337634e-01,-1.279479723e-04,8.325239856e-01,7.015347801e-01,-1.285430753e-04,8.325359608e-01,7.016941733e-01,-1.274737665e-04,8.215794545e-01
+55,2.273333333e+01,DOWN_SETTLE,1791455048385868780,-1.010739345e-05,-1.343643533e-04,-8.375282150e-03,-1.238524337e-05,-1.302877963e-04,-8.370556386e-03,-4.183872626e-05,-1.292914738e-04,-8.366981363e-03,7.015277641e-01,-1.328133920e-04,8.323656590e-01,7.015254862e-01,-1.287368349e-04,8.323703848e-01,7.016840460e-01,-1.277513196e-04,8.214136346e-01
+56,2.320000000e+01,DOWN_SETTLE,1791455049094303393,-2.327459306e-05,-1.385228698e-04,-8.526335731e-03,-2.185223912e-05,-1.297449517e-04,-8.513352523e-03,-5.199661643e-05,-1.286933295e-04,-8.510236578e-03,7.015145969e-01,-1.369719085e-04,8.322146055e-01,7.015160192e-01,-1.281939904e-04,8.322275887e-01,7.016738881e-01,-1.271531754e-04,8.212703794e-01
+57,2.380000000e+01,DOWN_SETTLE,1791455050013101477,-1.112717511e-05,-1.337198669e-04,-8.660393871e-03,-1.032149121e-05,-1.323744634e-04,-8.642229327e-03,-4.072929895e-05,-1.311784307e-04,-8.639848531e-03,7.015267443e-01,-1.321689056e-04,8.320805473e-01,7.015275500e-01,-1.308235021e-04,8.320987119e-01,7.016851554e-01,-1.296382766e-04,8.211407675e-01
+58,2.451666667e+01,DOWN_SETTLE,1791455051083928107,-2.513960109e-05,-1.279639409e-04,-8.788014590e-03,-2.350030156e-05,-1.297915110e-04,-8.773590404e-03,-5.464704925e-05,-1.286823696e-04,-8.771867403e-03,7.015127319e-01,-1.264129795e-04,8.319529266e-01,7.015143712e-01,-1.282405497e-04,8.319673508e-01,7.016712376e-01,-1.271422155e-04,8.210087486e-01
+59,2.535000000e+01,DOWN_SETTLE,1791455052333096351,-3.513826950e-05,-1.239081230e-04,-8.859941348e-03,-3.400411117e-05,-1.281354087e-04,-8.856161420e-03,-6.566015560e-05,-1.271490824e-04,-8.855235163e-03,7.015027332e-01,-1.223571617e-04,8.318809998e-01,7.015038674e-01,-1.265844474e-04,8.318847798e-01,7.016602245e-01,-1.256089283e-04,8.209253808e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..48d11f621cd21518d1c33b29c9eb95b852445c08
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,3.3124e-03,-6.6738e-03,2.4527e+00,-3.6300e-02,3.7007e-02,-1.4323e-05,3.4423e-04,-7.4343e-06,-1.3113e-05,1.2182e-06,2.3134e-05,-3.9217e-08,3.4456e-04,2.3166e-05
+1,8.6667e-01,DOWN_FORCE_DETACH,1.8930e-04,2.2313e-02,-6.3789e-03,2.4645e+00,-3.6279e-02,3.8372e-02,1.4283e-05,1.9344e-02,2.8747e-04,1.1791e-02,2.1730e-05,1.3878e-03,2.8566e-05,2.2656e-02,1.3883e-03
+2,1.5667e+00,DOWN_FORCE_DETACH,3.7704e-04,2.5945e-02,-4.1201e-03,2.4812e+00,-3.6431e-02,3.8613e-02,3.0669e-05,2.2977e-02,2.5462e-03,2.8564e-02,-1.3002e-04,1.6288e-03,4.4953e-05,3.6747e-02,1.6346e-03
+3,2.1833e+00,DOWN_FORCE_DETACH,5.6192e-04,2.6809e-02,1.4047e-03,2.5023e+00,-3.6799e-02,3.8660e-02,4.5313e-05,2.3840e-02,8.0710e-03,4.9650e-02,-4.9846e-04,1.6758e-03,5.9597e-05,5.5665e-02,1.7493e-03
+4,2.6833e+00,DOWN_FORCE_DETACH,7.5686e-04,1.7547e-02,5.0151e-03,2.5133e+00,-3.7034e-02,3.8017e-02,5.5768e-05,1.4579e-02,1.1681e-02,6.0651e-02,-7.3365e-04,1.0332e-03,7.0052e-05,6.3463e-02,1.2691e-03
+5,3.2833e+00,DOWN_FORCE_DETACH,9.4535e-04,1.9010e-02,4.1100e-03,2.5249e+00,-3.6962e-02,3.8082e-02,5.9368e-05,1.6042e-02,1.0776e-02,7.2254e-02,-6.6147e-04,1.0976e-03,7.3652e-05,7.4794e-02,1.2837e-03
+6,3.9500e+00,DOWN_FORCE_DETACH,1.1322e-03,1.9239e-02,6.8445e-03,2.5252e+00,-3.7140e-02,3.8080e-02,5.2567e-05,1.6270e-02,1.3511e-02,7.2482e-02,-8.3964e-04,1.0964e-03,6.6851e-05,7.5505e-02,1.3826e-03
+7,4.7000e+00,DOWN_FORCE_DETACH,1.3221e-03,2.1388e-02,9.1534e-03,2.5186e+00,-3.7322e-02,3.8222e-02,3.5804e-05,1.8420e-02,1.5820e-02,6.5913e-02,-1.0217e-03,1.2377e-03,5.0088e-05,7.0243e-02,1.6057e-03
+8,5.3667e+00,DOWN_FORCE_DETACH,1.5145e-03,2.3086e-02,9.1517e-03,2.5157e+00,-3.7369e-02,3.8339e-02,1.9424e-05,2.0118e-02,1.5818e-02,6.2986e-02,-1.0687e-03,1.3547e-03,3.3707e-05,6.7987e-02,1.7258e-03
+9,6.0500e+00,DOWN_FORCE_DETACH,1.7024e-03,2.4613e-02,8.8467e-03,2.5191e+00,-3.7404e-02,3.8445e-02,2.7710e-06,2.1645e-02,1.5513e-02,6.6412e-02,-1.1035e-03,1.4612e-03,1.7055e-05,7.1552e-02,1.8311e-03
+10,6.7167e+00,DOWN_FORCE_DETACH,1.8876e-03,2.6985e-02,9.8793e-03,2.5230e+00,-3.7506e-02,3.8612e-02,-8.0398e-06,2.4017e-02,1.6546e-02,7.0301e-02,-1.2056e-03,1.6280e-03,6.2441e-06,7.6111e-02,2.0258e-03
+11,7.4000e+00,DOWN_FORCE_DETACH,2.0785e-03,3.2440e-02,1.3920e-02,2.5336e+00,-3.7767e-02,3.8984e-02,-2.6745e-06,2.9472e-02,2.0586e-02,8.0927e-02,-1.4665e-03,2.0003e-03,1.1609e-05,8.8553e-02,2.4803e-03
+12,8.0500e+00,DOWN_FORCE_DETACH,2.2657e-03,3.6124e-02,1.8051e-02,2.5427e+00,-3.7996e-02,3.9241e-02,2.3771e-05,3.3156e-02,2.4718e-02,8.9989e-02,-1.6953e-03,2.2567e-03,3.8054e-05,9.9037e-02,2.8228e-03
+13,8.6333e+00,DOWN_FORCE_DETACH,2.4537e-03,3.6610e-02,2.1571e-02,2.5447e+00,-3.8193e-02,3.9282e-02,6.0139e-05,3.3642e-02,2.8237e-02,9.2069e-02,-1.8922e-03,2.2983e-03,7.4422e-05,1.0201e-01,2.9779e-03
+14,9.2500e+00,DOWN_FORCE_DETACH,2.6470e-03,3.5138e-02,2.0556e-02,2.5427e+00,-3.8138e-02,3.9191e-02,9.3077e-05,3.2170e-02,2.7222e-02,8.9993e-02,-1.8372e-03,2.2069e-03,1.0736e-04,9.9372e-02,2.8735e-03
+15,9.8000e+00,DOWN_FORCE_DETACH,2.8356e-03,3.3603e-02,1.8833e-02,2.5465e+00,-3.8068e-02,3.9087e-02,1.0682e-04,3.0635e-02,2.5500e-02,9.3818e-02,-1.7669e-03,2.1026e-03,1.2110e-04,1.0193e-01,2.7490e-03
+16,1.0317e+01,DOWN_FORCE_DETACH,3.0252e-03,3.1966e-02,1.9293e-02,2.5586e+00,-3.8129e-02,3.8967e-02,1.1161e-04,2.8997e-02,2.5960e-02,1.0590e-01,-1.8280e-03,1.9825e-03,1.2589e-04,1.1282e-01,2.6996e-03
+17,1.0817e+01,DOWN_FORCE_DETACH,3.2108e-03,3.2373e-02,2.2307e-02,2.5726e+00,-3.8325e-02,3.8971e-02,1.1778e-04,2.9404e-02,2.8974e-02,1.1993e-01,-2.0245e-03,1.9874e-03,1.3207e-04,1.2684e-01,2.8400e-03
+18,1.1300e+01,DOWN_FORCE_DETACH,3.3990e-03,3.4326e-02,2.7317e-02,2.5791e+00,-3.8610e-02,3.9080e-02,1.2148e-04,3.1358e-02,3.3983e-02,1.2640e-01,-2.3096e-03,2.0957e-03,1.3576e-04,1.3459e-01,3.1216e-03
+19,1.1717e+01,DOWN_FORCE_DETACH,3.5893e-03,3.2605e-02,3.3922e-02,2.5824e+00,-3.8990e-02,3.8951e-02,1.1336e-04,2.9636e-02,4.0589e-02,1.2973e-01,-2.6887e-03,1.9672e-03,1.2765e-04,1.3912e-01,3.3340e-03
+20,1.2183e+01,DOWN_FORCE_DETACH,3.7766e-03,2.9760e-02,3.5927e-02,2.5891e+00,-3.9087e-02,3.8743e-02,9.4216e-05,2.6791e-02,4.2594e-02,1.3643e-01,-2.7863e-03,1.7593e-03,1.0850e-04,1.4541e-01,3.2970e-03
+21,1.2617e+01,DOWN_FORCE_DETACH,3.9706e-03,2.9235e-02,3.4874e-02,2.5979e+00,-3.9032e-02,3.8685e-02,7.4267e-05,2.6267e-02,4.1540e-02,1.4519e-01,-2.7312e-03,1.7013e-03,8.8551e-05,1.5328e-01,3.2190e-03
+22,1.3017e+01,DOWN_FORCE_DETACH,4.1545e-03,2.9733e-02,3.5121e-02,2.6072e+00,-3.9059e-02,3.8702e-02,5.2795e-05,2.6764e-02,4.1787e-02,1.5455e-01,-2.7587e-03,1.7177e-03,6.7079e-05,1.6233e-01,3.2504e-03
+23,1.3400e+01,DOWN_FORCE_DETACH,4.3482e-03,3.0176e-02,4.1243e-02,2.6150e+00,-3.9432e-02,3.8718e-02,3.6564e-05,2.7208e-02,4.7909e-02,1.6237e-01,-3.1315e-03,1.7342e-03,5.0848e-05,1.7146e-01,3.5800e-03
+24,1.3767e+01,DOWN_FORCE_DETACH,4.5325e-03,2.9654e-02,4.5039e-02,2.6228e+00,-3.9660e-02,3.8675e-02,3.1793e-05,2.6686e-02,5.1706e-02,1.7015e-01,-3.3588e-03,1.6912e-03,4.6077e-05,1.7982e-01,3.7608e-03
+25,1.4100e+01,DOWN_FORCE_DETACH,4.7211e-03,2.9255e-02,4.2620e-02,2.6286e+00,-3.9515e-02,3.8648e-02,3.3317e-05,2.6286e-02,4.9287e-02,1.7592e-01,-3.2143e-03,1.6636e-03,4.7601e-05,1.8457e-01,3.6196e-03
+26,1.4450e+01,DOWN_FORCE_DETACH,4.9143e-03,2.8605e-02,4.0397e-02,2.6338e+00,-3.9395e-02,3.8609e-02,3.6587e-05,2.5637e-02,4.7063e-02,1.8117e-01,-3.0939e-03,1.6253e-03,5.0871e-05,1.8893e-01,3.4952e-03
+27,1.4767e+01,DOWN_FORCE_DETACH,5.0959e-03,2.7074e-02,4.1119e-02,2.6398e+00,-3.9441e-02,3.8504e-02,3.8564e-05,2.4105e-02,4.7785e-02,1.8717e-01,-3.1401e-03,1.5202e-03,5.2848e-05,1.9468e-01,3.4891e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f90c84dfed16624e72bfee3afbc1d0db558441f2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:dbea3a4a0bd794136d70e5a1db983f09cadc5d58dc76edfba36c196f6b18ead8
+size 3850240
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ed38ea914df43c168b60739cfd48e9df18b4b4d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d36124a55be6c77d52a9b549d147e0d8b40f66d2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52d3206481b84a6a31576583cbf8a78b4a2b930d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21d263a58a248e017b82ecc556dceb69e397e2aa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+17,1.433333333e+00,UP_FORCE_RAMP,1791455004483575703,-7.505633100e-06,2.953321741e-06,4.738924394e-05,-2.801748132e-06,3.476132216e-06,4.346403985e-05,-2.358214961e-06,3.556307637e-06,4.302272676e-05,7.015303658e-01,4.504283062e-06,8.407883304e-01,7.015350697e-01,5.027093538e-06,8.407844052e-01,7.017235265e-01,5.096461755e-06,8.298236387e-01
+18,1.533333333e+00,UP_FORCE_RAMP,1791455004639669922,-6.861962947e-06,2.086854884e-06,5.771642991e-05,-2.801748132e-06,3.476132216e-06,4.346403985e-05,-2.348533737e-06,3.558952364e-06,4.306937047e-05,7.015310095e-01,3.637816205e-06,8.407986576e-01,7.015350697e-01,5.027093538e-06,8.407844052e-01,7.017235362e-01,5.099106482e-06,8.298236854e-01
+19,1.666666667e+00,UP_FORCE_RAMP,1791455004839632147,-5.866609477e-06,7.744285150e-07,6.828016054e-05,-7.146434135e-06,9.530512401e-07,6.234962818e-05,-6.621902963e-06,1.069694170e-06,6.177734938e-05,7.015320049e-01,2.325389836e-06,8.408092213e-01,7.015307250e-01,2.504012561e-06,8.408032908e-01,7.017192628e-01,2.609848289e-06,8.298423933e-01
+20,1.766666667e+00,UP_FORCE_RAMP,1791455004981778200,-4.623456113e-06,3.034510336e-06,7.862303752e-05,-7.146434135e-06,9.530512401e-07,6.234962818e-05,-6.620232710e-06,1.070858754e-06,6.183921551e-05,7.015332480e-01,4.585471657e-06,8.408195642e-01,7.015307250e-01,2.504012561e-06,8.408032908e-01,7.017192645e-01,2.611012873e-06,8.298424552e-01
+21,1.850000000e+00,UP_FORCE_RAMP,1791455005110173128,-8.281918542e-06,-1.451199225e-06,8.104792982e-05,-6.513865720e-06,-2.744339240e-09,8.352522392e-05,-5.853490649e-06,1.038675743e-07,8.283543516e-05,7.015295896e-01,9.976209615e-08,8.408219891e-01,7.015313576e-01,1.548216982e-06,8.408244664e-01,7.017200312e-01,1.644021693e-06,8.298634514e-01
+22,1.950000000e+00,UP_FORCE_RAMP,1791455005276664577,-7.655019759e-06,-5.560732716e-06,9.696266403e-05,-6.513865720e-06,-2.744339240e-09,8.352522392e-05,-5.849447327e-06,1.052415722e-07,8.291801585e-05,7.015302165e-01,-4.009771395e-06,8.408379039e-01,7.015313576e-01,1.548216982e-06,8.408244664e-01,7.017200352e-01,1.645395691e-06,8.298635340e-01
+23,2.033333333e+00,UP_FORCE_RAMP,1791455005407760445,-6.422872771e-06,-4.867317805e-06,1.083697227e-04,-5.922452886e-06,1.465347740e-07,1.057740299e-04,-5.226038502e-06,2.224158738e-07,1.049281273e-04,7.015314486e-01,-3.316356484e-06,8.408493109e-01,7.015319490e-01,1.697496095e-06,8.408467152e-01,7.017206587e-01,1.762569992e-06,8.298855441e-01
+24,2.100000000e+00,UP_FORCE_RAMP,1791455005508522551,-8.625333138e-06,-2.452317581e-06,1.123835215e-04,-5.922452886e-06,1.465347740e-07,1.057740299e-04,-5.222685355e-06,2.238819633e-07,1.049960958e-04,7.015292461e-01,-9.013562602e-07,8.408533247e-01,7.015319490e-01,1.697496095e-06,8.408467152e-01,7.017206620e-01,1.764036082e-06,8.298856121e-01
+25,2.200000000e+00,UP_FORCE_RAMP,1791455005650805582,-8.227323624e-06,-2.145701132e-06,1.218672532e-04,-5.922452886e-06,1.465347740e-07,1.057740299e-04,-5.219582584e-06,2.258997739e-07,1.050849713e-04,7.015296442e-01,-5.947398110e-07,8.408628084e-01,7.015319490e-01,1.697496095e-06,8.408467152e-01,7.017206651e-01,1.766053892e-06,8.298857010e-01
+26,2.283333333e+00,UP_FORCE_RAMP,1791455005778134528,-6.786368188e-06,-1.616170151e-06,1.351113976e-04,-4.632261503e-06,-4.361268233e-06,1.285630902e-04,-3.822246807e-06,-4.254189052e-06,1.276530816e-04,7.015310851e-01,-6.520883043e-08,8.408760526e-01,7.015332392e-01,-2.810306912e-06,8.408695043e-01,7.017220624e-01,-2.714034934e-06,8.299082691e-01
+27,2.366666667e+00,UP_FORCE_RAMP,1791455005915401468,-1.123121634e-05,-1.618020976e-06,1.363874939e-04,-4.632261503e-06,-4.361268233e-06,1.285630902e-04,-3.818645043e-06,-4.252681046e-06,1.277393180e-04,7.015266403e-01,-6.705965505e-08,8.408773287e-01,7.015332392e-01,-2.810306912e-06,8.408695043e-01,7.017220660e-01,-2.712526927e-06,8.299083553e-01
+28,2.450000000e+00,UP_FORCE_RAMP,1791455006044066911,-1.763450865e-05,-5.478578726e-06,1.419394750e-04,-4.632261503e-06,-4.361268233e-06,1.285630902e-04,-3.815781023e-06,-4.250845670e-06,1.278168624e-04,7.015202370e-01,-3.927617405e-06,8.408828807e-01,7.015332392e-01,-2.810306912e-06,8.408695043e-01,7.017220689e-01,-2.710691552e-06,8.299084329e-01
+29,2.466666667e+00,UP_FORCE_RAMP,1791455006071674702,-3.492439433e-05,-7.897803613e-06,1.313337189e-04,-3.461677119e-05,-8.077736957e-06,1.314610050e-04,-3.424108031e-05,-7.905687017e-06,1.306641538e-04,7.015029471e-01,-6.346842292e-06,8.408722749e-01,7.015032547e-01,-6.526775636e-06,8.408724022e-01,7.016916436e-01,-6.365532898e-06,8.299112801e-01
+30,2.516666667e+00,UP_FORCE_RAMP,1791455006143047869,-3.744571986e-05,-8.729515116e-07,1.340405989e-04,-3.461677119e-05,-8.077736957e-06,1.314610050e-04,-3.428213920e-05,-7.909338655e-06,1.307094504e-04,7.015004258e-01,6.780098094e-07,8.408749818e-01,7.015032547e-01,-6.526775636e-06,8.408724022e-01,7.016916026e-01,-6.369184537e-06,8.299113254e-01
+31,2.583333333e+00,UP_FORCE_RAMP,1791455006242918601,-3.472128027e-05,-1.050705211e-06,1.430015159e-04,-3.461677119e-05,-8.077736957e-06,1.314610050e-04,-3.431250596e-05,-7.910656941e-06,1.307643391e-04,7.015031502e-01,5.002561098e-07,8.408839427e-01,7.015032547e-01,-6.526775636e-06,8.408724022e-01,7.016915722e-01,-6.370502823e-06,8.299113803e-01
+32,2.650000000e+00,UP_FORCE_RAMP,1791455006342302654,-3.725998676e-05,-5.855648344e-06,1.442098030e-04,-3.461677119e-05,-8.077736957e-06,1.314610050e-04,-3.433842175e-05,-7.912095609e-06,1.308156502e-04,7.015006115e-01,-4.304687023e-06,8.408851510e-01,7.015032547e-01,-6.526775636e-06,8.408724022e-01,7.016915463e-01,-6.371941491e-06,8.299114316e-01
+33,2.716666667e+00,UP_FORCE_RAMP,1791455006443255890,-3.571458765e-05,2.157200507e-07,1.534268338e-04,-3.558947935e-05,4.121250672e-07,1.534639672e-04,-3.522856422e-05,5.080574086e-07,1.525287185e-04,7.015021569e-01,1.766681372e-06,8.408943680e-01,7.015022820e-01,1.963086388e-06,8.408944052e-01,7.016906561e-01,2.048211527e-06,8.299331447e-01
+34,2.816666667e+00,UP_FORCE_RAMP,1791455006592252410,-3.696537111e-05,-1.772206276e-06,1.594787781e-04,-3.558947935e-05,4.121250672e-07,1.534639672e-04,-3.526204655e-05,5.137137509e-07,1.526384067e-04,7.015009061e-01,-2.212449550e-07,8.409004200e-01,7.015022820e-01,1.963086388e-06,8.408944052e-01,7.016906226e-01,2.053867869e-06,8.299332544e-01
+35,2.916666667e+00,UP_FORCE_RAMP,1791455006728018726,-3.978554717e-05,-1.016324692e-07,1.644722830e-04,-3.558947935e-05,4.121250672e-07,1.534639672e-04,-3.529243569e-05,5.133894136e-07,1.527242017e-04,7.014980859e-01,1.449328852e-06,8.409054135e-01,7.015022820e-01,1.963086388e-06,8.408944052e-01,7.016905923e-01,2.053543532e-06,8.299333402e-01
+36,2.983333333e+00,UP_FORCE_RAMP,1791455006829293058,-3.795518217e-05,-1.707039842e-06,1.746796760e-04,-3.769005849e-05,-1.765398616e-06,1.743273818e-04,-3.743669020e-05,-1.621728690e-06,1.733210480e-04,7.014999163e-01,-1.560785210e-07,8.409156209e-01,7.015001814e-01,-2.144372946e-07,8.409152686e-01,7.016884480e-01,-8.157457198e-08,8.299539370e-01
+37,3.083333333e+00,UP_FORCE_RAMP,1791455006978830339,-3.719285826e-05,4.883107054e-07,1.816710260e-04,-3.769005849e-05,-1.765398616e-06,1.743273818e-04,-3.746701060e-05,-1.623859163e-06,1.734338668e-04,7.015006786e-01,2.039272026e-06,8.409226122e-01,7.015001814e-01,-2.144372946e-07,8.409152686e-01,7.016884177e-01,-8.370504455e-08,8.299540499e-01
+38,3.166666667e+00,UP_FORCE_RAMP,1791455007107959091,-4.055804834e-05,-2.794460704e-06,1.839872290e-04,-3.769005849e-05,-1.765398616e-06,1.743273818e-04,-3.748980387e-05,-1.624525735e-06,1.735089645e-04,7.014973134e-01,-1.243499383e-06,8.409249284e-01,7.015001814e-01,-2.144372946e-07,8.409152686e-01,7.016883949e-01,-8.437161633e-08,8.299541250e-01
+39,3.250000000e+00,UP_FORCE_RAMP,1791455007228414437,-4.141735273e-05,-1.071626037e-06,1.872380201e-04,-3.769005849e-05,-1.765398616e-06,1.743273818e-04,-3.751100280e-05,-1.624995097e-06,1.735767770e-04,7.014964541e-01,4.793352842e-07,8.409281792e-01,7.015001814e-01,-2.144372946e-07,8.409152686e-01,7.016883737e-01,-8.484097815e-08,8.299541928e-01
+40,3.333333333e+00,UP_FORCE_RAMP,1791455007348744086,-3.962443640e-05,3.429829838e-06,1.947070871e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.928040097e-05,3.422776288e-06,1.938905753e-04,7.014982470e-01,4.980791159e-06,8.409356483e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016866043e-01,4.962930406e-06,8.299745066e-01
+41,3.400000000e+00,UP_FORCE_RAMP,1791455007453674130,-4.300527963e-05,7.029046327e-06,1.939531580e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.929781845e-05,3.426183256e-06,1.939674790e-04,7.014948662e-01,8.580007648e-06,8.409348943e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016865869e-01,4.966337374e-06,8.299745835e-01
+42,3.466666667e+00,UP_FORCE_RAMP,1791455007549277614,-4.278033843e-05,4.846215251e-06,1.993141334e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.931367344e-05,3.426869204e-06,1.940280003e-04,7.014950911e-01,6.397176572e-06,8.409402553e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016865710e-01,4.967023323e-06,8.299746440e-01
+43,3.566666667e+00,UP_FORCE_RAMP,1791455007707849347,-4.073488914e-05,3.506927925e-06,2.092246598e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.933578395e-05,3.427034116e-06,1.941094759e-04,7.014971366e-01,5.057889246e-06,8.409501658e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016865489e-01,4.967188234e-06,8.299747255e-01
+44,3.633333333e+00,UP_FORCE_RAMP,1791455007807844623,-4.151206027e-05,-6.855672098e-07,2.114791595e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.934947090e-05,3.426859657e-06,1.941584938e-04,7.014963594e-01,8.653941112e-07,8.409524203e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016865352e-01,4.967013775e-06,8.299747745e-01
+45,3.716666667e+00,UP_FORCE_RAMP,1791455007928024664,-4.550084589e-05,3.759847526e-06,2.081431853e-04,-3.947641378e-05,3.324423414e-06,1.947758856e-04,-3.936542547e-05,3.426809912e-06,1.942144407e-04,7.014923706e-01,5.310808847e-06,8.409490844e-01,7.014983951e-01,4.875384735e-06,8.409357171e-01,7.016865193e-01,4.966964030e-06,8.299748304e-01
+46,3.816666667e+00,UP_FORCE_RAMP,1791455008078416862,-4.330745034e-05,-2.678655733e-07,2.195162084e-04,-4.552874793e-05,4.698091684e-06,2.138921319e-04,-4.543749501e-05,4.818207792e-06,2.131533078e-04,7.014945640e-01,1.283095748e-06,8.409604574e-01,7.014923427e-01,6.249053005e-06,8.409548333e-01,7.016804472e-01,6.358361910e-06,8.299937693e-01
+47,3.933333333e+00,UP_FORCE_RAMP,1791455008246993107,-4.444498700e-05,5.104564082e-06,2.213499466e-04,-4.552874793e-05,4.698091684e-06,2.138921319e-04,-4.546742743e-05,4.818278935e-06,2.132466021e-04,7.014934265e-01,6.655525403e-06,8.409622911e-01,7.014923427e-01,6.249053005e-06,8.409548333e-01,7.016804173e-01,6.358433054e-06,8.299938626e-01
+48,4.000000000e+00,UP_FORCE_RAMP,1791455008349767099,-4.423257968e-05,3.427735737e-06,2.261256862e-04,-4.552874793e-05,4.698091684e-06,2.138921319e-04,-4.548274418e-05,4.818281452e-06,2.132933218e-04,7.014936389e-01,4.978697059e-06,8.409670669e-01,7.014923427e-01,6.249053005e-06,8.409548333e-01,7.016804019e-01,6.358435571e-06,8.299939093e-01
+49,4.066666667e+00,UP_FORCE_RAMP,1791455008475292076,-4.399367531e-05,-1.769839808e-06,2.285862337e-04,-4.552874793e-05,4.698091684e-06,2.138921319e-04,-4.549702936e-05,4.818311340e-06,2.133362422e-04,7.014938778e-01,-2.188784865e-07,8.409695274e-01,7.014923427e-01,6.249053005e-06,8.409548333e-01,7.016803877e-01,6.358465458e-06,8.299939522e-01
+50,4.166666667e+00,UP_FORCE_HOLD,1791455008615019598,-4.233134956e-05,7.612000658e-06,2.367741597e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.187663889e-05,7.452506011e-06,2.357180669e-04,7.014955401e-01,9.162961979e-06,8.409777153e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016840081e-01,8.992660130e-06,8.300163341e-01
+51,4.250000000e+00,UP_FORCE_HOLD,1791455008742335992,-4.383216502e-05,6.671292520e-06,2.347727205e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.188465348e-05,7.455238158e-06,2.358014536e-04,7.014940393e-01,8.222253841e-06,8.409757139e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016840000e-01,8.995392277e-06,8.300164174e-01
+52,4.333333333e+00,UP_FORCE_HOLD,1791455008871734618,-4.084428970e-05,3.757086617e-06,2.431780937e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.189460700e-05,7.456636068e-06,2.358644622e-04,7.014970272e-01,5.308047939e-06,8.409841193e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839901e-01,8.996790187e-06,8.300164805e-01
+53,4.400000000e+00,UP_FORCE_HOLD,1791455008971734933,-4.334963627e-05,-1.190354214e-06,2.429394427e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.190216847e-05,7.457691202e-06,2.359098795e-04,7.014945218e-01,3.606071067e-07,8.409838806e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839825e-01,8.997845320e-06,8.300165259e-01
+54,4.466666667e+00,UP_FORCE_HOLD,1791455009071746879,-4.313591908e-05,5.268132968e-06,2.454054726e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.190928328e-05,7.458684037e-06,2.359514445e-04,7.014947356e-01,6.819094289e-06,8.409863467e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839754e-01,8.998838156e-06,8.300165674e-01
+55,4.550000000e+00,UP_FORCE_HOLD,1791455009192041319,-4.227659573e-05,3.125093751e-06,2.510516057e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.191757231e-05,7.459823149e-06,2.359985500e-04,7.014955949e-01,4.676055072e-06,8.409919928e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839671e-01,8.999977267e-06,8.300166145e-01
+56,4.616666667e+00,UP_FORCE_HOLD,1791455009292070539,-4.512378256e-05,5.412534540e-06,2.483210980e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.192374960e-05,7.460611326e-06,2.360326995e-04,7.014927477e-01,6.963495861e-06,8.409892623e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839609e-01,9.000765445e-06,8.300166487e-01
+57,4.683333333e+00,UP_FORCE_HOLD,1791455009392412227,-4.345627889e-05,2.491463842e-06,2.524150618e-04,-4.205006607e-05,7.404959013e-06,2.365718103e-04,-4.192954852e-05,7.461305860e-06,2.360639996e-04,7.014944152e-01,4.042425163e-06,8.409933562e-01,7.014958214e-01,8.955920334e-06,8.409775130e-01,7.016839551e-01,9.001459978e-06,8.300166800e-01
+58,4.766666667e+00,UP_FORCE_HOLD,1791455009514061235,-4.175600979e-05,-1.129889155e-06,2.557560444e-04,-4.172150149e-05,-1.025471679e-06,2.553004130e-04,-4.156830758e-05,-9.026024904e-07,2.545636403e-04,7.014961155e-01,4.210721661e-07,8.409966972e-01,7.014961500e-01,5.254896419e-07,8.409962416e-01,7.016843164e-01,6.375516281e-07,8.300351796e-01
+59,4.850000000e+00,UP_SETTLE,1791455009633040367,-4.288723929e-05,3.884573991e-06,2.564001503e-04,-4.172150149e-05,-1.025471679e-06,2.553004130e-04,-4.157338213e-05,-9.084098632e-07,2.546283913e-04,7.014949842e-01,5.435535312e-06,8.409973413e-01,7.014961500e-01,5.254896419e-07,8.409962416e-01,7.016843113e-01,6.317442552e-07,8.300352444e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..52bfc6a3deeb06ac3b97ddd1c1d8459bdbc2503a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,3.3124e-03,-6.6738e-03,2.4527e+00,-3.6300e-02,3.7007e-02,-1.4323e-05,3.4423e-04,-7.4343e-06,-1.3113e-05,1.2182e-06,2.3134e-05,-3.9217e-08,3.4456e-04,2.3166e-05
+1,8.3333e-02,UP_FORCE_RAMP,2.2812e-05,5.0190e-03,-6.6974e-03,2.4526e+00,-3.6295e-02,3.7122e-02,-1.4364e-05,2.0508e-03,-3.1046e-05,-6.0320e-05,6.2138e-06,1.3813e-04,-7.9759e-08,2.0520e-03,1.3827e-04
+2,1.6667e-01,UP_FORCE_RAMP,4.2538e-05,6.6715e-03,-6.7054e-03,2.4526e+00,-3.6291e-02,3.7234e-02,-1.4168e-05,3.7034e-03,-3.9032e-05,-6.6996e-05,9.9018e-06,2.5010e-04,1.1573e-07,3.7042e-03,2.5030e-04
+3,2.6667e-01,UP_FORCE_RAMP,6.5582e-05,8.5490e-03,-6.7014e-03,2.4526e+00,-3.6288e-02,3.7362e-02,-1.3646e-05,5.5809e-03,-3.5013e-05,-3.7432e-05,1.3079e-05,3.7818e-04,6.3788e-07,5.5811e-03,3.7841e-04
+4,3.3333e-01,UP_FORCE_RAMP,9.0585e-05,1.8991e-02,-6.7790e-03,2.4530e+00,-3.6260e-02,3.8084e-02,-8.1965e-06,1.6023e-02,-1.1264e-04,3.3164e-04,4.0941e-05,1.0995e-03,6.0874e-06,1.6027e-02,1.1003e-03
+5,4.0000e-01,UP_FORCE_RAMP,1.0576e-04,1.7728e-02,-6.9204e-03,2.4530e+00,-3.6250e-02,3.8006e-02,-7.8414e-06,1.4760e-02,-2.5409e-04,3.0923e-04,5.0437e-05,1.0223e-03,6.4424e-06,1.4765e-02,1.0236e-03
+6,4.8333e-01,UP_FORCE_RAMP,1.2875e-04,1.7108e-02,-7.0051e-03,2.4530e+00,-3.6244e-02,3.7972e-02,-7.1927e-06,1.4140e-02,-3.3877e-04,2.9922e-04,5.6352e-05,9.8809e-04,7.0912e-06,1.4147e-02,9.8972e-04
+7,5.8333e-01,UP_FORCE_RAMP,1.5099e-04,1.7118e-02,-7.0302e-03,2.4530e+00,-3.6242e-02,3.7979e-02,-6.1502e-06,1.4150e-02,-3.6389e-04,3.1304e-04,5.8539e-05,9.9471e-04,8.1336e-06,1.4158e-02,9.9647e-04
+8,6.5000e-01,UP_FORCE_RAMP,1.7117e-04,1.7393e-02,-7.0186e-03,2.4530e+00,-3.6243e-02,3.8000e-02,-5.3128e-06,1.4425e-02,-3.5226e-04,3.3355e-04,5.8170e-05,1.0161e-03,8.9711e-06,1.4433e-02,1.0178e-03
+9,7.1667e-01,UP_FORCE_RAMP,1.9422e-04,2.2260e-02,-6.8027e-03,2.4534e+00,-3.6250e-02,3.8365e-02,1.0810e-05,1.9292e-02,-1.3630e-04,7.3504e-04,5.1145e-05,1.3807e-03,2.5094e-05,1.9306e-02,1.3819e-03
+10,8.0000e-01,UP_FORCE_RAMP,2.1618e-04,2.1763e-02,-6.8893e-03,2.4533e+00,-3.6244e-02,3.8334e-02,1.1349e-05,1.8795e-02,-2.2296e-04,6.7472e-04,5.6468e-05,1.3500e-03,2.5633e-05,1.8808e-02,1.3514e-03
+11,8.8333e-01,UP_FORCE_RAMP,2.3919e-04,2.1712e-02,-6.9128e-03,2.4533e+00,-3.6243e-02,3.8332e-02,1.2062e-05,1.8743e-02,-2.4647e-04,6.4445e-04,5.7768e-05,1.3483e-03,2.6346e-05,1.8756e-02,1.3497e-03
+12,1.0000e+00,UP_FORCE_RAMP,2.6021e-04,2.2026e-02,-6.8875e-03,2.4533e+00,-3.6245e-02,3.8355e-02,1.3311e-05,1.9058e-02,-2.2111e-04,6.3729e-04,5.5928e-05,1.3705e-03,2.7594e-05,1.9070e-02,1.3719e-03
+13,1.0500e+00,UP_FORCE_RAMP,2.7821e-04,2.3871e-02,-6.3055e-03,2.4410e+00,-3.6284e-02,3.8483e-02,1.7968e-05,2.0903e-02,3.6090e-04,-1.1657e-02,1.7110e-05,1.4992e-03,3.2252e-05,2.3936e-02,1.4996e-03
+14,1.1500e+00,UP_FORCE_RAMP,3.0178e-04,2.4074e-02,-6.2735e-03,2.4420e+00,-3.6286e-02,3.8500e-02,1.9680e-05,2.1106e-02,3.9290e-04,-1.0646e-02,1.4544e-05,1.5159e-03,3.3964e-05,2.3642e-02,1.5163e-03
+15,1.2500e+00,UP_FORCE_RAMP,3.2414e-04,2.4532e-02,-6.2065e-03,2.4431e+00,-3.6291e-02,3.8533e-02,2.1629e-05,2.1564e-02,4.5985e-04,-9.5479e-03,9.6187e-06,1.5491e-03,3.5913e-05,2.3588e-02,1.5496e-03
+16,1.3167e+00,UP_FORCE_RAMP,3.4575e-04,2.5744e-02,-6.0270e-03,2.4454e+00,-3.6308e-02,3.8640e-02,4.1112e-05,2.2776e-02,6.3939e-04,-7.2305e-03,-7.3574e-06,1.6564e-03,5.5396e-05,2.3905e-02,1.6573e-03
+17,1.4333e+00,UP_FORCE_RAMP,3.6762e-04,2.6757e-02,-8.1474e-03,2.4336e+00,-3.6166e-02,3.8709e-02,4.1568e-05,2.3789e-02,-1.4810e-03,-1.9097e-02,1.3480e-04,1.7248e-03,5.5852e-05,3.0541e-02,1.7310e-03
+18,1.5333e+00,UP_FORCE_RAMP,3.8929e-04,2.7019e-02,-8.0302e-03,2.4349e+00,-3.6172e-02,3.8727e-02,4.1985e-05,2.4051e-02,-1.3638e-03,-1.7808e-02,1.2878e-04,1.7429e-03,5.6269e-05,2.9957e-02,1.7486e-03
+19,1.6667e+00,UP_FORCE_RAMP,4.0989e-04,2.8117e-02,-7.5761e-03,2.4345e+00,-3.6201e-02,3.8802e-02,4.2976e-05,2.5149e-02,-9.0971e-04,-1.8175e-02,9.9860e-05,1.8183e-03,5.7260e-05,3.1042e-02,1.8219e-03
+20,1.7667e+00,UP_FORCE_RAMP,4.3469e-04,2.9004e-02,-7.2432e-03,2.4329e+00,-3.6222e-02,3.8863e-02,4.3893e-05,2.6036e-02,-5.7688e-04,-1.9726e-02,7.8499e-05,1.8787e-03,5.8177e-05,3.2669e-02,1.8812e-03
+21,1.8500e+00,UP_FORCE_RAMP,4.5296e-04,2.9387e-02,-7.0337e-03,2.4323e+00,-3.6237e-02,3.8890e-02,4.4730e-05,2.6419e-02,-3.6731e-04,-2.0380e-02,6.4254e-05,1.9060e-03,5.9014e-05,3.3369e-02,1.9080e-03
+22,1.9500e+00,UP_FORCE_RAMP,4.7610e-04,2.9484e-02,-6.8030e-03,2.4287e+00,-3.6252e-02,3.8900e-02,4.5789e-05,2.6516e-02,-1.3663e-04,-2.3962e-02,4.8388e-05,1.9159e-03,6.0073e-05,3.5739e-02,1.9175e-03
+23,2.0333e+00,UP_FORCE_RAMP,4.9706e-04,2.9583e-02,-6.7189e-03,2.4273e+00,-3.6259e-02,3.8909e-02,4.6649e-05,2.6615e-02,-5.2570e-05,-2.5338e-02,4.1813e-05,1.9252e-03,6.0933e-05,3.6748e-02,1.9266e-03
+24,2.1000e+00,UP_FORCE_RAMP,5.1916e-04,2.9537e-02,-6.7084e-03,2.4245e+00,-3.6261e-02,3.8908e-02,4.7228e-05,2.6569e-02,-4.2025e-05,-2.8168e-02,4.0263e-05,1.9244e-03,6.1512e-05,3.8721e-02,1.9258e-03
+25,2.2000e+00,UP_FORCE_RAMP,5.3698e-04,2.9603e-02,-6.6932e-03,2.4234e+00,-3.6263e-02,3.8915e-02,4.7904e-05,2.6635e-02,-2.6838e-05,-2.9281e-02,3.7946e-05,1.9312e-03,6.2188e-05,3.9583e-02,1.9326e-03
+26,2.2833e+00,UP_FORCE_RAMP,5.6207e-04,2.9404e-02,-5.9187e-03,2.4204e+00,-3.6316e-02,3.8905e-02,4.8704e-05,2.6436e-02,7.4767e-04,-3.2284e-02,-1.5706e-05,1.9205e-03,6.2988e-05,4.1734e-02,1.9216e-03
+27,2.3667e+00,UP_FORCE_RAMP,5.8411e-04,2.9366e-02,-5.5336e-03,2.4191e+00,-3.6343e-02,3.8904e-02,4.9304e-05,2.6398e-02,1.1328e-03,-3.3584e-02,-4.2602e-05,1.9202e-03,6.3587e-05,4.2732e-02,1.9217e-03
+28,2.4500e+00,UP_FORCE_RAMP,6.0785e-04,2.9413e-02,-5.2840e-03,2.4192e+00,-3.6362e-02,3.8909e-02,4.9838e-05,2.6445e-02,1.3824e-03,-3.3470e-02,-6.1177e-05,1.9250e-03,6.4122e-05,4.2679e-02,1.9270e-03
+29,2.4667e+00,UP_FORCE_RAMP,6.2828e-04,2.9429e-02,-5.2450e-03,2.4193e+00,-3.6365e-02,3.8910e-02,4.9937e-05,2.6461e-02,1.4214e-03,-3.3328e-02,-6.4220e-05,1.9263e-03,6.4221e-05,4.2579e-02,1.9284e-03
+30,2.5167e+00,UP_FORCE_RAMP,6.5167e-04,3.4689e-02,-4.4525e-03,2.4198e+00,-3.6420e-02,3.9268e-02,5.0606e-05,3.1721e-02,2.2139e-03,-3.2869e-02,-1.1969e-04,2.2840e-03,6.4889e-05,4.5733e-02,2.2881e-03
+31,2.5833e+00,UP_FORCE_RAMP,6.7104e-04,3.7855e-02,-3.9718e-03,2.4207e+00,-3.6455e-02,3.9478e-02,5.1142e-05,3.4887e-02,2.6946e-03,-3.1968e-02,-1.5422e-04,2.4939e-03,6.5426e-05,4.7395e-02,2.4995e-03
+32,2.6500e+00,UP_FORCE_RAMP,6.9212e-04,3.9122e-02,-3.7361e-03,2.4218e+00,-3.6473e-02,3.9563e-02,5.1425e-05,3.6154e-02,2.9302e-03,-3.0858e-02,-1.7232e-04,2.5793e-03,6.5709e-05,4.7623e-02,2.5859e-03
+33,2.7167e+00,UP_FORCE_RAMP,7.1252e-04,3.9798e-02,-3.5703e-03,2.4232e+00,-3.6487e-02,3.9611e-02,5.1606e-05,3.6830e-02,3.0960e-03,-2.9512e-02,-1.8609e-04,2.6267e-03,6.5889e-05,4.7297e-02,2.6341e-03
+34,2.8167e+00,UP_FORCE_RAMP,7.3423e-04,4.0338e-02,-5.1740e-03,2.4215e+00,-3.6385e-02,3.9654e-02,5.1362e-05,3.7370e-02,1.4923e-03,-3.1191e-02,-8.4352e-05,2.6697e-03,6.5645e-05,4.8700e-02,2.6719e-03
+35,2.9167e+00,UP_FORCE_RAMP,7.5713e-04,4.0194e-02,-5.7847e-03,2.4217e+00,-3.6349e-02,3.9650e-02,5.0992e-05,3.7226e-02,8.8164e-04,-3.0990e-02,-4.8351e-05,2.6658e-03,6.5276e-05,4.8445e-02,2.6671e-03
+36,2.9833e+00,UP_FORCE_RAMP,7.7705e-04,3.9944e-02,-6.0458e-03,2.4225e+00,-3.6334e-02,3.9637e-02,5.0653e-05,3.6976e-02,6.2051e-04,-3.0216e-02,-3.3628e-05,2.6527e-03,6.4937e-05,4.7756e-02,2.6537e-03
+37,3.0833e+00,UP_FORCE_RAMP,7.9902e-04,3.9809e-02,-5.9021e-03,2.4204e+00,-3.6349e-02,3.9635e-02,4.9970e-05,3.6841e-02,7.6427e-04,-3.2307e-02,-4.7736e-05,2.6508e-03,6.4254e-05,4.9006e-02,2.6520e-03
+38,3.1667e+00,UP_FORCE_RAMP,8.2197e-04,3.9459e-02,-5.8816e-03,2.4203e+00,-3.6353e-02,3.9615e-02,4.9322e-05,3.6490e-02,7.8473e-04,-3.2349e-02,-5.1927e-05,2.6311e-03,6.3606e-05,4.8771e-02,2.6324e-03
+39,3.2500e+00,UP_FORCE_RAMP,8.4143e-04,3.9010e-02,-5.8724e-03,2.4212e+00,-3.6356e-02,3.9588e-02,4.8532e-05,3.6042e-02,7.9392e-04,-3.1497e-02,-5.5578e-05,2.6044e-03,6.2816e-05,4.7872e-02,2.6057e-03
+40,3.3333e+00,UP_FORCE_RAMP,8.6498e-04,3.8508e-02,-5.8658e-03,2.4226e+00,-3.6360e-02,3.9558e-02,4.7599e-05,3.5540e-02,8.0060e-04,-3.0100e-02,-5.9232e-05,2.5735e-03,6.1883e-05,4.6580e-02,2.5749e-03
+41,3.4000e+00,UP_FORCE_RAMP,8.8483e-04,3.8275e-02,-6.7207e-03,2.4213e+00,-3.6306e-02,3.9545e-02,4.6339e-05,3.5307e-02,-5.4375e-05,-3.1416e-02,-5.3979e-06,2.5612e-03,6.0622e-05,4.7260e-02,2.5619e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1359fae724112b837a9be61d588d56761429452
--- /dev/null
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+59,2.596667e+01,241,6.929244e-01,1.476578e-02,8.235909e-01,-5.157386e-05,-1.255755e-04,-8.702849e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.596667e+01,244,6.921439e-01,1.626183e-02,8.228976e-01,-5.066241e-05,-1.272637e-04,-8.716445e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..51171fe51cc2bad40563dea81acc5520b4246964
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+24092,1791455079321172008,10057710000000,1791455079319346563,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.676049090734062,-0.004777122243263669,0.09012421748945514,0.9999999885034851,8.745851153504363e-05,-7.227457625235128e-05,3.953844106744991e-05,0.6761,-0.0048,0.09014075188500957,1.0,0.0,0.0,0.0,-0.012103761243808957,-0.06457690113234324,0.5473480981185486,-0.0042512964317195714,0.000972994612328376,2.040366887087557e-05,0.021625303650604444,-0.15398901553184516,0.42605214635458705,-0.007207317846192851,-0.0019693910816604068,-0.0014811926148644038,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5521981151997052,-0.1841933844383406,0.3767630117174036,0.20321526681275598,-0.10631488199191662,-0.18434972163264984,0.721557885649919,0.5473480981185486,0.34479487393251534,0.34479487393251534,0.558419999999982,0,0,-8.790026701929599e-05,-9.996202063178856e-05
+24218,1791455080371084894,10058760000000,1791455080367346158,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760506672442681,-0.00477613956501376,0.0900350914173393,0.9999999890721413,7.924604364090322e-05,-7.080880681450926e-05,4.477453753658212e-05,0.6761,-0.0048,0.09004325958252635,1.0,0.0,0.0,0.0,-0.020972118807881312,-0.07717576079394506,0.5489239286625449,-0.00527034779763043,0.002005407550869056,2.2442041261593222e-05,0.012756946086532089,-0.16658787519344698,0.4276279768985834,-0.00822636921210371,-0.0009369781431197266,-0.0014791542424736862,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5880857365228088,-0.26370914302496856,0.2402216667650068,0.22365677008073995,-0.016297496645540345,-0.2364590816548704,0.721557885649919,0.5489239286625449,0.4813362188849122,0.4813362188849122,0.6214199999999285,0,0,-0.00010099520328790833,9.953945587082842e-05
+24335,1791455081346178413,10059735000000,1791455081343345978,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.676044564092709,-0.004783622946085854,0.08992957884925462,0.9999999893406022,6.29405086070152e-05,-7.892023177603426e-05,5.071241590402256e-05,0.6761,-0.0048,0.08993783529731222,1.0,0.0,0.0,0.0,-0.020878664068020192,-0.08283443244052807,0.5688998541399012,-0.005257098400757141,0.0013521257718074433,-3.087591865631083e-06,0.012850400826393209,-0.17224654684003,0.44760390237593967,-0.008213119815230421,-0.0015902599221813394,-0.0015046838756009105,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6221832952213847,-0.24127545490111443,0.19900971445745844,0.23148549467700333,0.012462122810442506,-0.2179548800959164,0.721557885649919,0.5688998541399012,0.5225481711924606,0.5225481711924606,0.6799199999998787,0,0,-0.00011602352912168522,9.9951084934996e-05
+24458,1791455082371078673,10060760000000,1791455082363346349,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760437698653793,-0.004787620065761902,0.0898045170673962,0.9999999907111176,3.7515552208800736e-05,-7.771458408049386e-05,5.073121365738215e-05,0.6761,-0.0048,0.08981286642774104,1.0,0.0,0.0,0.0,-0.025890001099151513,-0.08924972361971154,0.5685784284160047,-0.006295231601908258,0.0020208681970322363,-5.551484433714187e-06,0.007839063795261888,-0.17866183801921345,0.4472824766520432,-0.009251253016381538,-0.0009215174969565463,-0.0015071477681689936,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6497442517130616,-0.20197329396101718,0.11230732624900593,0.22613262919836838,0.0707157869766588,-0.19549684605781092,0.721557885649919,0.5685784284160047,0.609250559400913,0.609250559400913,0.7414199999998264,0,0,-0.00012955362984204554,9.964809119378799e-05
+24580,1791455083387090649,10061776000000,1791455083383346443,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760466791147791,-0.004791359569477605,0.08967345053457464,0.9999999913597748,1.9994624725565708e-05,-7.518470363740843e-05,5.1679686814030674e-05,0.6761,-0.0048,0.08967455997349759,1.0,0.0,0.0,0.0,-0.02116121122791509,-0.07607985124622393,0.5790274528425241,-0.005275964120020649,0.0019987592072629673,-2.1461156421577043e-06,0.012567853666498312,-0.16549196564572585,0.45773150107856253,-0.008231985534493929,-0.0009436264867258155,-0.0015037423993774371,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.642878954610458,-0.22367833741448476,0.1754190864913593,0.24027359591207195,0.019336367839477845,-0.21098372958987238,0.721557885649919,0.5790274528425241,0.5461387991585597,0.5461387991585597,0.8023799999997746,0,0,-0.00014297531347326332,-9.709953260739752e-05
+24688,1791455084287110659,10062676000000,1791455084283346395,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760488783362364,-0.004793596806611239,0.08954133775153314,0.9999999878975059,8.757038686189997e-05,-7.520236391509544e-05,4.820668386702331e-05,0.6761,-0.0048,0.08953835373456498,1.0,0.0,0.0,0.0,-0.028660244600558053,-0.07556905914604148,0.5953721357674341,-0.005289751736113235,0.001996727190021369,-2.996811269866508e-06,0.005068820293855347,-0.1649811735455434,0.4740761840034725,-0.008245773150586515,-0.0009456585039674136,-0.001504593095005146,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6642818287636031,-0.19769616533429835,0.17040974087409497,0.24114711261925495,0.022654129272062017,-0.19153659722722172,0.721557885649919,0.5953721357674341,0.551148144775824,0.551148144775824,0.8563799999997287,0,0,-0.00015946881231773536,-9.999999025923074e-05
+24784,1791455085087086136,10063476000000,1791455085083346058,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760495322390399,-0.004791234660125486,0.08941655330778828,0.9999999880879952,8.354304632280107e-05,-7.5526892404955e-05,5.082442091858178e-05,0.6761,-0.0048,0.08941004296057059,1.0,0.0,0.0,0.0,-0.03021217215290823,-0.08832915835866759,0.5963913646550398,-0.00632079101950306,0.0030288554526138557,-1.2791556819591147e-05,0.0035168927415051687,-0.1777412727581695,0.4750954128910783,-0.00927681243397634,8.646975862507284e-05,-0.0015143878405548706,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6989264360037085,-0.26507165062104515,0.14111800779776246,0.27869503114502703,0.04059941529943371,-0.2233664624512722,0.721557885649919,0.5963913646550398,0.5804398778521564,0.5804398778521564,0.9043799999996879,0,0,-0.0001661784533410745,-9.544474518919372e-05
+24885,1791455085929118958,10064318000000,1791455085923346294,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760577631845743,-0.004802324576820915,0.08928181297570842,0.999999988029103,8.720213826624086e-05,-6.768020951235083e-05,5.656707996927402e-05,0.6761,-0.0048,0.08926700200315575,1.0,0.0,0.0,0.0,-0.030691571843154346,-0.07497527855682437,0.6092212698699984,-0.005308959490260749,0.0030056585657314942,-1.173267694830728e-05,0.003037493051259053,-0.1643873929563263,0.48792531810603684,-0.008264980904734029,6.327287174271129e-05,-0.0015133289606835867,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6673227416472088,-0.33006189692538307,0.13129250735785356,0.29717784120741947,0.03439491002738907,-0.26786273379592385,0.721557885649919,0.6092212698699984,0.5902653782920654,0.5902653782920654,0.9548999999996449,0,0,-0.00017393499366777222,-9.999804736893764e-05
+24978,1791455086704121620,10065093000000,1791455086703346428,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760557299508646,-0.004801436178985472,0.0891355184430292,0.9999999891878715,6.770657137654286e-05,-7.227528809971498e-05,5.708961613074637e-05,0.6761,-0.0048,0.08912765452887744,1.0,0.0,0.0,0.0,-0.030154307388664453,-0.08359146256863784,0.6150277635695288,-0.0063306012407632565,0.0030235006131220273,-2.904363537444888e-05,0.003574757505748946,-0.17300357696813976,0.4937318118055673,-0.009286622655236536,8.111491913324435e-05,-0.0015306399191097283,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6753261374814936,-0.20811778973288725,0.08559180175750607,0.27213330824713255,0.06105226079957487,-0.18660424332675163,0.721557885649919,0.6150277635695288,0.6359660838924129,0.6359660838924129,1.0013999999996055,0,0,-0.0001877775652845123,-9.999999025923074e-05
+25062,1791455087404128139,10065793000000,1791455087399346374,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760488522204532,-0.004807513046028533,0.08899036373342825,0.9999999891274047,5.483618013427912e-05,-8.171193531679358e-05,5.919634963726984e-05,0.6761,-0.0048,0.08899143064041717,1.0,0.0,0.0,0.0,-0.02964886530415472,-0.10023753764757914,0.6182747671077312,-0.007353397975221604,0.003043015403255681,-4.196597628813273e-05,0.004080199590258683,-0.18964965204708106,0.4969788153437697,-0.010309419389694884,0.00010062970926689851,-0.0015435622600234121,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7001903467794238,-0.26913884968154517,0.08412895243575039,0.2927421716085968,0.06572849074197698,-0.22536987543581247,0.721557885649919,0.6182747671077312,0.6374289332141686,0.6374289332141686,1.0433999999995698,0,0,-0.000201401021411611,-9.998065850081445e-05
+25146,1791455088104119366,10066493000000,1791455088103346367,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760452212032206,-0.004812385141974864,0.08884032895211236,0.9999999888693514,4.4050680075912584e-05,-8.795116948548722e-05,6.346881797684518e-05,0.6761,-0.0048,0.08884607959669161,1.0,0.0,0.0,0.0,-0.029637348944399036,-0.1002161565495813,0.619049874387539,-0.007353541157160111,0.0030428419542820368,-4.259276887841356e-05,0.004091715950014364,-0.18962827094908322,0.4977539226235775,-0.010309562571633391,0.00010045626029325384,-0.001544189052613693,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7119509455050629,-0.2301295757129484,0.008565946068344567,0.28886735813801145,0.1099414718086663,-0.2009228339356979,0.721557885649919,0.619049874387539,0.7129919395815744,0.7129919395815744,1.085399999999534,0,0,-0.0002151234427481038,-8.405447982496976e-05
+25230,1791455088804107392,10067193000000,1791455088803346647,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.676042664960982,-0.004818428977555397,0.08868549283791596,0.9999999881668182,4.01781844222537e-05,-9.251200576314366e-05,7.026001873759086e-05,0.6761,-0.0048,0.08869094772134704,1.0,0.0,0.0,0.0,-0.03853485638887881,-0.10368995658680247,0.6361424406250364,-0.007357654409637883,0.0030399355366073307,-5.749037455851473e-05,-0.004805791494465406,-0.19310207098630439,0.5148464888610749,-0.010313675824111163,9.754984261854781e-05,-0.0015590866582937942,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7257587412749322,-0.23396619216748035,0.001647688610044415,0.2970774424720418,0.11516997811818921,-0.20055097443214853,0.721557885649919,0.6361424406250364,0.7199101970398746,0.7199101970398746,1.1273999999994984,0,0,-0.00022795962968255446,-9.914171847225645e-05
+25312,1791455089487117812,10067876000000,1791455089483346203,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760436850372504,-0.004821120222357314,0.08852205106646889,0.9999999880078843,4.611473525309168e-05,-9.052830023984108e-05,7.145035881118842e-05,0.6761,-0.0048,0.0885283776003687,1.0,0.0,0.0,0.0,-0.03891701154506818,-0.10024563519516891,0.6383235778860242,-0.007357021638040967,0.003038876315251844,-5.9288647981250693e-05,-0.00518794665065478,-0.18965774959467083,0.5170276261220627,-0.010313043052514247,9.649062126306112e-05,-0.0015608849317165301,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7215409296714224,-0.28478646746627045,-0.0278655499906912,0.32003529186023033,0.12792125014409622,-0.23515730075833768,0.721557885649919,0.6383235778860242,0.7494234356406102,0.7494234356406102,1.1683799999994635,0,0,-0.00024529254253754926,-5.055538906806874e-05
+25384,1791455090087120229,10068476000000,1791455090079337260,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760375338255236,-0.0048258743260457876,0.08836320563726052,0.9999999816648483,0.00010965950436897108,-0.00010187817773015251,7.555658438085385e-05,0.6761,-0.0048,0.08837666841677486,1.0,0.0,0.0,0.0,-0.03974981869986962,-0.10254056650609097,0.6330177309881839,-0.007372871259377143,0.003642232972839927,-4.576997853869254e-05,-0.006020753805456222,-0.1919526809055929,0.5117217792242224,-0.010328892673850423,0.0006998472788511442,-0.001547366262273972,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7227585465708887,-0.16098542736664148,0.031036137824748913,0.28484997396369083,0.08816188945877824,-0.17054895730113168,0.721557885649919,0.6330177309881839,0.6905217478251701,0.6905217478251701,1.204379999999433,0,0,-0.00026195985534524367,-9.999999025923074e-05
+25458,1791455090704140852,10069093000000,1791455090699346434,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760369955320964,-0.004821048734668679,0.08819474171137068,0.9999999838635156,8.542501566614166e-05,-0.00010379968987262487,7.512671978108264e-05,0.6761,-0.0048,0.08820874049717252,1.0,0.0,0.0,0.0,-0.040038652463082185,-0.09635472669777892,0.6454843716509172,-0.007373868808152141,0.003649754812660874,-6.008834348646e-05,-0.0063095875686687815,-0.18576684109728084,0.5241884198869556,-0.010329890222625421,0.0007073691186720913,-0.0015616846272217394,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7706289509937536,-0.23269026621652528,-0.0858565591301946,0.32840153254076565,0.17241385311123533,-0.2017438763437522,0.721557885649919,0.6454843716509172,0.8074144447801136,0.8074144447801136,1.2413999999994014,0,0,-0.00028004362026959475,9.391892405308794e-05
+25524,1791455091254107346,10069643000000,1791455091251346817,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760335152293588,-0.004826197922946619,0.08802790699299241,0.9999999844204704,6.199462648019155e-05,-0.0001107825494417813,8.053456555593607e-05,0.6761,-0.0048,0.08805073439975132,1.0,0.0,0.0,0.0,-0.04440755098017736,-0.10696659005617509,0.6483464860067151,-0.007367064518989705,0.003257611072158801,-6.933811450469691e-05,-0.010678486085763963,-0.196378704455677,0.5270505342427535,-0.010323085933462985,0.00031522537817001823,-0.0015709343982399763,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7014713983281164,-0.2025942418558167,-0.03739454724352299,0.33118383536983065,0.11891075744166206,-0.18191850885597136,0.721557885649919,0.6483464860067151,0.7589524328934419,0.7589524328934419,1.2743999999993734,0,0,-0.0002963473457282247,-9.372327500057338e-05
+25590,1791455091804169509,10070193000000,1791455091803346195,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760328266003426,-0.004827935582852015,0.08785323417764779,0.9999999846019522,3.956643933323839e-05,-0.00011579512485744993,8.523465172132914e-05,0.6761,-0.0048,0.08788256548671443,1.0,0.0,0.0,0.0,-0.047781966782422,-0.1084842297863931,0.6671522557152698,-0.007363672706115184,0.003033339012671522,-8.435963033941543e-05,-0.014052901888008597,-0.19789634418589502,0.5458563039513082,-0.010319694120588464,9.095331868273924e-05,-0.0015859559140746948,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6637226617420827,-0.24432566475438658,-0.0232030620653878,0.34606129986808115,0.10096883425243496,-0.21192873510638188,0.721557885649919,0.6671522557152698,0.7447609477153068,0.7447609477153068,1.3073999999993453,0,0,-0.00031555557995363435,-8.57722046429032e-05
+25652,1791455092321171612,10070710000000,1791455092315346538,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.676031679843444,-0.004823146880097546,0.0876889925662723,0.9999999837223857,5.152837993488372e-05,-0.00011689379249690463,8.762853408851184e-05,0.6761,-0.0048,0.08771451544872087,1.0,0.0,0.0,0.0,-0.038882023295888295,-0.0982876466016693,0.6584444106937559,-0.007224039763582039,0.003031899343154669,-7.516421272241625e-05,-0.005152958401474894,-0.18769976100117122,0.5371484589297943,-0.01018006117805532,8.951364916588627e-05,-0.0015767604964576957,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6641330065094813,-0.2671019222534944,-0.007851110016963305,0.38255931362234674,0.08377709436681914,-0.21873297425454458,0.721557885649919,0.6584444106937559,0.7294089956668822,0.7294089956668822,1.338419999999319,0,0,-0.0003341634064693829,-9.498199035474215e-05
+25712,1791455092821210597,10071210000000,1791455092815346941,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760297077482582,-0.0048321854347637815,0.08752078011246393,0.9999999792140913,0.00010442541297912226,-0.000118998175834566,8.915968058872229e-05,0.6761,-0.0048,0.08754227856235434,1.0,0.0,0.0,0.0,-0.03947220612681578,-0.09600580835905775,0.6587705105608505,-0.006340783897359512,0.003015532108758592,-6.436200653056243e-05,-0.005743141232402385,-0.18541792275855967,0.5374745587968889,-0.009296805311832792,7.31464147698092e-05,-0.0015659582902658419,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6427855641657454,-0.2581791473364877,0.012910210116124128,0.38350469664811754,0.06394506201026622,-0.21684250378299566,0.721557885649919,0.6587705105608505,0.7086476755337948,0.7086476755337948,1.3684199999992934,0,0,-0.0003547878209928231,-9.988789936710702e-05
+25770,1791455093304203257,10071693000000,1791455093299346532,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760303498774067,-0.004833709727120612,0.0873513934231242,0.9999999807931538,8.391436375996273e-05,-0.00011862219340913816,9.350781321032754e-05,0.6761,-0.0048,0.08736674277972015,1.0,0.0,0.0,0.0,-0.03916861406441237,-0.08577968264419841,0.6680219438026493,-0.0063411651478395056,0.003013464795374598,-7.202993576532822e-05,-0.005439549169998972,-0.17519179704370033,0.5467259920386878,-0.009297186562312786,7.107910138581568e-05,-0.0015736262195006076,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6682106324413113,-0.19022096961628882,-0.04849267858846805,0.3686603713726174,0.1111115722141563,-0.17780091630132425,0.721557885649919,0.6680219438026493,0.770050564238387,0.770050564238387,1.3973999999992688,0,0,-0.00037370403774761145,-2.732953241330841e-05
+25828,1791455093787112188,10072176000000,1791455093783336663,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760299011523292,-0.004831905878726751,0.08716988652017908,0.999999982694526,6.0324192544199335e-05,-0.00011733586343974295,9.298978065571812e-05,0.6761,-0.0048,0.08718135564984446,1.0,0.0,0.0,0.0,-0.03952142395955417,-0.09591339612111355,0.6595832220606542,-0.0063409276601375155,0.003015353745992714,-6.502447558433418e-05,-0.005792359065140771,-0.18532551052061547,0.5382872702966927,-0.009296949074610796,7.296805200393125e-05,-0.0015666207593196136,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6534146639504318,-0.22813501722408813,0.07009131163137639,0.3964283107547826,0.028657412750848703,-0.20349050455665152,0.721557885649919,0.6595832220606542,0.6514665740185426,0.6514665740185426,1.4263799999992441,0,0,-0.000392946093201478,-9.999999025923074e-05
+25881,1791455094229112337,10072618000000,1791455094223346305,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760274689004833,-0.004841502664473279,0.0869897495030424,0.9999999822600553,4.899038187271685e-05,-0.00012099655032759807,9.941091973502361e-05,0.6761,-0.0048,0.08700365221932443,1.0,0.0,0.0,0.0,-0.0404638633760945,-0.0856032374040265,0.668767168346137,-0.006368873058101203,0.004025799638106394,-5.683684084745481e-05,-0.006734798481681097,-0.17501535180352842,0.5474712165821755,-0.009324894472574483,0.001083413944117611,-0.0015584331245827342,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6719318697986845,-0.23841085924059607,0.0986132524744473,0.41691857974536867,0.015240639416931127,-0.2039503462254212,0.721557885649919,0.668767168346137,0.6229446331754717,0.6229446331754717,1.4528999999992216,0,0,-0.0004103573627803599,-9.999999025923074e-05
+25928,1791455094621204540,10073010000000,1791455094615346484,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760323405789738,-0.004840310056114261,0.08683204696416542,0.999999981252291,7.513746821000586e-05,-0.00011367357047740207,0.00010183792172608408,0.6761,-0.0048,0.08684028350730297,1.0,0.0,0.0,0.0,-0.048784825416409244,-0.09545746395537733,0.668750019903546,-0.006368771509204054,0.004026369231890179,-5.796019705055851e-05,-0.015055760521995844,-0.18486957835487924,0.5474540681395844,-0.009324792923677334,0.0010839835379013966,-0.001559556480785838,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7101777546774192,-0.2621023523820516,0.032906022069205225,0.43352263643236727,0.06427678743552037,-0.2176124721230316,0.721557885649919,0.668750019903546,0.6886518635807137,0.6886518635807137,1.4764199999992016,0,0,-0.0004240366455424401,-9.999999025923074e-05
+25977,1791455095029205799,10073418000000,1791455095027346500,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760284608589131,-0.004845862215507271,0.0866543646063439,0.9999999806623702,7.062131055854909e-05,-0.00011863083303597319,0.00010515455138536524,0.6761,-0.0048,0.0866639238082147,1.0,0.0,0.0,0.0,-0.040664745725493404,-0.08244284986684741,0.6793079526118758,-0.005342097214400257,0.0034414734834188622,-6.262584834929941e-05,-0.0069356808310800065,-0.17185496426634933,0.5580120008479142,-0.008298118628873537,0.0004990877894300795,-0.0015642221320845788,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7131295693700478,-0.34417277314215644,-0.14699367402014635,0.46714383330761594,0.17808635018249455,-0.27384785161101616,0.721557885649919,0.6793079526118758,0.8685515596700653,0.8685515596700653,1.5008999999991808,0,0,-0.0004394692615691546,9.998372549191998e-05
+26024,1791455095421135763,10073810000000,1791455095415346156,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760271318114345,-0.004850077923752361,0.08648151094654322,0.9999999811383339,5.6851437283765325e-05,-0.00011928008527210066,0.00010819598774190951,0.6761,-0.0048,0.08648899639122154,1.0,0.0,0.0,0.0,-0.04039198297716793,-0.07814248174952312,0.6887577352342199,-0.005342035798149233,0.0034717114454861954,-7.024263769238315e-05,-0.006662918082754528,-0.16755459614902504,0.5674617834702583,-0.008298057212622513,0.0005293257514974126,-0.0015718389214276626,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7129932495991079,-0.14793549776579248,0.0654362797487713,0.41921546158572376,0.04380208062179499,-0.14972594621495194,0.721557885649919,0.6887577352342199,0.6561216059011477,0.6561216059011477,1.5244199999991608,0,0,-0.0004519978973147306,-9.99999347480795e-05
+26072,1791455095821165023,10074210000000,1791455095815347073,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760278262250908,-0.0048484990270376465,0.08630440741135137,0.9999999822296284,5.023718407013187e-05,-0.00011783224187237816,0.00010283674263200348,0.6761,-0.0048,0.08630587722843355,1.0,0.0,0.0,0.0,-0.048941772976132135,-0.08025077732520078,0.6791626657573823,-0.0053507953914120835,0.004004805316947788,-5.4753906544321e-05,-0.015212708081718736,-0.1696628917247027,0.5578667139934207,-0.008306816805885364,0.001062419622959005,-0.0015563501902796004,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7381466458810892,-0.19645818545795005,-0.04135648574490957,0.44533080697894667,0.11295114487809783,-0.17771733638414788,0.721557885649919,0.6791626657573823,0.7629143713948285,0.7629143713948285,1.5484199999991404,0,0,-0.00046424750976454903,-7.127138785896947e-05
+26121,1791455096229211502,10074618000000,1791455096227346633,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760247498164493,-0.0048485430909661655,0.08610961769159715,0.9999999790186573,8.594010623959098e-05,-0.00012077774618621449,0.0001069232601222524,0.6761,-0.0048,0.08611427245896812,1.0,0.0,0.0,0.0,-0.04957084708352184,-0.07240475661022772,0.6791935681848615,-0.005349253939093574,0.0040040403518679475,-5.483840618618666e-05,-0.01584178218910844,-0.16181687100972963,0.5578976164209,-0.008305275353566854,0.0010616546578791645,-0.001556434689921466,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7527941469901203,-0.253591690007309,0.00973481621144502,0.4725984105075502,0.08337213931666505,-0.21068083203666524,0.721557885649919,0.6791935681848615,0.711823069438474,0.711823069438474,1.5728999999991196,0,0,-0.00047592997500930787,-9.999999025923074e-05
+26166,1791455096604210058,10074993000000,1791455096603336490,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760259828026702,-0.004852287787501352,0.08593551421916204,0.9999999804050534,7.135003566114868e-05,-0.0001179844707187661,0.00010780349769441418,0.6761,-0.0048,0.08593385556432379,1.0,0.0,0.0,0.0,-0.04957085357733944,-0.07263995045638269,0.6791935578327525,-0.005349254392598951,0.004004040615582596,-5.483840275531909e-05,-0.015841788682926034,-0.1620520648558846,0.5578976060687909,-0.008305275807072231,0.0010616549215938127,-0.0015564346864905985,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8267267587248237,-0.14407535543219827,0.0002143347616201956,0.44470401277334537,0.10885761137769825,-0.13844323503344141,0.721557885649919,0.6791935578327525,0.7213435508882987,0.7213435508882987,1.5953999999991004,0,0,-0.0004861897386174415,-9.999999025923074e-05
+26208,1791455096954177130,10075343000000,1791455096951346428,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.6760253555582215,-0.004846565347196216,0.08576173855678319,0.9999999816806733,5.8517720293279044e-05,-0.00011580453355430542,0.00010604953517346502,0.6761,-0.0048,0.08576259732742625,1.0,0.0,0.0,0.0,-0.0496625663820641,-0.08214222026632659,0.6878569023499242,-0.005352311273333821,0.004002985926327683,-6.186212476917718e-05,-0.0159335014876507,-0.1715543346658285,0.5665609505859627,-0.008308332687807101,0.0010606002323389002,-0.0015634584085044566,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7465893830136,-0.18561833156191387,-0.03585225638155813,0.4597820150816037,0.10503703974830886,-0.1715453362226815,0.721557885649919,0.6878569023499242,0.757410142031477,0.757410142031477,1.6163999999990826,0,0,-0.0004946531095798276,-9.999355096568791e-05
+26252,1791455097321144285,10075710000000,1791455097319345971,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760223464972338,-0.004848207416820273,0.0855759193878946,0.9999999811199233,5.290969823113157e-05,-0.00012138328156361318,0.00010802629413277808,0.6761,-0.0048,0.08558040676235208,1.0,0.0,0.0,0.0,-0.049605812099645055,-0.07845314073069992,0.6892108166875541,-0.005352033617310991,0.004002385850747553,-6.29432928480186e-05,-0.015876747205231655,-0.16786525513020184,0.5679148649235926,-0.008308055031784271,0.0010600001567587702,-0.001564539576583298,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.83680408236141,-0.23914667442094656,-0.09717663413590737,0.4788813935233779,0.16986219856622656,-0.2039396858934961,0.721557885649919,0.6892108166875541,0.8187345197858263,0.8187345197858263,1.6384199999990638,0,0,-0.000497027689489892,5.2690922847974456e-05
+26297,1791455097696107531,10076085000000,1791455097695346315,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760221041039156,-0.00485347664426575,0.08539244471434172,0.9999999803062428,6.392095856503157e-05,-0.00012154124383450227,0.00010941761976815696,0.6761,-0.0048,0.0853925902978323,1.0,0.0,0.0,0.0,-0.040357041883487196,-0.07204895176156817,0.6892311392914963,-0.005350415976051671,0.004001806765734193,-5.949764775974053e-05,-0.0066279769890737975,-0.1614610661610701,0.5679351875275347,-0.00830643739052495,0.0010594210717454105,-0.00156109393149502,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8760236806854396,-0.19199447947305542,-0.037232553113505006,0.475699804111574,0.13414991302975338,-0.1668675436949952,0.721557885649919,0.6892311392914963,0.758790438763424,0.758790438763424,1.6609199999990447,0,0,-0.0005028150557543062,-9.542999310075401e-05
+26342,1791455098071125259,10076460000000,1791455098063346358,DOWN_FORCE_DETACH,4,0.0365,0.03650213032960892,0.6760227975215006,-0.004850953791854258,0.08520831794967472,0.9999999809266714,6.691655942794386e-05,-0.00011696258880359943,0.00010691795048009443,0.6761,-0.0048,0.08520255855864785,1.0,0.0,0.0,0.0,-0.04694908045908114,-0.07199451481624503,0.689243968961278,-0.005333072117747474,0.0040014533793659764,-6.243191123925327e-05,-0.013220015564667736,-0.16140662921574694,0.5679480171973165,-0.008289093532220754,0.0010590676853771933,-0.0015640281949745327,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8631443897916727,-0.19152057660631702,-0.0470517952666922,0.48141518160725855,0.13342496153368014,-0.16476356263959938,0.721557885649919,0.689243968961278,0.7686096809166112,0.7686096809166112,1.6834199999990256,0,0,-0.0005105716668299662,-9.999999025923074e-05
+26384,1791455098421107625,10076810000000,1791455098415346372,DOWN_FORCE_DETACH,4,0.0365,0.03650147467851639,0.676024275434372,-0.004851821606995717,0.08503322039447278,0.9999999807104943,6.793396435500724e-05,-0.00011473713815617565,0.00011064466216063186,0.6761,-0.0048,0.08502290035035726,1.0,0.0,0.0,0.0,-0.04105526020331983,-0.06717287966080426,0.689621922758713,-0.004331279817910533,0.003982665916254658,-5.071770588216504e-05,-0.0073261953089064314,-0.15658499406030618,0.5683259709947515,-0.007287301232383813,0.0010402802222658752,-0.0015523139896174445,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8912188916721661,-0.1245645059267266,-0.14283190584320413,0.46551316865457026,0.20540132230905198,-0.12247438412231695,0.721557885649919,0.689621922758713,0.8643897914931231,0.8643897914931231,1.7044199999990077,0,0,-0.0005144627093958423,7.966539514037691e-05
+26433,1791455098825167955,10077214000000,1791455098823346107,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760250133347737,-0.004856730245413345,0.08483323323188227,0.9999999819760372,5.5695049440289286e-05,-0.00011134602003302014,0.00010950303650957803,0.6761,-0.0048,0.0848137543785007,1.0,0.0,0.0,0.0,-0.04971491393697046,-0.06921206370573849,0.6903776168973549,-0.004331357587198841,0.0039827674920296045,-5.214099257675885e-05,-0.015985849042557055,-0.1586241781052404,0.5690816651333933,-0.00728737900167212,0.0010403817980408217,-0.0015537372763120383,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9747706694693036,-0.171481893169794,-0.14652310902566304,0.48326176926495545,0.22060237291065923,-0.1520865177548826,0.721557885649919,0.6903776168973549,0.868080994675582,0.868080994675582,1.7261399999989893,0,0,-0.0005186723188762857,9.999999025923074e-05
+26473,1791455099158114918,10077547000000,1791455099155336585,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760191008122222,-0.004857128677351097,0.08465466144349243,0.9999999807980936,5.597703240391492e-05,-0.00011943806899860967,0.0001115696924831205,0.6761,-0.0048,0.0846438003957732,1.0,0.0,0.0,0.0,-0.04091681848849983,-0.06696058533561014,0.6896429394593684,-0.0043324243929303684,0.0034599738001955664,-5.784959869938153e-05,-0.007187753594086434,-0.15637269973511206,0.5683469876954068,-0.0072884458074036484,0.0005175881062067837,-0.001559445882434661,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.000291143913574,-0.30582563102448546,-0.2005948249122345,0.5200877921364898,0.2610328208401723,-0.23842684891011595,0.721557885649919,0.6896429394593684,0.9221527105621534,0.9221527105621534,1.7261399999989893,0,0,-0.0005020223221199619,9.999999025923074e-05
+26517,1791455099525144946,10077914000000,1791455099523346262,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6760184206262465,-0.004860611996316598,0.08447267933103439,0.9999999802238797,6.213540367052088e-05,-0.00012071503300464935,0.00011208111886788503,0.6761,-0.0048,0.0844629162528974,1.0,0.0,0.0,0.0,-0.04059205404236918,-0.07136477432690116,0.6992548960098542,-0.005350599357269085,0.003999394353161689,-6.989973746919054e-05,-0.006862989147955782,-0.16077688872640308,0.5779589442458927,-0.008306620771742365,0.001057008659172906,-0.00157149602120447,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0501177648468356,-0.23646716973733964,-0.1475888198185526,0.5096783496803924,0.23838808073682782,-0.18386919545166283,0.721557885649919,0.6992548960098542,0.8691467054684716,0.8691467054684716,1.7261399999989893,0,0,-0.00048367232569482423,9.999999025923074e-05
+26563,1791455099908226719,10078297000000,1791455099907346157,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6760124036217396,-0.0048635683325096175,0.08428881987521632,0.9999999793802828,5.934077059835319e-05,-0.0001284679697918852,0.0001125031200712901,0.6761,-0.0048,0.08428132740143998,1.0,0.0,0.0,0.0,-0.03636956268063386,-0.07232981871114125,0.6893145194173989,-0.005323739051976849,0.002989782007109326,-7.709797217663058e-05,-0.0026404977862204615,-0.16174193311064317,0.5680185676534373,-0.008279760466450129,4.7396313120543225e-05,-0.00157869425591191,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0587402428844739,-0.20131807037164054,-0.163892232812179,0.49930600345255,0.25015204567167143,-0.1625937642412711,0.721557885649919,0.6893145194173989,0.885450118462098,0.885450118462098,1.7261399999989893,0,0,-0.00046452232942553886,9.999999025923074e-05
+26611,1791455100308141248,10078697000000,1791455100307346149,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760184166998275,-0.004865338486558192,0.08411781808192251,0.9999999822105264,4.106109490281463e-05,-0.00011747375008864967,0.00010740445001145844,0.6761,-0.0048,0.08409950846888856,1.0,0.0,0.0,0.0,-0.04032299635882712,-0.06591174084925447,0.6852758415463369,-0.005348668939918189,0.00400270739697343,-5.552594833175737e-05,-0.00659393146441372,-0.1553238552487564,0.5639798897823753,-0.00830469035439147,0.0010603217029846474,-0.0015571222320670368,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1151989306442107,-0.26104230508091647,-0.1436213234732028,0.5212036140712183,0.24557176200191072,-0.19607045709317333,0.721557885649919,0.6852758415463369,0.8651792091231217,0.8651792091231217,1.7261399999989893,0,0,-0.00044452233332184656,9.999999025923074e-05
+26661,1791455100725158626,10079114000000,1791455100723345966,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6760159954072317,-0.004864704833805842,0.08393887364759003,0.9999999812392002,4.697605708890667e-05,-0.0001215417721098825,0.00010947744629067305,0.6761,-0.0048,0.08391847945504441,1.0,0.0,0.0,0.0,-0.04679696497548384,-0.06324247813885614,0.6795937909470945,-0.004328583109889374,0.0039845385502737885,-4.343750431957103e-05,-0.013067900081070446,-0.15265459253835806,0.5582978391831329,-0.007284604524362654,0.001042152856285006,-0.0015450337880548505,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.150133121121938,-0.2530519337769379,-0.22751399854891888,0.5110830150974653,0.3032228927322032,-0.18949616648752915,0.721557885649919,0.6795937909470945,0.9490718841988378,0.9490718841988378,1.7261399999989893,0,0,-0.00042367233738374734,9.999999025923074e-05
+26716,1791455101183142540,10079572000000,1791455101179346466,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760118377290486,-0.00486752673059992,0.08374745657087347,0.9999999812468344,4.049153783148488e-05,-0.00012587112353286094,0.00010707983444022229,0.6761,-0.0048,0.08372967017349879,1.0,0.0,0.0,0.0,-0.03566720096905088,-0.07229059476457667,0.6796081060296312,-0.004319271050816401,0.0035847016489613274,-4.8183978898353255e-05,-0.0019381360746374744,-0.16170270916407858,0.5583121542656696,-0.007275292465289681,0.0006423159549725447,-0.0015497802626336327,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1862131015052493,-0.30163752318252085,-0.251590811385745,0.5214720872335982,0.3232833568118667,-0.22279298779897738,0.721557885649919,0.6796081060296312,0.973148697035664,0.973148697035664,1.7261399999989893,0,0,-0.00040077234184501966,9.999999025923074e-05
+26770,1791455101633163804,10080022000000,1791455101627346064,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760072104245693,-0.004873942291342842,0.08356773749692041,0.9999999798975429,4.0227164417350794e-05,-0.00013139437506248615,0.00011298261787052682,0.6761,-0.0048,0.08355437386868009,1.0,0.0,0.0,0.0,-0.04063795474972834,-0.06972631438996438,0.6774295349659688,-0.004301501077679373,0.002972153633894616,-5.652841365345125e-05,-0.006908889855314937,-0.1591384287894663,0.5561335832020072,-0.007257522492152653,2.9767939905833456e-05,-0.0015581246973887307,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2019724583528248,-0.18760922178026776,-0.2501466622454792,0.49170901496047087,0.32543153074342557,-0.14348544796483736,0.721557885649919,0.6774295349659688,0.9717045478953982,0.9717045478953982,1.7261399999989893,0,0,-0.00037827234622836583,9.999999025923074e-05
+26827,1791455102108207542,10080497000000,1791455102103345997,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6760072059128116,-0.004874723701270165,0.0833956653327234,0.9999999804799141,3.273791112378101e-05,-0.00013164803525597563,0.00010990932568417037,0.6761,-0.0048,0.08338032325312042,1.0,0.0,0.0,0.0,-0.04032733272805475,-0.059957131638603584,0.6696447600960027,-0.00429861011209118,0.0029730118980600627,-5.0189045161915836e-05,-0.006598267833641349,-0.1493692460381055,0.5483488083320411,-0.007254631526564459,3.062620407127985e-05,-0.0015517853288971953,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2661750650150148,-0.17614602725798834,-0.37120815275913027,0.4945540082019374,0.41740117297216456,-0.1356623196410089,0.721557885649919,0.6696447600960027,1.0927660384090492,1.0927660384090492,1.7261399999989893,0,0,-0.0003545223508552312,9.999999025923074e-05
+26887,1791455102608509608,10080997000000,1791455102603346404,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760072279655645,-0.004880304029098588,0.08322455221062086,0.999999981303321,2.4421929305617263e-05,-0.0001283671254382541,0.00010845124437580014,0.6761,-0.0048,0.08320929957647277,1.0,0.0,0.0,0.0,-0.040321759106663864,-0.06032304532008542,0.6595879402082572,-0.004297932847881984,0.0029758899251497817,-4.207502737546055e-05,-0.006592694212250464,-0.14973515971958734,0.5382919884442956,-0.007253954262355264,3.350423116099884e-05,-0.00154367131111074,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3195627508314205,-0.24292517962250115,-0.3308745295017215,0.5131762846809085,0.39932522333187376,-0.1726374586965202,0.721557885649919,0.6595879402082572,1.0524324151516404,1.0524324151516404,1.7261399999989893,0,0,-0.00032952235572561585,9.999999025923074e-05
+26949,1791455103125278351,10081514000000,1791455103123336086,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6759996796800798,-0.00488056775926909,0.08305150517308697,0.9999999798363595,2.11929748907296e-05,-0.00013918895648285196,0.0001093043332694862,0.6761,-0.0048,0.08304560581725831,1.0,0.0,0.0,0.0,-0.03134958100324502,-0.0637195085726554,0.6596163167819813,-0.004297430274911579,0.0029753098330400638,-4.1002954816647674e-05,0.002379483891168384,-0.15313162297215732,0.5383203650180197,-0.007253451689384859,3.2924139051281156e-05,-0.001542599238551927,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3220213532062528,-0.23661851411153256,-0.2832361044189906,0.5127736087170471,0.36925917291424115,-0.1671367780668845,0.721557885649919,0.6596163167819813,1.0047939900689096,1.0047939900689096,1.7261399999989893,0,0,-0.00030367236076159356,9.999999025923074e-05
+27019,1791455103708222485,10082097000000,1791455103707346131,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6760018433887343,-0.004884422895383075,0.08288585092871242,0.9999999785244452,3.069261747322574e-05,-0.00013919169990792577,0.00011864909308025368,0.6761,-0.0048,0.08287704747927607,1.0,0.0,0.0,0.0,-0.03136857556212895,-0.06171577822857896,0.6456104147269163,-0.004312447125642133,0.00297846221252355,-2.975404697525756e-05,0.002360489332284449,-0.15112789262808088,0.5243144629629547,-0.007268468540115413,3.607651853476692e-05,-0.001531350330710537,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4221771667762504,-0.19634575702779625,-0.40864498296918983,0.4957651342105596,0.4706309552628897,-0.14132035396875353,0.721557885649919,0.6456104147269163,1.1302028686191088,1.1302028686191088,1.7261399999989893,0,0,-0.00027452236644046204,9.999999025923074e-05
+27088,1791455104283147000,10082672000000,1791455104279345767,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6759972534644703,-0.004883242940293348,0.08273322242785246,0.9999999797355476,1.6605462502614407e-05,-0.00014338974929823317,0.00010552443947890771,0.6761,-0.0048,0.08272744836695974,1.0,0.0,0.0,0.0,-0.031376651514543163,-0.0711679949763932,0.6395183015102417,-0.0043114926729564285,0.002980567854449232,-2.4842526044283183e-05,0.0023524133798702375,-0.16058010937589512,0.5182223497462801,-0.007267514087429708,3.818216046044892e-05,-0.0015264388097795626,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4064632594572226,-0.22046789865810568,-0.26197145247390674,0.5076738477626841,0.37007324671870107,-0.15069952660763203,0.721557885649919,0.6395183015102417,0.9835293381238257,0.9835293381238257,1.7261399999989893,0,0,-0.00024577237204140436,9.999999025923074e-05
+27163,1791455104908236340,10083297000000,1791455104903346312,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6759876623471,-0.004885030676985407,0.08257771184219695,0.9999999775169627,1.9049153977338404e-05,-0.00015588740993636012,0.00010837519911762472,0.6761,-0.0048,0.08258359063252832,1.0,0.0,0.0,0.0,-0.030793977228673317,-0.07425455352917182,0.6291178873933538,-0.005312658841835748,0.0030008064309479184,-2.7825662181523575e-05,0.0029350876657400853,-0.16366666792867374,0.5078219356293923,-0.008268680256309028,5.842073695913577e-05,-0.001529421945916803,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4156981770573676,-0.2196635300701591,-0.2798506682712792,0.5021792008149347,0.38263774104957027,-0.15054343915082108,0.721557885649919,0.6291178873933538,1.001408553921198,1.001408553921198,1.7261399999989893,0,0,-0.00021452237812938512,9.999999025923074e-05
+27251,1791455105642124150,10084031000000,1791455105635346439,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6759764882534288,-0.004889819854696739,0.08241785078045233,0.9999999749793216,1.25145498648096e-05,-0.00017006956916322354,0.0001113730143239245,0.6761,-0.0048,0.08243958175435383,1.0,0.0,0.0,0.0,-0.01761049791006339,-0.08432888981712369,0.6286774368176324,-0.005285869973715676,0.001989611929703769,-3.838787696956161e-05,0.016118566984350012,-0.1737410042166256,0.5073814850536709,-0.008241891388188956,-0.0009527737642850137,-0.001539984160704841,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4056986879160291,-0.2515537697535914,-0.381259444059929,0.5137208789042357,0.44234050723391044,-0.16751696107499078,0.721557885649919,0.6286774368176324,1.102817329709848,1.102817329709848,1.7261399999989893,0,0,-0.00017782238527910976,9.999999025923074e-05
+27368,1791455106617214154,10085006000000,1791455106611346902,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6759847353726672,-0.004879853694273545,0.08226973903035233,0.9999999742408575,2.4084887609520757e-05,-0.00016975978507900006,0.00011645893066635683,0.6761,-0.0048,0.08228994617407204,1.0,0.0,0.0,0.0,-0.03506314324943704,-0.050811415358175044,0.5697174842874355,-0.003259430836211785,0.0029750982940030205,4.269087743211976e-05,-0.0013340783550236349,-0.14022352975767696,0.448421532523474,-0.0062154522506850645,3.271260001423763e-05,-0.0014589054063031597,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5029759604438198,-0.14369915283073512,-0.29405786829480446,0.4844315916112881,0.40165605614319494,-0.09647979562031876,0.721557885649919,0.5697174842874355,1.0156157539447235,1.0156157539447235,1.7261399999989893,0,0,-0.00012907239477635978,9.999999025923074e-05
+27493,1791455107658155271,10086047000000,1791455107655346601,DOWN_SETTLE,4,0.0365,0.03650213032960892,0.6759770698336146,-0.004877796853450151,0.08214866444325118,0.9999999739182998,2.0509463658865547e-05,-0.0001769236399233691,0.00010901216384335588,0.6761,-0.0048,0.08218264780582683,1.0,0.0,0.0,0.0,-0.030900951082758976,-0.07358608804728092,0.549256248526233,-0.004250313862265629,0.0019906482287207275,3.25513590487673e-05,0.002828113811654426,-0.16299820244678284,0.42796029676227143,-0.007206335276738908,-0.0009517374652680552,-0.0014690449246865121,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5811075346786934,-0.1779083695743712,-0.2688991300475839,0.4895623937601007,0.40306782998116236,-0.11793840467434501,0.721557885649919,0.549256248526233,0.9904570156975029,0.9904570156975029,1.7261399999989893,0,0,-7.702240491650058e-05,9.999999025923074e-05
+27653,1791455108992202029,10087381000000,1791455108991346104,DOWN_SETTLE,4,0.0365,0.03650147467851639,0.6759709945288186,-0.00488111631193676,0.08207248483532094,0.9999999709662404,2.5543293525140364e-05,-0.00018836192141080866,0.00011566204923028931,0.6761,-0.0048,0.0821243554589946,1.0,0.0,0.0,0.0,-0.02540524089559994,-0.06650791680177759,0.49039026137198116,-0.004238758316213212,0.001998873649861137,8.067237665932694e-05,0.00832382399881346,-0.1559200312012795,0.36909430960801964,-0.007194779730686492,-0.0009435120441276456,-0.0014209239070759525,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5020789539760575,-0.18591028550059469,-0.28597277043450425,0.4815359708513216,0.3978818386523629,-0.12338836076459742,0.721557885649919,0.49039026137198116,1.0075306560844233,1.0075306560844233,1.7261399999989893,0,0,-1.0322417910686771e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af3577b7a32fa8c611e1b50ae2dbe82704d4ec9b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0fdc9019075c5a1374824d2479ea9e9f0301ae9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.283333333e+00,DOWN_FORCE_DETACH,1791455074948749495,5.713979720e-05,-1.435722726e-05,-3.846393382e-04,5.227281022e-05,-1.213277390e-05,-3.762000193e-04,5.277303707e-05,-1.182871727e-05,-3.741451487e-04,7.015950113e-01,-1.280626594e-05,8.403563018e-01,7.015901443e-01,-1.058181258e-05,8.403647412e-01,7.017786452e-01,-1.017298624e-05,8.294064600e-01
+6,4.050000000e+00,DOWN_FORCE_DETACH,1791455076090889304,5.553782160e-05,-1.927963466e-05,-4.945011066e-04,5.607501867e-05,-2.216667568e-05,-4.847872686e-04,5.629388238e-05,-2.180415448e-05,-4.827247130e-04,7.015934093e-01,-1.772867334e-05,8.402464401e-01,7.015939465e-01,-2.061571436e-05,8.402561539e-01,7.017821661e-01,-2.014842345e-05,8.292978804e-01
+7,4.816666667e+00,DOWN_FORCE_DETACH,1791455077248767058,5.434517376e-05,-3.145566780e-05,-5.728918187e-04,5.352677387e-05,-3.177257031e-05,-5.725892685e-04,5.343104099e-05,-3.134586564e-05,-5.705894538e-04,7.015922167e-01,-2.990470648e-05,8.401680494e-01,7.015913983e-01,-3.022160899e-05,8.401683519e-01,7.017793032e-01,-2.969013461e-05,8.292100157e-01
+8,5.583333333e+00,DOWN_FORCE_DETACH,1791455078386275145,5.832083101e-05,-2.681496054e-05,-6.451717171e-04,5.631674530e-05,-2.918810931e-05,-6.407450512e-04,5.606124294e-05,-2.881124205e-05,-6.390634734e-04,7.015961923e-01,-2.526399921e-05,8.400957695e-01,7.015941882e-01,-2.763714799e-05,8.401001961e-01,7.017819334e-01,-2.715551102e-05,8.291415417e-01
+9,6.200000000e+00,DOWN_FORCE_DETACH,1791455079318346024,5.765253708e-05,-2.963406516e-05,-7.250910285e-04,5.749368981e-05,-2.950322963e-05,-7.250710028e-04,5.698873991e-05,-2.919389277e-05,-7.231515195e-04,7.015955240e-01,-2.808310384e-05,8.400158502e-01,7.015953652e-01,-2.795226831e-05,8.400158702e-01,7.017828609e-01,-2.753816174e-05,8.290574536e-01
+10,6.900000000e+00,DOWN_FORCE_DETACH,1791455080367984402,5.873591547e-05,-2.968776254e-05,-8.149524977e-04,5.508310202e-05,-3.759864050e-05,-8.140644904e-04,5.434246534e-05,-3.718627956e-05,-8.120286544e-04,7.015966074e-01,-2.813680122e-05,8.399259887e-01,7.015929546e-01,-3.604767918e-05,8.399268767e-01,7.017802147e-01,-3.553054853e-05,8.289685765e-01
+11,7.550000000e+00,DOWN_FORCE_DETACH,1791455081348800061,5.503636609e-05,-3.733415371e-05,-9.179975067e-04,5.319229917e-05,-3.666425108e-05,-9.032359297e-04,5.213269699e-05,-3.624698294e-05,-9.010831305e-04,7.015929078e-01,-3.578319239e-05,8.398229437e-01,7.015910638e-01,-3.511328976e-05,8.398377053e-01,7.017780049e-01,-3.459125191e-05,8.288795220e-01
+12,8.233333333e+00,DOWN_FORCE_DETACH,1791455082369719723,5.496321051e-05,-4.102224535e-05,-1.042029897e-03,5.200325069e-05,-4.260739011e-05,-1.043454264e-03,5.053436189e-05,-4.209895325e-05,-1.040833677e-03,7.015928347e-01,-3.947128403e-05,8.396989113e-01,7.015898747e-01,-4.105642878e-05,8.396974869e-01,7.017764066e-01,-4.044322222e-05,8.287397715e-01
+13,8.916666667e+00,DOWN_FORCE_DETACH,1791455083384808031,5.350562642e-05,-4.172621925e-05,-1.177352701e-03,5.346701294e-05,-4.188284349e-05,-1.177696279e-03,5.156200541e-05,-4.131400071e-05,-1.174948159e-03,7.015913771e-01,-4.017525793e-05,8.395635885e-01,7.015913385e-01,-4.033188217e-05,8.395632449e-01,7.017774342e-01,-3.965826968e-05,8.286056570e-01
+14,9.516666667e+00,DOWN_FORCE_DETACH,1791455084284912030,5.529839326e-05,-4.618907789e-05,-1.310117375e-03,5.501935718e-05,-4.609262235e-05,-1.310207087e-03,5.260443230e-05,-4.549655667e-05,-1.307480246e-03,7.015931699e-01,-4.463811657e-05,8.394308238e-01,7.015928908e-01,-4.454166103e-05,8.394307341e-01,7.017784766e-01,-4.384082563e-05,8.284731249e-01
+15,1.005000000e+01,DOWN_FORCE_DETACH,1791455085084764695,6.078322160e-05,-4.977800740e-05,-1.430744600e-03,5.659151127e-05,-4.867788066e-05,-1.418922126e-03,5.379253082e-05,-4.811728325e-05,-1.416368488e-03,7.015986547e-01,-4.822704608e-05,8.393101966e-01,7.015944630e-01,-4.712691934e-05,8.393220191e-01,7.017796647e-01,-4.646155222e-05,8.283642366e-01
+16,1.061666667e+01,DOWN_FORCE_DETACH,1791455085926228924,6.583307253e-05,-5.363815554e-05,-1.565132090e-03,6.528290380e-05,-5.733866440e-05,-1.551399864e-03,6.217216938e-05,-5.678347500e-05,-1.548656778e-03,7.016037046e-01,-5.208719422e-05,8.391758091e-01,7.016031544e-01,-5.578770307e-05,8.391895413e-01,7.017880444e-01,-5.512774397e-05,8.282319484e-01
+17,1.113333333e+01,DOWN_FORCE_DETACH,1791455086704474161,6.282885943e-05,-6.245752346e-05,-1.714896544e-03,6.058590796e-05,-6.155069080e-05,-1.698849200e-03,5.691865552e-05,-6.095131472e-05,-1.695661371e-03,7.016007003e-01,-6.090656214e-05,8.390260446e-01,7.015984574e-01,-5.999972948e-05,8.390420920e-01,7.017827909e-01,-5.929558369e-05,8.280849438e-01
+18,1.160000000e+01,DOWN_FORCE_DETACH,1791455087405257626,5.805477709e-05,-6.557716923e-05,-1.860823458e-03,5.765267021e-05,-6.564928119e-05,-1.860782481e-03,5.337799222e-05,-6.494934498e-05,-1.857031895e-03,7.015959263e-01,-6.402620791e-05,8.388801177e-01,7.015955242e-01,-6.409831987e-05,8.388801587e-01,7.017792502e-01,-6.329361395e-05,8.279235732e-01
+19,1.206666667e+01,DOWN_FORCE_DETACH,1791455088105416494,5.652454753e-05,-7.026098243e-05,-2.008942439e-03,5.562687390e-05,-6.875535442e-05,-2.002314519e-03,5.073181064e-05,-6.803549076e-05,-1.998528140e-03,7.015943960e-01,-6.871002111e-05,8.387319987e-01,7.015934984e-01,-6.720439310e-05,8.387386267e-01,7.017766040e-01,-6.637975973e-05,8.277820770e-01
+20,1.253333333e+01,DOWN_FORCE_DETACH,1791455088804589011,5.254269879e-05,-7.482879217e-05,-2.165894915e-03,5.229716544e-05,-7.484518617e-05,-2.165798415e-03,4.659858828e-05,-7.401993268e-05,-2.161830923e-03,7.015904142e-01,-7.327783084e-05,8.385750463e-01,7.015901686e-01,-7.329422485e-05,8.385751428e-01,7.017724708e-01,-7.236420164e-05,8.276187742e-01
+21,1.298333333e+01,DOWN_FORCE_DETACH,1791455089485086067,5.270806198e-05,-7.542502857e-05,-2.324070170e-03,4.806859306e-05,-7.379946140e-05,-2.309009532e-03,4.166325732e-05,-7.305326994e-05,-2.305058110e-03,7.015905795e-01,-7.387406725e-05,8.384168710e-01,7.015859401e-01,-7.224850008e-05,8.384319317e-01,7.017675355e-01,-7.139753891e-05,8.274755470e-01
+22,1.338333333e+01,DOWN_FORCE_DETACH,1791455090084868228,4.737217358e-05,-7.790688049e-05,-2.481199946e-03,4.767745102e-05,-8.104559949e-05,-2.475460822e-03,4.069595675e-05,-8.028192274e-05,-2.471000285e-03,7.015852437e-01,-7.635591917e-05,8.382597412e-01,7.015855489e-01,-7.949463817e-05,8.382654804e-01,7.017665682e-01,-7.862619171e-05,8.273096048e-01
+23,1.380000000e+01,DOWN_FORCE_DETACH,1791455090705072115,4.437773123e-05,-7.799646483e-05,-2.656413683e-03,4.381116178e-05,-7.847764028e-05,-2.644671481e-03,3.606131269e-05,-7.768303006e-05,-2.639946588e-03,7.015822492e-01,-7.644550351e-05,8.380845275e-01,7.015816826e-01,-7.692667896e-05,8.380962697e-01,7.017619335e-01,-7.602729903e-05,8.271406585e-01
+24,1.416666667e+01,DOWN_FORCE_DETACH,1791455091254198323,4.269434227e-05,-7.998792962e-05,-2.821112325e-03,4.289161317e-05,-8.317740197e-05,-2.810587443e-03,3.453196496e-05,-8.227849447e-05,-2.805662568e-03,7.015805658e-01,-7.843696830e-05,8.379198289e-01,7.015807631e-01,-8.162644065e-05,8.379303537e-01,7.017604042e-01,-8.062276344e-05,8.269749426e-01
+25,1.453333333e+01,DOWN_FORCE_DETACH,1791455091803986929,4.380754251e-05,-7.969756149e-05,-2.996871267e-03,3.876853531e-05,-8.101301479e-05,-2.989816946e-03,2.964211606e-05,-8.012785412e-05,-2.984621299e-03,7.015816790e-01,-7.814660017e-05,8.377440699e-01,7.015766400e-01,-7.946205347e-05,8.377511242e-01,7.017555143e-01,-7.847212309e-05,8.267959838e-01
+26,1.488333333e+01,DOWN_FORCE_DETACH,1791455092323135959,4.004060590e-05,-8.332770686e-05,-3.161493780e-03,3.988353081e-05,-8.313040644e-05,-3.161387731e-03,3.016964249e-05,-8.231239997e-05,-3.156158472e-03,7.015779121e-01,-8.177674553e-05,8.375794474e-01,7.015777550e-01,-8.157944512e-05,8.375795535e-01,7.017560418e-01,-8.065666894e-05,8.266244467e-01
+27,1.521666667e+01,DOWN_FORCE_DETACH,1791455092823555242,4.112589950e-05,-8.516417797e-05,-3.326314226e-03,4.104791150e-05,-8.509801494e-05,-3.325742384e-03,3.073833757e-05,-8.428860266e-05,-3.320305651e-03,7.015789974e-01,-8.361321665e-05,8.374146270e-01,7.015789194e-01,-8.354705362e-05,8.374151988e-01,7.017566105e-01,-8.263287162e-05,8.264602995e-01
+28,1.553333333e+01,DOWN_FORCE_DETACH,1791455093304935785,3.902127725e-05,-8.781226582e-05,-3.496885899e-03,3.787621112e-05,-8.278022341e-05,-3.494469722e-03,2.691679832e-05,-8.194803381e-05,-3.488828841e-03,7.015768928e-01,-8.626130450e-05,8.372440553e-01,7.015757477e-01,-8.122926209e-05,8.372464715e-01,7.017527890e-01,-8.029230278e-05,8.262917763e-01
+29,1.585000000e+01,DOWN_FORCE_DETACH,1791455093784851662,3.745813786e-05,-9.049884787e-05,-3.679370686e-03,3.696696817e-05,-8.799332422e-05,-3.668315033e-03,2.531510407e-05,-8.704782196e-05,-3.662610109e-03,7.015753296e-01,-8.894788655e-05,8.370615705e-01,7.015748384e-01,-8.644236290e-05,8.370726262e-01,7.017511873e-01,-8.539209093e-05,8.261179950e-01
+30,1.615000000e+01,DOWN_FORCE_DETACH,1791455094225921645,3.685613285e-05,-8.803163340e-05,-3.859042824e-03,3.705894884e-05,-9.250657781e-05,-3.851339294e-03,2.478000510e-05,-9.157343487e-05,-3.845342558e-03,7.015747276e-01,-8.648067208e-05,8.368818984e-01,7.015749304e-01,-9.095561649e-05,8.368896019e-01,7.017506522e-01,-8.991770384e-05,8.259352626e-01
+31,1.641666667e+01,DOWN_FORCE_DETACH,1791455094625308496,4.055483816e-05,-9.585595691e-05,-4.017045405e-03,3.918269404e-05,-9.505142456e-05,-4.003641130e-03,2.635233507e-05,-9.418593156e-05,-3.997611247e-03,7.015784263e-01,-9.430499559e-05,8.367238958e-01,7.015770542e-01,-9.350046324e-05,8.367373001e-01,7.017522245e-01,-9.253020053e-05,8.257829939e-01
+32,1.668333333e+01,DOWN_FORCE_DETACH,1791455095028802548,3.931279214e-05,-9.919202684e-05,-4.192820640e-03,3.722761036e-05,-9.833584803e-05,-4.187866632e-03,2.373159767e-05,-9.740185088e-05,-4.181422263e-03,7.015771843e-01,-9.764106552e-05,8.365481205e-01,7.015750991e-01,-9.678488671e-05,8.365530746e-01,7.017496038e-01,-9.574611985e-05,8.255991829e-01
+33,1.695000000e+01,DOWN_FORCE_DETACH,1791455095424121077,3.557258708e-05,-1.027777308e-04,-4.367949325e-03,3.748975791e-05,-1.013932093e-04,-4.364448002e-03,2.333539568e-05,-1.003606471e-04,-4.357809772e-03,7.015734441e-01,-1.012267695e-04,8.363729919e-01,7.015753612e-01,-9.984224801e-05,8.363764932e-01,7.017492076e-01,-9.870491611e-05,8.254227954e-01
+34,1.721666667e+01,DOWN_FORCE_DETACH,1791455095823686442,3.701012790e-05,-1.035647914e-04,-4.542236727e-03,3.828830287e-05,-1.043827284e-04,-4.535659001e-03,2.353310979e-05,-1.032857414e-04,-4.529030314e-03,7.015748816e-01,-1.020138301e-04,8.361987045e-01,7.015761598e-01,-1.028317671e-04,8.362052822e-01,7.017494053e-01,-1.016300104e-04,8.252515748e-01
+35,1.748333333e+01,DOWN_FORCE_DETACH,1791455096229352428,3.398179386e-05,-1.030892581e-04,-4.736020773e-03,3.649601456e-05,-1.047476658e-04,-4.725965130e-03,2.106175747e-05,-1.037398013e-04,-4.719226767e-03,7.015718533e-01,-1.015382968e-04,8.360049204e-01,7.015743675e-01,-1.031967045e-04,8.360149761e-01,7.017469340e-01,-1.020840703e-04,8.250613784e-01
+36,1.773333333e+01,DOWN_FORCE_DETACH,1791455096605272237,3.491341084e-05,-1.022094202e-04,-4.913641595e-03,3.472802544e-05,-1.022372379e-04,-4.913883453e-03,1.867301672e-05,-1.012388839e-04,-4.906918134e-03,7.015727849e-01,-1.006584589e-04,8.358272996e-01,7.015725995e-01,-1.006862766e-04,8.358270577e-01,7.017445452e-01,-9.958315283e-05,8.248736870e-01
+37,1.795000000e+01,DOWN_FORCE_DETACH,1791455096953021529,3.346566348e-05,-1.006379054e-04,-5.085464832e-03,3.459932703e-05,-1.038141541e-04,-5.069890148e-03,1.797768892e-05,-1.028224976e-04,-5.062974980e-03,7.015713371e-01,-9.908694410e-05,8.356554764e-01,7.015724708e-01,-1.022631928e-04,8.356710510e-01,7.017438499e-01,-1.011667665e-04,8.247176302e-01
+38,1.820000000e+01,DOWN_FORCE_DETACH,1791455097323329088,3.132137420e-05,-9.872693899e-05,-5.275361509e-03,3.114644475e-05,-9.867988047e-05,-5.275168606e-03,1.374750195e-05,-9.760700135e-05,-5.267931385e-03,7.015691929e-01,-9.717597767e-05,8.354655797e-01,7.015690179e-01,-9.712891914e-05,8.354657726e-01,7.017396197e-01,-9.595127032e-05,8.245126737e-01
+39,1.845000000e+01,DOWN_FORCE_DETACH,1791455097694910261,2.930505244e-05,-1.025396801e-04,-5.456989128e-03,2.904736511e-05,-1.028560559e-04,-5.456885449e-03,1.085038711e-05,-1.018093112e-04,-5.449582959e-03,7.015671765e-01,-1.009887188e-04,8.352839521e-01,7.015669188e-01,-1.013050946e-04,8.352840557e-01,7.017367226e-01,-1.001535802e-04,8.243310222e-01
+40,1.870000000e+01,DOWN_FORCE_DETACH,1791455098073938323,3.133634696e-05,-1.037277095e-04,-5.640868134e-03,3.075198783e-05,-1.015655398e-04,-5.622661975e-03,1.199030487e-05,-1.006324224e-04,-5.615625360e-03,7.015692078e-01,-1.021767481e-04,8.351000731e-01,7.015686235e-01,-1.000145785e-04,8.351182792e-01,7.017378625e-01,-9.897669137e-05,8.241649798e-01
+41,1.893333333e+01,DOWN_FORCE_DETACH,1791455098423710412,2.796376371e-05,-1.037342340e-04,-5.825687329e-03,2.790965867e-05,-1.037525102e-04,-5.825789356e-03,8.454334475e-06,-1.027365102e-04,-5.818270137e-03,7.015658352e-01,-1.021832727e-04,8.349152539e-01,7.015657811e-01,-1.022015489e-04,8.349151518e-01,7.017343265e-01,-1.010807792e-04,8.239623350e-01
+42,1.918333333e+01,DOWN_SETTLE,1791455098826432231,3.062175798e-05,-1.110990526e-04,-6.018415637e-03,3.037891525e-05,-1.110197668e-04,-6.018218706e-03,1.022971627e-05,-1.098311055e-04,-6.010698964e-03,7.015684932e-01,-1.095480913e-04,8.347225256e-01,7.015682504e-01,-1.094688055e-04,8.347227225e-01,7.017361019e-01,-1.081753745e-04,8.237699062e-01
+43,1.940000000e+01,DOWN_SETTLE,1791455099155036798,2.760166423e-05,-1.096978004e-04,-6.194788186e-03,2.630064063e-05,-1.103431509e-04,-6.180261941e-03,5.512916987e-06,-1.092361925e-04,-6.172907300e-03,7.015654731e-01,-1.081468391e-04,8.345461530e-01,7.015641721e-01,-1.087921896e-04,8.345606792e-01,7.017313851e-01,-1.075804614e-04,8.236076978e-01
+44,1.965000000e+01,DOWN_SETTLE,1791455099524984443,2.639872491e-05,-1.120494544e-04,-6.375624533e-03,2.691224186e-05,-1.127284927e-04,-6.355940997e-03,5.603721437e-06,-1.116845913e-04,-6.348934104e-03,7.015642702e-01,-1.104984930e-04,8.343653167e-01,7.015647837e-01,-1.111775314e-04,8.343850002e-01,7.017314759e-01,-1.100288602e-04,8.234316710e-01
+45,1.990000000e+01,DOWN_SETTLE,1791455099905358265,2.197371028e-05,-1.178583817e-04,-6.558912656e-03,2.099912525e-05,-1.123987736e-04,-6.541307565e-03,-1.019163300e-06,-1.113259479e-04,-6.534338277e-03,7.015598452e-01,-1.163074204e-04,8.341820285e-01,7.015588706e-01,-1.108478123e-04,8.341996336e-01,7.017248530e-01,-1.096702169e-04,8.232462669e-01
+46,2.016666667e+01,DOWN_SETTLE,1791455100305539954,2.667837575e-05,-1.151605076e-04,-6.729864759e-03,2.283330049e-05,-1.150573978e-04,-6.716026420e-03,2.641297889e-07,-1.138855621e-04,-6.709266965e-03,7.015645499e-01,-1.136095462e-04,8.340110764e-01,7.015607048e-01,-1.135064365e-04,8.340249148e-01,7.017261363e-01,-1.122298311e-04,8.230713382e-01
+47,2.045000000e+01,DOWN_SETTLE,1791455100724718516,2.296814404e-05,-1.179690284e-04,-6.908994834e-03,2.449282920e-05,-1.185918573e-04,-6.891878332e-03,1.262934078e-06,-1.174641770e-04,-6.885246634e-03,7.015608396e-01,-1.164180671e-04,8.338319464e-01,7.015623643e-01,-1.170408960e-04,8.338490629e-01,7.017271351e-01,-1.158084459e-04,8.228953585e-01
+48,2.075000000e+01,DOWN_SETTLE,1791455101184923101,2.267299892e-05,-1.192886444e-04,-7.097946435e-03,2.362293915e-05,-1.211849441e-04,-7.088313513e-03,-3.878121859e-07,-1.201814619e-04,-7.081646591e-03,7.015605445e-01,-1.177376831e-04,8.336429948e-01,7.015614944e-01,-1.196339828e-04,8.336526277e-01,7.017254844e-01,-1.185257309e-04,8.226989585e-01
+49,2.105000000e+01,DOWN_SETTLE,1791455101633111585,1.901476148e-05,-1.278040849e-04,-7.276684987e-03,2.003800443e-05,-1.253953522e-04,-7.258401744e-03,-4.673651255e-06,-1.242653056e-04,-7.251998588e-03,7.015568862e-01,-1.262531235e-04,8.334642562e-01,7.015579095e-01,-1.238443908e-04,8.334825394e-01,7.017211985e-01,-1.226095746e-04,8.225286065e-01
+50,2.136666667e+01,DOWN_SETTLE,1791455102105074970,1.546886937e-05,-1.287139435e-04,-7.453069109e-03,1.527781615e-05,-1.288740602e-04,-7.453182364e-03,-1.020100332e-05,-1.275989823e-04,-7.446736154e-03,7.015533404e-01,-1.271629822e-04,8.332878721e-01,7.015531493e-01,-1.273230989e-04,8.332877588e-01,7.017156712e-01,-1.259432513e-04,8.223338690e-01
+51,2.170000000e+01,DOWN_SETTLE,1791455102604391531,1.463907484e-05,-1.256257919e-04,-7.627722991e-03,1.444655692e-05,-1.255365531e-04,-7.627550590e-03,-1.162912739e-05,-1.244168116e-04,-7.621517651e-03,7.015525106e-01,-1.240748305e-04,8.331132182e-01,7.015523180e-01,-1.239855918e-04,8.331133906e-01,7.017142431e-01,-1.227610806e-04,8.221590875e-01
+52,2.205000000e+01,DOWN_SETTLE,1791455103123735700,1.054603801e-05,-1.353945169e-04,-7.794402311e-03,9.730942602e-06,-1.381328689e-04,-7.774743245e-03,-1.688838250e-05,-1.369057662e-04,-7.769393235e-03,7.015484175e-01,-1.338435556e-04,8.329465389e-01,7.015476024e-01,-1.365819076e-04,8.329661979e-01,7.017089838e-01,-1.352500352e-04,8.220112119e-01
+53,2.243333333e+01,DOWN_SETTLE,1791455103705174878,1.244763324e-05,-1.397566768e-04,-7.960723883e-03,6.172516918e-06,-1.372685526e-04,-7.954787820e-03,-2.105176990e-05,-1.359992339e-04,-7.949549010e-03,7.015503191e-01,-1.382057155e-04,8.327802173e-01,7.015440440e-01,-1.357175913e-04,8.327861534e-01,7.017048204e-01,-1.343435028e-04,8.218310561e-01
+54,2.281666667e+01,DOWN_SETTLE,1791455104284877276,4.663831515e-06,-1.371579049e-04,-8.119312497e-03,4.471904683e-06,-1.373458763e-04,-8.119379488e-03,-2.341755614e-05,-1.360296977e-04,-8.114263765e-03,7.015425353e-01,-1.356069436e-04,8.326216287e-01,7.015423434e-01,-1.357949150e-04,8.326215617e-01,7.017024546e-01,-1.343739666e-04,8.216663414e-01
+55,2.323333333e+01,DOWN_SETTLE,1791455104904603504,-4.217966202e-06,-1.429656637e-04,-8.273001602e-03,-4.512064511e-06,-1.429009990e-04,-8.272669384e-03,-3.320925422e-05,-1.416466232e-04,-8.267870826e-03,7.015336535e-01,-1.414147024e-04,8.324679396e-01,7.015333594e-01,-1.413500377e-04,8.324682718e-01,7.016926629e-01,-1.399908921e-04,8.215127343e-01
+56,2.373333333e+01,DOWN_SETTLE,1791455105640527071,-1.501089456e-05,-1.423889778e-04,-8.431598849e-03,-1.578745397e-05,-1.408824368e-04,-8.428473706e-03,-4.534270881e-05,-1.397412481e-04,-8.424250235e-03,7.015228606e-01,-1.408380165e-04,8.323093423e-01,7.015220840e-01,-1.393314755e-04,8.323124675e-01,7.016805295e-01,-1.380855170e-04,8.213563549e-01
+57,2.438333333e+01,DOWN_SETTLE,1791455106621031900,-8.407871514e-06,-1.359065512e-04,-8.580365194e-03,-5.593952196e-06,-1.363442020e-04,-8.576259304e-03,-3.556889968e-05,-1.351320725e-04,-8.572737122e-03,7.015294636e-01,-1.343555899e-04,8.321605760e-01,7.015322775e-01,-1.347932407e-04,8.321646819e-01,7.016903033e-01,-1.334763415e-04,8.212078680e-01
+58,2.508333333e+01,DOWN_SETTLE,1791455107659666002,-1.292847553e-05,-1.330909113e-04,-8.698133524e-03,-1.356365582e-05,-1.313271801e-04,-8.685535920e-03,-4.404775436e-05,-1.300864343e-04,-8.682995495e-03,7.015249430e-01,-1.315399500e-04,8.320428077e-01,7.015243078e-01,-1.297762188e-04,8.320554053e-01,7.016818244e-01,-1.284307032e-04,8.210976096e-01
+59,2.596666667e+01,DOWN_SETTLE,1791455108990383837,-2.050461917e-05,-1.336854350e-04,-8.776964794e-03,-2.032728525e-05,-1.336402894e-04,-8.768331402e-03,-5.125164245e-05,-1.324579706e-04,-8.767010413e-03,7.015173669e-01,-1.321344737e-04,8.319639764e-01,7.015175442e-01,-1.320893281e-04,8.319726098e-01,7.016746206e-01,-1.308022396e-04,8.210135947e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ddf84ef2dfc0fd350da7cd80ec559a71a003e3e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,2.3600e-03,-2.9550e-03,2.4524e+00,-3.6545e-02,3.6940e-02,-1.3411e-05,3.6911e-04,2.7862e-05,-2.6703e-05,-1.3784e-06,2.4702e-05,8.1462e-08,3.7112e-04,2.4741e-05
+1,7.1667e-01,DOWN_FORCE_DETACH,1.8981e-04,2.0774e-02,-2.2438e-03,2.4526e+00,-3.6570e-02,3.8276e-02,2.4319e-05,1.8784e-02,7.3905e-04,1.5402e-04,-2.7139e-05,1.3601e-03,3.7812e-05,1.8799e-02,1.3609e-03
+2,1.4667e+00,DOWN_FORCE_DETACH,3.7893e-04,2.8797e-02,2.3548e-03,2.4783e+00,-3.6882e-02,3.8808e-02,5.1360e-05,2.6806e-02,5.3377e-03,2.5949e-02,-3.3915e-04,1.8925e-03,6.4853e-05,3.7688e-02,1.9238e-03
+3,2.1667e+00,DOWN_FORCE_DETACH,5.6534e-04,3.2540e-02,9.3959e-03,2.5082e+00,-3.7352e-02,3.9051e-02,7.3390e-05,3.0549e-02,1.2379e-02,5.5777e-02,-8.0834e-04,2.1356e-03,8.6883e-05,6.4788e-02,2.2851e-03
+4,2.7167e+00,DOWN_FORCE_DETACH,7.5495e-04,2.1360e-02,1.4018e-02,2.5218e+00,-3.7655e-02,3.8282e-02,8.9984e-05,1.9369e-02,1.7000e-02,6.9448e-02,-1.1122e-03,1.3660e-03,1.0348e-04,7.4076e-02,1.7645e-03
+5,3.2833e+00,DOWN_FORCE_DETACH,9.4583e-04,2.1807e-02,1.1172e-02,2.5354e+00,-3.7458e-02,3.8277e-02,9.6887e-05,1.9816e-02,1.4155e-02,8.2983e-02,-9.1488e-04,1.3612e-03,1.1038e-04,8.6483e-02,1.6438e-03
+6,4.0500e+00,DOWN_FORCE_DETACH,1.1328e-03,2.4446e-02,1.4095e-02,2.5389e+00,-3.7636e-02,3.8432e-02,8.8777e-05,2.2455e-02,1.7078e-02,8.6456e-02,-1.0925e-03,1.5161e-03,1.0227e-04,9.0942e-02,1.8715e-03
+7,4.8167e+00,DOWN_FORCE_DETACH,1.3225e-03,2.6046e-02,1.5198e-02,2.5309e+00,-3.7732e-02,3.8539e-02,6.7331e-05,2.4055e-02,1.8181e-02,7.8454e-02,-1.1884e-03,1.6234e-03,8.0824e-05,8.4049e-02,2.0135e-03
+8,5.5833e+00,DOWN_FORCE_DETACH,1.5135e-03,2.8224e-02,1.4054e-02,2.5231e+00,-3.7706e-02,3.8690e-02,4.2802e-05,2.6233e-02,1.7037e-02,7.0713e-02,-1.1625e-03,1.7745e-03,5.6295e-05,7.7323e-02,2.1221e-03
+9,6.2000e+00,DOWN_FORCE_DETACH,1.7018e-03,2.9102e-02,1.3572e-02,2.5238e+00,-3.7719e-02,3.8754e-02,2.5094e-05,2.7111e-02,1.6555e-02,7.1451e-02,-1.1761e-03,1.8381e-03,3.8586e-05,7.8194e-02,2.1824e-03
+10,6.9000e+00,DOWN_FORCE_DETACH,1.8912e-03,3.4375e-02,1.4635e-02,2.5308e+00,-3.7827e-02,3.9114e-02,1.2228e-05,3.2384e-02,1.7618e-02,7.8414e-02,-1.2840e-03,2.1985e-03,2.5720e-05,8.6648e-02,2.5461e-03
+11,7.5500e+00,DOWN_FORCE_DETACH,2.0766e-03,3.8813e-02,1.8693e-02,2.5419e+00,-3.8097e-02,3.9422e-02,1.5400e-05,3.6822e-02,2.1676e-02,8.9480e-02,-1.5539e-03,2.5066e-03,2.8892e-05,9.9158e-02,2.9493e-03
+12,8.2333e+00,DOWN_FORCE_DETACH,2.2677e-03,4.2724e-02,2.2867e-02,2.5548e+00,-3.8338e-02,3.9694e-02,3.7628e-05,4.0733e-02,2.5849e-02,1.0240e-01,-1.7950e-03,2.7781e-03,5.1121e-05,1.1319e-01,3.3079e-03
+13,8.9167e+00,DOWN_FORCE_DETACH,2.4588e-03,4.5090e-02,2.8463e-02,2.5606e+00,-3.8657e-02,3.9858e-02,7.6347e-05,4.3099e-02,3.1446e-02,1.0820e-01,-2.1133e-03,2.9428e-03,8.9840e-05,1.2064e-01,3.6241e-03
+14,9.5167e+00,DOWN_FORCE_DETACH,2.6470e-03,4.3605e-02,2.8102e-02,2.5601e+00,-3.8618e-02,3.9768e-02,1.1369e-04,4.1614e-02,3.1085e-02,1.0771e-01,-2.0748e-03,2.8520e-03,1.2718e-04,1.1958e-01,3.5291e-03
+15,1.0050e+01,DOWN_FORCE_DETACH,2.8349e-03,4.1811e-02,2.6157e-02,2.5607e+00,-3.8521e-02,3.9650e-02,1.3748e-04,3.9820e-02,2.9140e-02,1.0831e-01,-1.9781e-03,2.7345e-03,1.5097e-04,1.1902e-01,3.3783e-03
+16,1.0617e+01,DOWN_FORCE_DETACH,3.0230e-03,3.9481e-02,2.6699e-02,2.5680e+00,-3.8605e-02,3.9486e-02,1.5100e-04,3.7490e-02,2.9682e-02,1.1563e-01,-2.0618e-03,2.5707e-03,1.6449e-04,1.2512e-01,3.2995e-03
+17,1.1133e+01,DOWN_FORCE_DETACH,3.2145e-03,4.2111e-02,2.9317e-02,2.5857e+00,-3.8804e-02,3.9640e-02,1.6296e-04,4.0120e-02,3.2300e-02,1.3329e-01,-2.2608e-03,2.7248e-03,1.7645e-04,1.4290e-01,3.5450e-03
+18,1.1600e+01,DOWN_FORCE_DETACH,3.4055e-03,4.4809e-02,3.1840e-02,2.5992e+00,-3.8962e-02,3.9800e-02,1.7717e-04,4.2818e-02,3.4823e-02,1.4685e-01,-2.4189e-03,2.8843e-03,1.9066e-04,1.5688e-01,3.7692e-03
+19,1.2067e+01,DOWN_FORCE_DETACH,3.5895e-03,4.6840e-02,3.9716e-02,2.6084e+00,-3.9436e-02,3.9916e-02,1.8784e-04,4.4849e-02,4.2699e-02,1.5604e-01,-2.8925e-03,3.0000e-03,2.0133e-04,1.6788e-01,4.1722e-03
+20,1.2533e+01,DOWN_FORCE_DETACH,3.7801e-03,4.3853e-02,4.3462e-02,2.6146e+00,-3.9628e-02,3.9701e-02,1.7822e-04,4.1862e-02,4.6445e-02,1.6224e-01,-3.0852e-03,2.7859e-03,1.9171e-04,1.7387e-01,4.1613e-03
+21,1.2983e+01,DOWN_FORCE_DETACH,3.9692e-03,3.9843e-02,4.2185e-02,2.6236e+00,-3.9521e-02,3.9411e-02,1.5176e-04,3.7852e-02,4.5168e-02,1.7123e-01,-2.9776e-03,2.4952e-03,1.6525e-04,1.8109e-01,3.8884e-03
+22,1.3383e+01,DOWN_FORCE_DETACH,4.1583e-03,3.7233e-02,4.0802e-02,2.6327e+00,-3.9440e-02,3.9211e-02,1.2326e-04,3.5242e-02,4.3785e-02,1.8032e-01,-2.8971e-03,2.2958e-03,1.3675e-04,1.8888e-01,3.6990e-03
+23,1.3800e+01,DOWN_FORCE_DETACH,4.3485e-03,3.7775e-02,4.3512e-02,2.6469e+00,-3.9608e-02,3.9223e-02,9.3991e-05,3.5784e-02,4.6495e-02,1.9451e-01,-3.0642e-03,2.3075e-03,1.0748e-04,2.0317e-01,3.8374e-03
+24,1.4167e+01,DOWN_FORCE_DETACH,4.5366e-03,3.7812e-02,4.8538e-02,2.6572e+00,-3.9899e-02,3.9207e-02,7.4430e-05,3.5821e-02,5.1521e-02,2.0480e-01,-3.3554e-03,2.2911e-03,8.7922e-05,2.1420e-01,4.0639e-03
+25,1.4533e+01,DOWN_FORCE_DETACH,4.7294e-03,3.5972e-02,4.9667e-02,2.6651e+00,-3.9951e-02,3.9076e-02,6.5887e-05,3.3981e-02,5.2650e-02,2.1275e-01,-3.4081e-03,2.1606e-03,7.9379e-05,2.2179e-01,4.0361e-03
+26,1.4883e+01,DOWN_FORCE_DETACH,4.9152e-03,3.4579e-02,4.4490e-02,2.6681e+00,-3.9635e-02,3.8983e-02,6.4852e-05,3.2588e-02,4.7473e-02,2.1570e-01,-3.0915e-03,2.0670e-03,7.8344e-05,2.2325e-01,3.7197e-03
+27,1.5217e+01,DOWN_FORCE_DETACH,5.1032e-03,3.4773e-02,4.2441e-02,2.6751e+00,-3.9525e-02,3.8996e-02,6.8731e-05,3.2782e-02,4.5424e-02,2.2273e-01,-2.9818e-03,2.0800e-03,8.2223e-05,2.2966e-01,3.6366e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..23146f386499498afb2e097f48c9f01c55f72238
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:a3632c6b1e320921c84c5b77e2e2823c937624d66e9430af887317822477df43
+size 3512320
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..910236377e70712a9a2c7411ff22cf475037a1a2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eec00347e34e4f04864c57c92409222fcc6ddfef
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bd6a2d6b58c7c395566bf72f502068ac9944fd9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..64487dd03d8e3d280e15b5023f9758ed68161060
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+47,3.866666667e+00,UP_FORCE_RAMP,1791455063848710107,-4.648777990e-05,-7.918427569e-08,2.054520082e-04,-4.089646757e-05,6.712845763e-06,2.053846757e-04,-4.051830212e-05,6.804412212e-06,2.045811571e-04,7.014913837e-01,1.471777045e-06,8.409463932e-01,7.014969750e-01,8.263807084e-06,8.409463259e-01,7.016853539e-01,8.460143243e-06,8.299851863e-01
+48,3.966666667e+00,UP_FORCE_RAMP,1791455063987206913,-4.466143566e-05,2.186041339e-06,2.132561685e-04,-4.089646757e-05,6.712845763e-06,2.053846757e-04,-4.053736462e-05,6.803443896e-06,2.046508222e-04,7.014932100e-01,3.737002660e-06,8.409541974e-01,7.014969750e-01,8.263807084e-06,8.409463259e-01,7.016853348e-01,8.459174927e-06,8.299852560e-01
+49,4.016666667e+00,UP_FORCE_RAMP,1791455064068381082,-4.262444001e-05,3.454350600e-06,2.210914613e-04,-4.089646757e-05,6.712845763e-06,2.053846757e-04,-4.054653694e-05,6.802938031e-06,2.046831074e-04,7.014952470e-01,5.005311921e-06,8.409620326e-01,7.014969750e-01,8.263807084e-06,8.409463259e-01,7.016853257e-01,8.458669062e-06,8.299852882e-01
+50,4.133333333e+00,UP_FORCE_HOLD,1791455064248863044,-4.278404924e-05,2.442654223e-07,2.247389217e-04,-4.280399044e-05,2.484255149e-07,2.244612073e-04,-4.243961238e-05,3.760462268e-07,2.234973880e-04,7.014950874e-01,1.795226743e-06,8.409656801e-01,7.014950675e-01,1.799386836e-06,8.409654024e-01,7.016834326e-01,2.031777258e-06,8.300041025e-01
+51,4.200000000e+00,UP_FORCE_HOLD,1791455064348753887,-4.466455731e-05,3.420815154e-06,2.277839998e-04,-4.280399044e-05,2.484255149e-07,2.244612073e-04,-4.245308916e-05,3.699004083e-07,2.235628642e-04,7.014932069e-01,4.971776475e-06,8.409687252e-01,7.014950675e-01,1.799386836e-06,8.409654024e-01,7.016834191e-01,2.025631439e-06,8.300041680e-01
+52,4.300000000e+00,UP_FORCE_HOLD,1791455064487840466,-4.414641432e-05,-1.267312284e-06,2.299030053e-04,-4.280399044e-05,2.484255149e-07,2.244612073e-04,-4.247148516e-05,3.673124143e-07,2.236350233e-04,7.014937251e-01,2.836490370e-07,8.409708442e-01,7.014950675e-01,1.799386836e-06,8.409654024e-01,7.016834007e-01,2.023043445e-06,8.300042402e-01
+53,4.416666667e+00,UP_FORCE_HOLD,1791455064668272808,-4.423095926e-05,2.897714159e-06,2.359865263e-04,-4.280399044e-05,2.484255149e-07,2.244612073e-04,-4.249206263e-05,3.655806670e-07,2.237092862e-04,7.014936405e-01,4.448675480e-06,8.409769277e-01,7.014950675e-01,1.799386836e-06,8.409654024e-01,7.016833801e-01,2.021311698e-06,8.300043144e-01
+54,4.500000000e+00,UP_FORCE_HOLD,1791455064788759949,-4.188567956e-05,1.974851056e-06,2.416675911e-04,-4.280399044e-05,2.484255149e-07,2.244612073e-04,-4.250594975e-05,3.645924021e-07,2.237570783e-04,7.014959858e-01,3.525812377e-06,8.409826088e-01,7.014950675e-01,1.799386836e-06,8.409654024e-01,7.016833662e-01,2.020323433e-06,8.300043622e-01
+55,4.600000000e+00,UP_FORCE_HOLD,1791455064948778980,-4.224635002e-05,3.339743841e-07,2.441550148e-04,-4.157136632e-05,4.134682534e-06,2.449236227e-04,-4.114018717e-05,4.244451761e-06,2.440460084e-04,7.014956251e-01,1.884935705e-06,8.409850962e-01,7.014963001e-01,5.685643855e-06,8.409858648e-01,7.016847320e-01,5.900182792e-06,8.300246511e-01
+56,4.700000000e+00,UP_FORCE_HOLD,1791455065089528317,-4.254328022e-05,1.055680704e-06,2.470431486e-04,-4.157136632e-05,4.134682534e-06,2.449236227e-04,-4.115218139e-05,4.244893112e-06,2.441222731e-04,7.014953282e-01,2.606642025e-06,8.409879843e-01,7.014963001e-01,5.685643855e-06,8.409858648e-01,7.016847200e-01,5.900624143e-06,8.300247274e-01
+57,4.783333333e+00,UP_FORCE_HOLD,1791455065218043039,-4.612108291e-05,3.637602180e-06,2.447173990e-04,-4.157136632e-05,4.134682534e-06,2.449236227e-04,-4.116260667e-05,4.244872675e-06,2.441762163e-04,7.014917504e-01,5.188563501e-06,8.409856586e-01,7.014963001e-01,5.685643855e-06,8.409858648e-01,7.016847096e-01,5.900603706e-06,8.300247813e-01
+58,4.883333333e+00,UP_SETTLE,1791455065368555529,-4.114153712e-05,5.179573826e-06,2.556190485e-04,-4.157136632e-05,4.134682534e-06,2.449236227e-04,-4.117464923e-05,4.244812730e-06,2.442345951e-04,7.014967299e-01,6.730535147e-06,8.409965602e-01,7.014963001e-01,5.685643855e-06,8.409858648e-01,7.016846975e-01,5.900543761e-06,8.300248397e-01
+59,4.983333333e+00,UP_SETTLE,1791455065518523135,-4.287445458e-05,2.230707822e-06,2.554494805e-04,-4.157136632e-05,4.134682534e-06,2.449236227e-04,-4.118600451e-05,4.244662499e-06,2.442869435e-04,7.014949970e-01,3.781669143e-06,8.409963907e-01,7.014963001e-01,5.685643855e-06,8.409858648e-01,7.016846862e-01,5.900393530e-06,8.300248921e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..169f22bf0300a2d5592570ccbcc95f104e91cd66
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,2.3600e-03,-2.9550e-03,2.4524e+00,-3.6545e-02,3.6940e-02,-1.3411e-05,3.6911e-04,2.7862e-05,-2.6703e-05,-1.3784e-06,2.4702e-05,8.1462e-08,3.7112e-04,2.4741e-05
+1,8.3333e-02,UP_FORCE_RAMP,2.3412e-05,4.2054e-03,-2.8261e-03,2.4523e+00,-3.6551e-02,3.7064e-02,-1.2838e-05,2.2145e-03,1.5672e-04,-1.2064e-04,-7.7486e-06,1.4859e-04,6.5478e-07,2.2233e-03,1.4880e-04
+2,1.5000e-01,UP_FORCE_RAMP,4.2176e-05,5.6660e-03,-2.7322e-03,2.4522e+00,-3.6556e-02,3.7163e-02,-1.2187e-05,3.6751e-03,2.5069e-04,-1.5879e-04,-1.2431e-05,2.4711e-04,1.3055e-06,3.6870e-03,2.4743e-04
+3,2.3333e-01,UP_FORCE_RAMP,6.3601e-05,7.4499e-03,-2.6221e-03,2.4522e+00,-3.6561e-02,3.7284e-02,-1.1148e-05,5.4590e-03,3.6072e-04,-1.7238e-04,-1.7997e-05,3.6804e-04,2.3440e-06,5.4736e-03,3.6848e-04
+4,3.3333e-01,UP_FORCE_RAMP,8.5773e-05,9.5146e-03,-2.4955e-03,2.4522e+00,-3.6568e-02,3.7424e-02,-9.5906e-06,7.5237e-03,4.8733e-04,-1.5426e-04,-2.4550e-05,5.0883e-04,3.9017e-06,7.5410e-03,5.0944e-04
+5,4.1667e-01,UP_FORCE_RAMP,1.1052e-04,1.1165e-02,-2.3927e-03,2.4523e+00,-3.6573e-02,3.7538e-02,-8.0486e-06,9.1737e-03,5.9018e-04,-1.1969e-04,-3.0018e-05,6.2202e-04,5.4437e-06,9.1934e-03,6.2277e-04
+6,5.0000e-01,UP_FORCE_RAMP,1.2977e-04,1.2747e-02,-2.2912e-03,2.4523e+00,-3.6579e-02,3.7647e-02,-6.2982e-06,1.0756e-02,6.9168e-04,-7.3910e-05,-3.5539e-05,7.3117e-04,7.1941e-06,1.0779e-02,7.3207e-04
+7,6.0000e-01,UP_FORCE_RAMP,1.4931e-04,1.9938e-02,-2.3266e-03,2.4525e+00,-3.6565e-02,3.8221e-02,2.3072e-05,1.7947e-02,6.5620e-04,1.4496e-04,-2.1547e-05,1.3056e-03,3.6564e-05,1.7960e-02,1.3063e-03
+8,7.6667e-01,UP_FORCE_RAMP,1.7171e-04,2.1215e-02,-2.1963e-03,2.4526e+00,-3.6574e-02,3.8305e-02,2.4980e-05,1.9224e-02,7.8649e-04,1.6737e-04,-3.0298e-05,1.3889e-03,3.8472e-05,1.9241e-02,1.3898e-03
+9,8.5000e-01,UP_FORCE_RAMP,1.9478e-04,2.2007e-02,-2.1078e-03,2.4526e+00,-3.6579e-02,3.8357e-02,2.6236e-05,2.0016e-02,8.7505e-04,1.9693e-04,-3.6176e-05,1.4410e-03,3.9728e-05,2.0036e-02,1.4420e-03
+10,9.0000e-01,UP_FORCE_RAMP,2.1346e-04,2.2501e-02,-2.0509e-03,2.4526e+00,-3.6583e-02,3.8389e-02,2.7075e-05,2.0510e-02,9.3192e-04,2.1791e-04,-3.9950e-05,1.4737e-03,4.0567e-05,2.0532e-02,1.4748e-03
+11,1.0167e+00,UP_FORCE_RAMP,2.3483e-04,2.3671e-02,-1.9123e-03,2.4527e+00,-3.6592e-02,3.8467e-02,2.9261e-05,2.1680e-02,1.0705e-03,2.7156e-04,-4.9140e-05,1.5514e-03,4.2754e-05,2.1708e-02,1.5528e-03
+12,1.1167e+00,UP_FORCE_RAMP,2.5382e-04,2.6838e-02,-3.0691e-03,2.4412e+00,-3.6503e-02,3.8723e-02,5.4885e-05,2.4847e-02,-8.6236e-05,-1.1196e-02,4.0729e-05,1.8073e-03,6.8378e-05,2.7253e-02,1.8090e-03
+13,1.2000e+00,UP_FORCE_RAMP,2.8153e-04,2.7714e-02,-3.3657e-03,2.4419e+00,-3.6485e-02,3.8778e-02,5.5815e-05,2.5723e-02,-3.8284e-04,-1.0507e-02,5.8793e-05,1.8629e-03,6.9307e-05,2.7789e-02,1.8651e-03
+14,1.3000e+00,UP_FORCE_RAMP,2.9786e-04,2.8620e-02,-3.4802e-03,2.4428e+00,-3.6478e-02,3.8837e-02,5.7242e-05,2.6629e-02,-4.9737e-04,-9.6347e-03,6.5405e-05,1.9212e-03,7.0735e-05,2.8323e-02,1.9236e-03
+15,1.4167e+00,UP_FORCE_RAMP,3.2060e-04,3.0453e-02,-3.7638e-03,2.4332e+00,-3.6461e-02,3.8962e-02,6.1901e-05,2.8462e-02,-7.8099e-04,-1.9232e-02,8.2813e-05,2.0460e-03,7.5393e-05,3.4359e-02,2.0491e-03
+16,1.4833e+00,UP_FORCE_RAMP,3.4057e-04,3.0730e-02,-3.6855e-03,2.4340e+00,-3.6466e-02,3.8981e-02,6.3005e-05,2.8739e-02,-7.0267e-04,-1.8416e-02,7.7713e-05,2.0657e-03,7.6498e-05,3.4140e-02,2.0686e-03
+17,1.5833e+00,UP_FORCE_RAMP,3.6194e-04,3.1185e-02,-6.1150e-03,2.4245e+00,-3.6305e-02,3.9020e-02,6.7640e-05,2.9194e-02,-3.1321e-03,-2.7946e-02,2.3782e-04,2.1044e-03,8.1132e-05,4.0535e-02,2.1193e-03
+18,1.7000e+00,UP_FORCE_RAMP,3.8286e-04,3.1719e-02,-5.7531e-03,2.4261e+00,-3.6327e-02,3.9058e-02,6.9365e-05,2.9728e-02,-2.7702e-03,-2.6319e-02,2.1592e-04,2.1424e-03,8.2857e-05,3.9801e-02,2.1548e-03
+19,1.7667e+00,UP_FORCE_RAMP,4.0826e-04,3.2076e-02,-5.6553e-03,2.4273e+00,-3.6333e-02,3.9083e-02,7.0492e-05,3.0085e-02,-2.6724e-03,-2.5130e-02,2.1043e-04,2.1672e-03,8.3984e-05,3.9291e-02,2.1790e-03
+20,1.8333e+00,UP_FORCE_RAMP,4.2694e-04,3.2483e-02,-5.3686e-03,2.4277e+00,-3.6352e-02,3.9111e-02,7.1780e-05,3.0492e-02,-2.3858e-03,-2.4672e-02,1.9160e-04,2.1957e-03,8.5272e-05,3.9296e-02,2.2057e-03
+21,1.9000e+00,UP_FORCE_RAMP,4.4649e-04,3.2923e-02,-4.8995e-03,2.4252e+00,-3.6382e-02,3.9143e-02,7.3228e-05,3.0932e-02,-1.9166e-03,-2.7174e-02,1.6109e-04,2.2272e-03,8.6720e-05,4.1217e-02,2.2347e-03
+22,1.9833e+00,UP_FORCE_RAMP,4.6885e-04,3.3424e-02,-4.5903e-03,2.4242e+00,-3.6403e-02,3.9178e-02,7.5003e-05,3.1433e-02,-1.6075e-03,-2.8226e-02,1.4080e-04,2.2628e-03,8.8496e-05,4.2276e-02,2.2689e-03
+23,2.0333e+00,UP_FORCE_RAMP,4.9030e-04,3.3706e-02,-4.4741e-03,2.4242e+00,-3.6410e-02,3.9199e-02,7.6072e-05,3.1715e-02,-1.4913e-03,-2.8186e-02,1.3288e-04,2.2829e-03,8.9564e-05,4.2456e-02,2.2885e-03
+24,2.1167e+00,UP_FORCE_RAMP,5.1123e-04,3.4922e-02,-1.3693e-03,2.4208e+00,-3.6619e-02,3.9284e-02,7.8762e-05,3.2931e-02,1.6135e-03,-3.1631e-02,-7.5426e-05,2.3679e-03,9.2254e-05,4.5689e-02,2.3709e-03
+25,2.2167e+00,UP_FORCE_RAMP,5.3403e-04,3.5438e-02,-2.8316e-05,2.4177e+00,-3.6710e-02,3.9322e-02,8.1704e-05,3.3447e-02,2.9545e-03,-3.4659e-02,-1.6676e-04,2.4061e-03,9.5197e-05,4.8257e-02,2.4138e-03
+26,2.2833e+00,UP_FORCE_RAMP,5.5624e-04,3.5425e-02,2.3192e-04,2.4156e+00,-3.6730e-02,3.9324e-02,8.3067e-05,3.3434e-02,3.2148e-03,-3.6787e-02,-1.8644e-04,2.4081e-03,9.6559e-05,4.9814e-02,2.4172e-03
+27,2.3833e+00,UP_FORCE_RAMP,5.7476e-04,3.5588e-02,4.9105e-04,2.4148e+00,-3.6751e-02,3.9338e-02,8.4802e-05,3.3597e-02,3.4739e-03,-3.7576e-02,-2.0721e-04,2.4222e-03,9.8295e-05,5.0525e-02,2.4330e-03
+28,2.4500e+00,UP_FORCE_RAMP,5.9676e-04,3.5199e-02,-2.5480e-05,2.4124e+00,-3.6719e-02,3.9314e-02,8.6127e-05,3.3208e-02,2.9574e-03,-3.9963e-02,-1.7586e-04,2.3987e-03,9.9619e-05,5.2044e-02,2.4072e-03
+29,2.5500e+00,UP_FORCE_RAMP,6.1691e-04,3.5008e-02,-3.7519e-04,2.4107e+00,-3.6700e-02,3.9305e-02,8.7550e-05,3.3017e-02,2.6076e-03,-4.1721e-02,-1.5682e-04,2.3897e-03,1.0104e-04,5.3268e-02,2.3969e-03
+30,2.6500e+00,UP_FORCE_RAMP,6.3770e-04,3.5081e-02,-5.4940e-04,2.4109e+00,-3.6692e-02,3.9313e-02,8.8867e-05,3.3090e-02,2.4334e-03,-4.1497e-02,-1.4903e-04,2.3972e-03,1.0236e-04,5.3131e-02,2.4040e-03
+31,2.6833e+00,UP_FORCE_RAMP,6.7023e-04,3.5135e-02,-5.8449e-04,2.4113e+00,-3.6691e-02,3.9317e-02,8.9277e-05,3.3144e-02,2.3983e-03,-4.1136e-02,-1.4791e-04,2.4015e-03,1.0277e-04,5.2882e-02,2.4082e-03
+32,2.7167e+00,UP_FORCE_RAMP,6.8489e-04,6.1851e-02,9.8206e-04,2.4192e+00,-3.6808e-02,4.1089e-02,9.4594e-05,5.9860e-02,3.9649e-03,-3.3207e-02,-2.6491e-04,4.1734e-03,1.0809e-04,6.8568e-02,4.1832e-03
+33,2.7333e+00,UP_FORCE_RAMP,7.0415e-04,6.1011e-02,9.6939e-04,2.4191e+00,-3.6808e-02,4.1041e-02,9.4770e-05,5.9020e-02,3.9522e-03,-3.3277e-02,-2.6489e-04,4.1252e-03,1.0826e-04,6.7870e-02,4.1351e-03
+34,2.8167e+00,UP_FORCE_RAMP,7.2543e-04,5.7580e-02,9.0272e-04,2.4195e+00,-3.6808e-02,4.0838e-02,9.5589e-05,5.5589e-02,3.8856e-03,-3.2896e-02,-2.6425e-04,3.9221e-03,1.0908e-04,6.4710e-02,3.9325e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/camera_frames_60hz.tar
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--- /dev/null
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+size 3184640
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93e72f5592536f7a5065f36ef4621f32add62b9e
--- /dev/null
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+59,2.660000e+01,237,7.010616e-01,1.027669e-02,8.228729e-01,1.145719e-05,2.249584e-05,-8.566055e-03,6.612887e-04,6.299326e-02,1.332306e-02
+59,2.660000e+01,238,7.002950e-01,1.039326e-02,8.244145e-01,-1.423242e-06,-3.934312e-05,-8.593593e-03,-7.053311e-04,8.457229e-03,2.537649e-03
+59,2.660000e+01,239,6.967824e-01,1.780982e-02,8.297684e-01,-1.554931e-05,-1.029699e-04,-8.724102e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.660000e+01,241,6.929116e-01,1.463277e-02,8.236076e-01,-4.136577e-05,-1.160075e-04,-8.692046e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,242,7.095757e-01,1.627326e-02,8.155787e-01,-4.097279e-05,-1.302202e-04,-8.770549e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,243,6.961173e-01,1.597856e-02,8.289409e-01,-2.781128e-05,-1.026828e-04,-8.687004e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,244,6.921377e-01,1.612888e-02,8.229059e-01,-3.788004e-05,-1.177040e-04,-8.711543e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,245,7.004893e-01,1.793904e-02,8.309562e-01,-4.620884e-06,-9.728791e-05,-8.733446e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,246,6.976825e-01,1.579420e-02,8.123827e-01,-4.537496e-05,-1.391359e-04,-8.709649e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,247,7.054296e-01,1.610243e-02,8.122260e-01,-5.672090e-05,-1.371960e-04,-8.745571e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,248,6.939636e-01,1.269643e-02,8.211853e-01,-1.829403e-05,-1.104510e-04,-8.670538e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.660000e+01,250,7.114295e-01,1.775607e-02,8.225732e-01,-1.481095e-05,-1.153652e-04,-8.787388e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,251,7.114718e-01,1.777439e-02,8.197462e-01,-2.574800e-05,-1.215329e-04,-8.790717e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,252,6.959761e-01,1.334163e-02,8.271274e-01,-3.700463e-05,-1.084220e-04,-8.644965e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,253,6.976325e-01,1.491170e-02,8.293713e-01,-2.491094e-05,-1.013688e-04,-8.660343e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,254,7.095238e-01,1.476591e-02,8.256221e-01,2.929062e-05,-1.114032e-04,-8.730764e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,255,6.919194e-01,1.624085e-02,8.212082e-01,-3.718314e-05,-1.228385e-04,-8.715606e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,256,7.007314e-01,1.796416e-02,8.110847e-01,-5.924748e-05,-1.419280e-04,-8.752472e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.660000e+01,257,6.922812e-01,1.609993e-02,8.186093e-01,-3.494735e-05,-1.285863e-04,-8.714307e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.660000e+01,260,7.073096e-01,1.486345e-02,8.282686e-01,3.285423e-05,-1.054829e-04,-8.702200e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.660000e+01,262,7.060405e-01,1.483253e-02,8.130861e-01,-5.403477e-05,-1.337450e-04,-8.730496e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.660000e+01,265,7.070490e-01,1.130763e-02,8.183677e-01,-2.606345e-05,-1.053240e-04,-8.689313e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73c39ccc7359f753a1f1b2d945534a983efd62b4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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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+30654,1791455133959180900,10112348000000,1791455133955346205,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760528039108941,-0.004764631462396241,0.09031416276723514,0.9999999857422687,0.0001229713518896147,-6.468678457022237e-05,2.5534163865382936e-05,0.6761,-0.0048,0.090326859678197,1.0,0.0,0.0,0.0,-0.020525415949376145,-0.07985368722179917,0.5507762755498893,-0.006291375758377666,0.002022372415122333,3.6308797997906556e-06,0.013203648945037253,-0.1692658016213011,0.42948032378592776,-0.009247397172850946,-0.00092001327886645,-0.0014979654039354888,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4909265704745504,-0.11713166832269094,0.4097182123332209,0.08412403300091138,-0.11624339982374608,-0.15378402290576976,0.721557885649919,0.5507762755498893,0.31183967331669804,0.31183967331669804,0.41154000000002505,0,0,-6.716965792163377e-05,7.423698900643996e-05
+30786,1791455135059191100,10113448000000,1791455135051346067,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760541118815308,-0.004767629918077663,0.09025083730483242,0.999999984936954,0.0001252537438991185,-6.419603828155808e-05,4.19443016135318e-05,0.6761,-0.0048,0.09025862907619969,1.0,0.0,0.0,0.0,-0.014011605718935081,-0.08825042649908096,0.5622218939414947,-0.006293760634225197,0.00202242971750279,9.540413298510589e-07,0.01971745917547832,-0.17766254089858288,0.4409259421775331,-0.009249782048698477,-0.0009199559764859926,-0.0015006422424054284,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4839940815354184,-0.16159958068272792,0.37442658570109527,0.1684654997029584,-0.11250585968991782,-0.1821163076566957,0.721557885649919,0.5622218939414947,0.3471312999488237,0.3471312999488237,0.47754000000003,0,0,-6.233703594568508e-05,-9.999999025923074e-05
+30922,1791455136192283741,10114581000000,1791455136187336375,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760517068987585,-0.004776152009647643,0.09017695404569384,0.9999999854757112,0.0001143109985304204,-6.816606046751119e-05,5.27050811836626e-05,0.6761,-0.0048,0.09018722130200213,1.0,0.0,0.0,0.0,-0.012988263178232283,-0.09073446793096679,0.5861528750009848,-0.007093183737670972,0.002031435327256447,-2.7146811999208134e-05,0.020740801716181118,-0.1801465823304687,0.4648569232370232,-0.010049205152144252,-0.0009109503667323358,-0.0015287430957344876,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5041005688576801,-0.1449170823757346,0.2860734087552085,0.1788810808725032,-0.05435129828216401,-0.16471927680804016,0.721557885649919,0.5861528750009848,0.4354844768947105,0.4354844768947105,0.545519999999993,0,0,-6.695578670323817e-05,9.439119596653031e-06
+31070,1791455137425289876,10115814000000,1791455137419336733,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760544013427325,-0.0047753883864506165,0.09008758520930166,0.9999999894932755,8.306488389344577e-05,-6.42694755825183e-05,3.776205597593365e-05,0.6761,-0.0048,0.09009388160589174,1.0,0.0,0.0,0.0,-0.020606511680058878,-0.08133872866939262,0.5886759398816267,-0.0062980512768793274,0.002015800330936819,-2.1134530815801597e-05,0.013122553214354522,-0.17075084306889454,0.4673799881176651,-0.009254072691352607,-0.0009265853630519638,-0.001522730814551081,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.52813453657597,-0.14478431232917707,0.2058971815876235,0.18969603387259867,-0.0048327213687188305,-0.16396327893815638,0.721557885649919,0.5886759398816267,0.5156607040622955,0.5156607040622955,0.6194999999999301,0,0,-8.238859643541906e-05,8.84813569898057e-05
+31206,1791455138559214570,10116948000000,1791455138555336432,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760527776587368,-0.004778742973247055,0.0899875019218945,0.9999999894423737,7.711357076060495e-05,-6.565366206506689e-05,4.797093656452887e-05,0.6761,-0.0048,0.08999061616631081,1.0,0.0,0.0,0.0,-0.020661417468433918,-0.07749702627755911,0.6127184357035206,-0.00630273935363088,0.0020094419398826247,-4.055892073125491e-05,0.013067647425979484,-0.16690914067706103,0.49142248393955906,-0.00925876076810416,-0.0009329437541061583,-0.0015421552044665343,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6096219840028383,-0.18268199414977368,0.17983633742297753,0.2094674859769006,0.03219065002101169,-0.18647644206738564,0.721557885649919,0.6127184357035206,0.5417215482269414,0.5417215482269414,0.6875399999998723,0,0,-0.0001005904513753667,9.983594092955456e-05
+31322,1791455139525296385,10117914000000,1791455139519336960,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760504501983726,-0.004783605427844792,0.08989078942452262,0.9999999904331346,5.8274887760357913e-05,-6.888691645916429e-05,4.934800331383977e-05,0.6761,-0.0048,0.08988947636970858,1.0,0.0,0.0,0.0,-0.021391794220595013,-0.08779511262193901,0.608723105929331,-0.00630273280270658,0.0020120065540607875,-3.743534461536158e-05,0.012337270673818386,-0.17720722702144093,0.48742715416536947,-0.00925875421717986,-0.0009303791399279954,-0.001539031628350641,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5958597358364301,-0.15780878780277258,0.16832707492116117,0.20756199374894072,0.026834079474596963,-0.16890152338684633,0.721557885649919,0.608723105929331,0.5532308107287578,0.5532308107287578,0.745499999999823,0,0,-0.00011158053397494617,-3.326655203939595e-05
+31442,1791455140525300938,10118914000000,1791455140519336804,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760514159970518,-0.004787860488724431,0.08977617989158945,0.9999999912325492,4.205719803100797e-05,-6.685977979315207e-05,5.233285630013891e-05,0.6761,-0.0048,0.0897719667557436,1.0,0.0,0.0,0.0,-0.023899704951645562,-0.08684940651398276,0.6345395880162289,-0.0063078585170789365,0.002006858260782015,-5.667025132282126e-05,0.009829359942767839,-0.17626152091348468,0.5132436362522673,-0.009263879931552216,-0.0009355274332067675,-0.0015582665350581007,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6150563393465941,-0.14764338948097902,0.2078116712018886,0.20996466786409554,-0.00026603059642149596,-0.1613677348472507,0.721557885649919,0.6345395880162289,0.5137462144480304,0.5137462144480304,0.805499999999772,0,0,-0.0001198581945735785,-9.85925050197622e-05
+31559,1791455141500278207,10119889000000,1791455141495336944,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.676051157393878,-0.004792237709475367,0.08965200828774787,0.9999999918426845,2.0247161802811212e-05,-6.812767178466038e-05,5.202084386748678e-05,0.6761,-0.0048,0.08964529442806742,1.0,0.0,0.0,0.0,-0.026787498870396807,-0.08958072949364013,0.6387414638033642,-0.006324843547795297,0.002619522096016994,-5.1010618634779025e-05,0.006941566024016595,-0.17899284389314205,0.5174455120394026,-0.009280864962268577,-0.0003228635979717891,-0.0015526069023700584,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.645124152413438,-0.30372579607811084,0.11727492997483134,0.2699215980397458,0.0580840989678079,-0.2631511417648105,0.721557885649919,0.6387414638033642,0.6042829556750876,0.6042829556750876,0.8639999999997222,0,0,-0.0001380665727538074,-8.69233532637736e-05
+31670,1791455142425255909,10120814000000,1791455142423336979,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760578081555338,-0.004792363060803593,0.08952862434496722,0.9999999862260717,0.0001123759039219754,-5.996729913584736e-05,5.259562856926629e-05,0.6761,-0.0048,0.08951142511377191,1.0,0.0,0.0,0.0,-0.03459145275441807,-0.08636202979336596,0.6487735821280644,-0.006337577853610291,0.003016785010718467,-5.568025392378045e-05,-0.0008623878600046695,-0.17577414419286788,0.5274776303641028,-0.00929359926808357,7.439931672968437e-05,-0.0015572765376590599,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6724152512976949,-0.1850703021026104,0.032613478859576425,0.2321955258838757,0.11326883782648953,-0.19800990726246917,0.721557885649919,0.6487735821280644,0.6889444067903425,0.6889444067903425,0.919499999999675,0,0,-0.00014856405066290967,9.777124529287135e-05
+31778,1791455143325307479,10121714000000,1791455143323336069,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760600219094701,-0.004794113605940293,0.08938928827518092,0.9999999884105192,9.028492059070872e-05,-6.144501456912435e-05,5.191309242912121e-05,0.6761,-0.0048,0.08936866231563317,1.0,0.0,0.0,0.0,-0.03508875270892033,-0.08631810303880247,0.6487760693395641,-0.006338298673935063,0.0030167932324190625,-5.894486492882367e-05,-0.0013596878145069329,-0.1757302174383044,0.5274801175756025,-0.009294320088408343,7.440753843027998e-05,-0.001560541148664103,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7335794241644739,-0.29899698256195667,-0.027462201573715227,0.28472721411368807,0.15958933878194648,-0.24890496049332797,0.721557885649919,0.6487760693395641,0.7490200872236342,0.7490200872236342,0.9734999999996291,0,0,-0.00016512298566387506,9.983354007226381e-05
+31880,1791455144175223957,10122564000000,1791455144171336492,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760629000770392,-0.00480067826783636,0.08924831170196663,0.9999999893021654,7.978032094928917e-05,-5.868203363843627e-05,5.50459147167333e-05,0.6761,-0.0048,0.089224787634378,1.0,0.0,0.0,0.0,-0.03927469705131773,-0.09721366415772484,0.6586056885162133,-0.006787097022936365,0.003023802512008164,-6.924085392251813e-05,-0.005545632156904329,-0.18662577855722676,0.5373097367522517,-0.009743118437409645,8.141681801938123e-05,-0.0015708371376577975,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7330991193981232,-0.24602836894777005,0.03372925678679839,0.2771977054706368,0.11198343969563054,-0.21206221838340475,0.721557885649919,0.6586056885162133,0.6878286288631206,0.6878286288631206,1.0244999999995859,0,0,-0.00017580481334186627,-9.953823462550133e-05
+31976,1791455144975233115,10123364000000,1791455144971336773,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760571070648804,-0.004804143199185344,0.08909368189948527,0.9999999900393978,5.989732269089841e-05,-6.73695159730859e-05,5.6901037121592424e-05,0.6761,-0.0048,0.08908074223285373,1.0,0.0,0.0,0.0,-0.03854221179656815,-0.10255682339569688,0.6636902780985103,-0.007363493828322878,0.0030330504028223695,-7.904883035305126e-05,-0.004813146902154752,-0.1919689377951988,0.5423943263345488,-0.010319515242796158,9.06647088335866e-05,-0.0015806451140883307,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7078406002628642,-0.31138693054946587,-0.01038289668807233,0.3041412053854649,0.13139508991539864,-0.25443684603009714,0.721557885649919,0.6636902780985103,0.7319407823379913,0.7319407823379913,1.072499999999545,0,0,-0.00018682050736548573,-9.999999025923074e-05
+32063,1791455145700250907,10124089000000,1791455145699336763,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760542946816749,-0.004809372889056371,0.08894850638338586,0.9999999899366738,4.795802186663749e-05,-7.412624087990401e-05,6.14397698570643e-05,0.6761,-0.0048,0.08894019326748616,1.0,0.0,0.0,0.0,-0.0389801329554404,-0.10793237364176866,0.669744152967907,-0.007364004542373483,0.0030328609427525896,-8.469138365345061e-05,-0.005251068061027002,-0.19734448804127058,0.5484482012039454,-0.010320025956846763,9.047524876380669e-05,-0.00158628766738873,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6727479350385098,-0.2274414744683764,0.015935442489653145,0.2880306822689988,0.09991678465469994,-0.19904504367962264,0.721557885649919,0.669744152967907,0.7056224431602658,0.7056224431602658,1.115999999999508,0,0,-0.00020013548526351255,-9.999999025923074e-05
+32154,1791455146459226375,10124848000000,1791455146455336365,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760526372983114,-0.0048155086055627775,0.08878667913828545,0.9999999896234903,4.200218481784505e-05,-7.813062753315826e-05,6.578225622872849e-05,0.6761,-0.0048,0.08878096557106939,1.0,0.0,0.0,0.0,-0.0384334425748878,-0.1161520802490901,0.678055239369091,-0.008385743507172107,0.003049849912823757,-0.00010284815077948547,-0.0047043776804744,-0.20556419464859202,0.5567592876051294,-0.011341764921645387,0.0001074642188349744,-0.0016044444345147649,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6584107153325071,-0.20923953975863013,0.004826036484455886,0.29378607067579543,0.10029699368741371,-0.18475792953961198,0.721557885649919,0.678055239369091,0.7167318491654631,0.7167318491654631,1.1615399999994693,0,0,-0.00021954160940171186,-9.999753389078875e-05
+32240,1791455147175276178,10125564000000,1791455147171337056,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760505630602104,-0.004811035610595114,0.08862400052138975,0.9999999892202271,4.268858857020525e-05,-8.073805298749942e-05,6.827489530737677e-05,0.6761,-0.0048,0.08861891686203395,1.0,0.0,0.0,0.0,-0.038486981087830864,-0.11048501765757127,0.6880517514112959,-0.008387632389168847,0.0030542448905919585,-0.00011086707871810534,-0.0047579161934174635,-0.19989713205707318,0.5667557996473344,-0.011343653803642127,0.00011185919660317565,-0.0016124633624533848,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7185781553965606,-0.2636538974200238,-0.12836696109057752,0.31327582759215555,0.19453845657428032,-0.22203652846125893,0.721557885649919,0.6880517514112959,0.8499248467404965,0.8499248467404965,1.2044999999994328,0,0,-0.0002333323738709384,9.843787870800753e-05
+32324,1791455147875221269,10126264000000,1791455147871336899,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760469979694829,-0.004811206732593252,0.08845390517971399,0.9999999799801734,0.0001387024726297382,-8.564335665616491e-05,7.006680100763017e-05,0.6761,-0.0048,0.08845118997086272,1.0,0.0,0.0,0.0,-0.04782160822110591,-0.11058657007098371,0.6880019318011618,-0.008403675042706551,0.0036514211832325044,-9.906020832140612e-05,-0.014092543326692509,-0.19999868447048563,0.5667059800372002,-0.011359696457179831,0.0007090354892437217,-0.0016006564920566855,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7001469210142405,-0.2520215920288283,-0.06441325634313289,0.300086909105648,0.14991294653649126,-0.241197940561883,0.721557885649919,0.6880019318011618,0.7859711419930518,0.7859711419930518,1.246499999999397,0,0,-0.0002497495673145763,-9.999999025923074e-05
+32402,1791455148525238071,10126914000000,1791455148523336022,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760459115064587,-0.004814055551383047,0.08828198835941278,0.9999999841391766,9.805912164580297e-05,-9.004457439414808e-05,7.376241757353508e-05,0.6761,-0.0048,0.08828256850091311,1.0,0.0,0.0,0.0,-0.03867199793012717,-0.11121515879218322,0.6976539275840979,-0.00838854152890834,0.003046977177589273,-0.0001193745689178757,-0.004942933035713767,-0.20062727319168513,0.5763579758201364,-0.01134456294338162,0.00010459148360049003,-0.0016209708526531551,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7024481796125852,-0.28651459375654587,-0.13222182136737387,0.3354328883861992,0.18700729606337313,-0.23840791183524068,0.721557885649919,0.6976539275840979,0.8537797070172928,0.8537797070172928,1.285499999999364,0,0,-0.0002689562434057561,8.68599456512797e-05
+32471,1791455149100286035,10127489000000,1791455149099338267,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760449844287292,-0.004818213406357935,0.08811590272024501,0.9999999855175812,7.531241100946553e-05,-9.350250083131267e-05,7.741463045477076e-05,0.6761,-0.0048,0.08812354460883151,1.0,0.0,0.0,0.0,-0.04828349733943165,-0.10411477327744356,0.7084917431148154,-0.007380864225381924,0.003395047551201233,-0.00011136379316226499,-0.01455443244501825,-0.19352688767694548,0.5871957913508539,-0.010336885639855204,0.00045266185721245015,-0.0016129600768975444,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7010400348405722,-0.29344895344478145,-0.10320923340774714,0.3470948091808472,0.16371612162245994,-0.24366127226669293,0.721557885649919,0.7084917431148154,0.8247671190576661,0.8247671190576661,1.3199999999993346,0,0,-0.00028497411083269606,-9.999983760356485e-05
+32546,1791455149725313187,10128114000000,1791455149723336738,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760494991285886,-0.004822715265683961,0.0879416821799616,0.9999999874594719,4.8665093842572265e-05,-8.582267692648023e-05,8.240204547022217e-05,0.6761,-0.0048,0.08793887497100619,1.0,0.0,0.0,0.0,-0.048632459214312654,-0.09952796456676835,0.6984442373761679,-0.0073958551806490285,0.00403932281822463,-9.332542329077028e-05,-0.014903394319899255,-0.18894007896627027,0.5771482856122063,-0.010351876595122309,0.001096937124235847,-0.0015949217070260497,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6573148991744294,-0.22384522259994347,-0.04046251235820161,0.33470821858242106,0.10887680753563975,-0.20037403289436934,0.721557885649919,0.6984442373761679,0.7620203980081206,0.7620203980081206,1.357259999999303,0,0,-0.00030613115750285767,-9.988229274083266e-05
+32606,1791455150225286661,10128614000000,1791455150219337256,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760415085074623,-0.004823622841901329,0.08777283144608632,0.9999999861213612,4.2907774409203865e-05,-9.950840051189157e-05,8.635475035236865e-05,0.6761,-0.0048,0.08778174455840264,1.0,0.0,0.0,0.0,-0.04814438968043101,-0.10983398019439702,0.7281414754357188,-0.008418453442000139,0.004049613557065561,-0.00012714868501167704,-0.01441532478601761,-0.19924609459389894,0.6068455236717573,-0.011374474856473419,0.0011072278630767784,-0.0016287449687469565,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6651614125052825,-0.20086654560289305,-0.11750151006001594,0.3391151024262298,0.16083851760393356,-0.18439864670961406,0.721557885649919,0.7281414754357188,0.8390593957099349,0.8390593957099349,1.3872599999992774,0,0,-0.00032384008793575296,-5.1315905432853495e-05
+32671,1791455150767249638,10129156000000,1791455150763337076,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760404393193332,-0.004827023915007533,0.08759744095960384,0.9999999800269603,0.00011681064788000792,-0.00010189576360780679,8.579900468713211e-05,0.6761,-0.0048,0.08760218759021007,1.0,0.0,0.0,0.0,-0.04798159561442976,-0.1093836044723357,0.7181742537522962,-0.008420535482697005,0.004054473316987274,-0.0001206912234315244,-0.014252530720016362,-0.1987957188718376,0.5968783019883346,-0.011376556897170285,0.0011120876229984919,-0.0016222875071668038,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6346955320900586,-0.27935363360661536,-0.06940801429215553,0.3758618880937348,0.11850561271002452,-0.23113072170424614,0.721557885649919,0.7181742537522962,0.7909658999420744,0.7909658999420744,1.4197799999992498,0,0,-0.0003416365088007841,-9.999929636984035e-05
+32734,1791455151292257910,10129681000000,1791455151291336191,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760376950312192,-0.004829040135433722,0.08741391142990355,0.9999999822232025,9.099088906983183e-05,-0.0001052302870199237,8.74282781781252e-05,0.6761,-0.0048,0.08741728053206788,1.0,0.0,0.0,0.0,-0.04930175341152792,-0.11269362336776156,0.7281370398566711,-0.008422548279743933,0.0040524334467325,-0.00012891767600808316,-0.015572688517114519,-0.20210573776726348,0.6068410880927095,-0.011378569694217213,0.0011100477527437173,-0.0016305139597433626,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6946533543349241,-0.17811175014089325,-0.21390976509438497,0.3640740421135132,0.22255644349262474,-0.16797255280295684,0.721557885649919,0.7281370398566711,0.9354676507443039,0.9354676507443039,1.451279999999223,0,0,-0.0003606001503827797,9.953475130076157e-05
+32791,1791455151767242616,10130156000000,1791455151763337277,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.676037401982425,-0.00483001347452822,0.08723896221202697,0.9999999841662176,6.437905307933467e-05,-0.00010498504973510575,8.912859103505298e-05,0.6761,-0.0048,0.08724129027272691,1.0,0.0,0.0,0.0,-0.04872923542081145,-0.1161866461655311,0.7371240458047073,-0.007778094190377454,0.004036634746275065,-0.00012703647042144601,-0.015000170526398052,-0.205598760565033,0.6158280940407457,-0.010734115604850734,0.0010942490522862823,-0.0016286327541567254,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6500213141801807,-0.19154004872385344,-0.07235478363760743,0.3741784630775506,0.1219272510824065,-0.18142290663832367,0.721557885649919,0.7371240458047073,0.7939126692875264,0.7939126692875264,1.4797799999991987,0,0,-0.00038068003016119976,-9.999999025923074e-05
+32846,1791455152225311251,10130614000000,1791455152223336435,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760379081719088,-0.004830474666754203,0.08706237907915286,0.9999999845194312,5.11262004668902e-05,-0.00010465998356460693,9.400213534911223e-05,0.6761,-0.0048,0.08706226076290163,1.0,0.0,0.0,0.0,-0.05787262839017569,-0.11245644598036758,0.732474762255191,-0.007403889037905485,0.004032400543584138,-0.000123881626065632,-0.024143563495762296,-0.2018685603798695,0.6111788104912295,-0.010359910452378765,0.0010900148495953548,-0.0016254779098009114,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6174470413352346,-0.2807713810552837,-0.00882067675997875,0.415834656255654,0.07028387771035662,-0.23317199405593514,0.721557885649919,0.732474762255191,0.7303785624098977,0.7303785624098977,1.5072599999991754,0,0,-0.00040107218776261187,-9.999999025923074e-05
+32902,1791455152692326025,10131081000000,1791455152687336841,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760385979512049,-0.0048376111519586335,0.08687512408311181,0.9999999826895548,7.522125088896484e-05,-0.00010199234757523888,0.0001000153937362811,0.6761,-0.0048,0.08687104935871448,1.0,0.0,0.0,0.0,-0.05810837678466347,-0.09601577205975781,0.7386875036484166,-0.007430015624476099,0.005025646875153496,-0.00011155482010271277,-0.02437931189025007,-0.18542788645925973,0.617391551884455,-0.01038603703894938,0.002083261181164713,-0.0016131511038379922,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6477457822921884,-0.2282985775975261,-0.04174694361672106,0.4213732382276725,0.09933715997064707,-0.19523459995951775,0.721557885649919,0.7386875036484166,0.76330482926664,0.76330482926664,1.5352799999991515,0,0,-0.0004169996505418424,-9.999990699250389e-05
+32954,1791455153125293342,10131514000000,1791455153123336550,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760382359836784,-0.004839294424669248,0.08669058198980015,0.9999999825772379,7.338609248416791e-05,-0.00010362604526788432,0.00010081920759683299,0.6761,-0.0048,0.0866873369917428,1.0,0.0,0.0,0.0,-0.05466626623375109,-0.10551588812726831,0.7485833317013016,-0.007405944626222825,0.004029130250674397,-0.000134568449699403,-0.020937201339337696,-0.19492800252677023,0.6272873799373401,-0.010361966040696105,0.0010867445566856144,-0.0016361647334346824,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6715367825383061,-0.36519316171598354,-0.10558531999524565,0.46672313736963694,0.14411003706913506,-0.2886897455443672,0.721557885649919,0.7485833317013016,0.8271432056451646,0.8271432056451646,1.5612599999991295,0,0,-0.0004310221076678485,-6.842449803834966e-05
+33002,1791455153525275144,10131914000000,1791455153523336948,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760366444688124,-0.004839085875848338,0.08651635427644414,0.9999999823626101,6.618246847883454e-05,-0.00010490161400061326,0.00010645739145315497,0.6761,-0.0048,0.0865120504727709,1.0,0.0,0.0,0.0,-0.057649732448275204,-0.10209170673422907,0.7588516622482785,-0.0063872609414834525,0.004008368092533354,-0.00013054524734461498,-0.0239206675538618,-0.191503821133731,0.6375557104843169,-0.009343282355956732,0.001065982398544572,-0.0016321415310798944,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7088363597915255,-0.19321855259261034,-0.13398458954006356,0.4261746636093181,0.17428257817572088,-0.1808261804751775,0.721557885649919,0.7588516622482785,0.8555424751899825,0.8555424751899825,1.585259999999109,0,0,-0.00044487141649924216,7.112021832087118e-05
+33055,1791455153967247461,10132356000000,1791455153963337053,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760371185313535,-0.004842376953236228,0.08632462774375492,0.9999999840419966,4.979913168495482e-05,-0.00010351300810603885,0.00010081653873208748,0.6761,-0.0048,0.08631236993968529,1.0,0.0,0.0,0.0,-0.04912985362216174,-0.09248329658866405,0.7526379815364304,-0.006386547737816953,0.0040089981674754326,-0.00012565895289265764,-0.015400788727748341,-0.18189541098816597,0.6313420297724688,-0.009342569152290233,0.0010666124734866503,-0.001627255236627937,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7147090715566858,-0.22242609074092257,-0.08414955460036988,0.44589165796746816,0.13619295480829932,-0.19550170106421716,0.721557885649919,0.7526379815364304,0.8057074402502888,0.8057074402502888,1.6117799999990865,0,0,-0.000458842741075964,-8.759563493854756e-05
+33101,1791455154350318552,10132739000000,1791455154343337018,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760326868160852,-0.004842874511727692,0.0861427622124895,0.9999999808646477,8.543609235714869e-05,-0.00010920935745690711,0.00010240878395642748,0.6761,-0.0048,0.08613479789605474,1.0,0.0,0.0,0.0,-0.056399401010664235,-0.09234222288022936,0.7526867485305196,-0.006384689929857029,0.004008158835115711,-0.00012538030771217412,-0.022670336116250838,-0.18175433727973128,0.6313907967665581,-0.009340711344330309,0.0010657731411269284,-0.0016269765914474535,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7443497217964062,-0.23783426807404426,-0.09817133253071476,0.46044589920529094,0.15422811881620085,-0.198345840829107,0.721557885649919,0.7526867485305196,0.8197292181806337,0.8197292181806337,1.634759999999067,0,0,-0.00046814734843833437,-9.999999025923074e-05
+33150,1791455154759245461,10133148000000,1791455154755336475,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760351029048843,-0.004847253178357264,0.0859564865045045,0.9999999821315145,7.481558161019025e-05,-0.00010341072793278819,0.00010434886354616076,0.6761,-0.0048,0.08594066596302474,1.0,0.0,0.0,0.0,-0.058463453725755704,-0.09230912520812326,0.7590128529940584,-0.006386683315232889,0.004009659417314648,-0.00013188284214782115,-0.024734388831342304,-0.18172123960762518,0.6377169012300968,-0.009342704729706169,0.0010672737233258652,-0.0016334791258831006,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7945255413447948,-0.2376496421093263,-0.10023256152920348,0.4640792984309903,0.16496021364434088,-0.2075471145215669,0.721557885649919,0.7590128529940584,0.8217904471791224,0.8217904471791224,1.659299999999046,0,0,-0.0004806724274539472,-9.723244018123296e-05
+33193,1791455155117289465,10133506000000,1791455155111336873,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760326270739112,-0.00484397503132393,0.08577901243986605,0.9999999829350732,6.085428638026488e-05,-0.00010406715802315308,0.00010506902651451025,0.6761,-0.0048,0.08576730181852797,1.0,0.0,0.0,0.0,-0.0498973591259293,-0.08596554102508913,0.7590550661113897,-0.006385463247016996,0.004006319910516327,-0.0001309152726067359,-0.016168294231515896,-0.17537765542459105,0.6377591143474282,-0.009341484661490276,0.0010639342165275443,-0.0016325115563420153,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7917472544332381,-0.20973795134180634,-0.2516692811887339,0.4592694013353928,0.2614707478178145,-0.18620058668760237,0.721557885649919,0.7590550661113897,0.9732271668386528,0.9732271668386528,1.6807799999990278,0,0,-0.0004884457270911982,9.780287277128536e-05
+33238,1791455155492289823,10133881000000,1791455155491337106,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760268259004036,-0.00484373058647471,0.08558866817751072,0.9999999823299507,5.544733710287277e-05,-0.00011363324108717986,0.0001039040043789975,0.6761,-0.0048,0.08558279004839615,1.0,0.0,0.0,0.0,-0.049329449216111224,-0.09220358444056012,0.7630058258378358,-0.006387544292004957,0.004006215804452969,-0.00013404488508052107,-0.01560038432169782,-0.18161569884006204,0.6417098740738743,-0.009343565706478237,0.0010638301104641864,-0.0016356411688158005,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8523985823993208,-0.1512560661444285,-0.1556982731305588,0.4547306716958274,0.21425093073035503,-0.14634251063345327,0.721557885649919,0.7630058258378358,0.8772561587804778,0.8772561587804778,1.7032799999990087,0,0,-0.0004949103100076603,-7.11105781270923e-06
+33283,1791455155867231531,10134256000000,1791455155859336965,DOWN_FORCE_DETACH,5,0.036,0.03600240498781204,0.6760274303841545,-0.004844486267114304,0.08540486930860589,0.9999999816250456,6.704600468849518e-05,-0.00011211922947794473,0.00010548404934100827,0.6761,-0.0048,0.08539637643600569,1.0,0.0,0.0,0.0,-0.04894079589478449,-0.09185570031640991,0.7590646176333237,-0.006386790080653229,0.0040070649049977775,-0.00013078924745436307,-0.015211731000371095,-0.18126781471591183,0.6377686658693621,-0.009342811495126509,0.001064679211008995,-0.0016323855311896425,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8709295105321238,-0.177748048269466,-0.14959987961620114,0.4718955218951213,0.21024140225041066,-0.15750138640093062,0.721557885649919,0.7590646176333237,0.8711577652661201,0.8711577652661201,1.7257799999989896,0,0,-0.0005002654235822509,-6.923347592303059e-05
+33327,1791455156234306342,10134623000000,1791455156231336579,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760287673931528,-0.004847027982400138,0.0852273390999523,0.999999981740362,7.103282231750611e-05,-0.00010750096364850828,0.00010658339910415191,0.6761,-0.0048,0.08521096936288308,1.0,0.0,0.0,0.0,-0.05505887675904528,-0.07989032395966292,0.7493978865275529,-0.0053635653442668345,0.00398964038288191,-0.00011222819553547499,-0.02132981186463188,-0.16930243835916484,0.6281019347635913,-0.008319586758740114,0.0010472546888931277,-0.0016138244792707544,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8549223854846046,-0.22077137259286933,-0.102004472891468,0.48320794317229165,0.17217469464665056,-0.18548893109425793,0.721557885649919,0.7493978865275529,0.8235623585413869,0.8235623585413869,1.7477999999989708,0,0,-0.0005098500916275991,-9.999999025923074e-05
+33373,1791455156617294321,10135006000000,1791455156615336998,DOWN_FORCE_DETACH,5,0.036,0.03600174933671951,0.6760283323922156,-0.004846767178079564,0.08503031058618982,0.999999981620078,7.078129659530512e-05,-0.00010783428087241858,0.00010753829102089373,0.6761,-0.0048,0.08501460481308473,1.0,0.0,0.0,0.0,-0.049397659843908565,-0.07916949464593195,0.7694594259893067,-0.005367383727903657,0.003985145148975693,-0.00012774713679252468,-0.015668594949495164,-0.16858160904543387,0.6481634742253451,-0.008323405142376937,0.0010427594549869098,-0.001629343420527804,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.926650801495279,-0.2556875967726094,-0.2370214214317198,0.4944985945331948,0.27526920653905357,-0.2061919769036939,0.721557885649919,0.7694594259893067,0.9585793070816387,0.9585793070816387,1.7707799999989513,0,0,-0.0005126368940358298,9.999836655805722e-05
+33419,1791455156997276587,10135386000000,1791455156995336487,DOWN_SETTLE,5,0.036,0.03600240498781204,0.6760306452585008,-0.004848472435865982,0.08484858158430225,0.9999999827281311,6.232456802792226e-05,-0.00010232639538314858,0.00010784970693475817,0.6761,-0.0048,0.0848178644606757,1.0,0.0,0.0,0.0,-0.04973554581804561,-0.07952522847207982,0.7594294465722186,-0.005364696750705247,0.003988251433778492,-0.0001145522236897388,-0.016006480923632205,-0.16893734287158174,0.638133494808257,-0.008320718165178527,0.0010458657397897095,-0.0016161485074250182,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.967789930846893,-0.21756807829177005,-0.15886973038313448,0.49497496628590687,0.23506445566606823,-0.17995462702904974,0.721557885649919,0.7594294465722186,0.8804276160330534,0.8804276160330534,1.793579999998932,0,0,-0.0005212822994746499,-9.992650737278836e-05
+33464,1791455157372295386,10135761000000,1791455157371336627,DOWN_SETTLE,5,0.036,0.03600240498781204,0.6760244722168056,-0.004852739362001279,0.08464585448834637,0.999999981763392,6.023214146185256e-05,-0.00011062229692493309,0.00010977648519686125,0.6761,-0.0048,0.0846258899477217,1.0,0.0,0.0,0.0,-0.049788143350744565,-0.07905450272576167,0.7691759019775574,-0.0053673441658671495,0.003985188607352227,-0.00012756538104711883,-0.016059078456331168,-0.1684666171252636,0.6478799502135958,-0.00832336558034043,0.0010428029133634448,-0.0016291616647823982,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9874415011892986,-0.23259198068237913,-0.20565882542196579,0.5029676841122932,0.2607715366347243,-0.18279909810361722,0.721557885649919,0.7691759019775574,0.9272167110718847,0.9272167110718847,1.793579999998932,0,0,-0.0005025323029275455,9.999999025923074e-05
+33506,1791455157722321504,10136111000000,1791455157715337006,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6760257823850333,-0.004856103604725252,0.08447249256063166,0.9999999818025196,6.306397394411752e-05,-0.00010778783120959542,0.00011064602849169534,0.6761,-0.0048,0.08445305739109873,1.0,0.0,0.0,0.0,-0.04939749489354559,-0.07913248130969708,0.7694333118772179,-0.005367367465099278,0.003985157366082248,-0.00012775577744239086,-0.01566842999913219,-0.168544595709199,0.6481373601132563,-0.008323388879572558,0.0010427716720934654,-0.0016293520611776703,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0702934349104543,-0.22327409055662112,-0.252050736893363,0.49434040510460525,0.31264011769986244,-0.1813538395805852,0.721557885649919,0.7694333118772179,0.973608622543282,0.973608622543282,1.793579999998932,0,0,-0.00048503230633681484,9.999999025923074e-05
+33551,1791455158097297451,10136486000000,1791455158091337125,DOWN_SETTLE,5,0.036,0.03600240498781204,0.6760215723861214,-0.0048565899158875036,0.08429550490246539,0.9999999809880746,6.244787158672225e-05,-0.00011516868558949797,0.00011091957389251386,0.6761,-0.0048,0.0842746765255357,1.0,0.0,0.0,0.0,-0.041232661016088815,-0.08029793552357992,0.7631940680699238,-0.006375952661791919,0.0039975585032241655,-0.00012856028156265297,-0.007503596121675414,-0.16971004992308183,0.6418981163059623,-0.009331974076265199,0.0010551728092353828,-0.0016301565652979324,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.071415096758027,-0.1473674578254491,-0.3332117137562628,0.4734615362578042,0.3652571176340983,-0.1289894070482538,0.721557885649919,0.7631940680699238,1.0547695994061819,1.0547695994061819,1.793579999998932,0,0,-0.0004662823099896033,9.999999025923074e-05
+33599,1791455158497330137,10136886000000,1791455158491336648,DOWN_SETTLE,5,0.036,0.03600240498781204,0.676023738219023,-0.004860670314208045,0.08412110949925433,0.99999998295843,4.4983303595318874e-05,-0.00010930076267964097,0.00010749813872140889,0.6761,-0.0048,0.08409215360075865,1.0,0.0,0.0,0.0,-0.04960125140181877,-0.07968524728485146,0.7554772485476364,-0.0053648527543117275,0.003988125226773487,-0.00011604177376944446,-0.015872186507405375,-0.16909736168435338,0.6341812967836749,-0.008320874168785007,0.0010457395327847037,-0.0016176380575047239,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.062469331178321,-0.17912432042205495,-0.2427971341224065,0.491900984130766,0.29598263524058577,-0.14593228142065873,0.721557885649919,0.7554772485476364,0.9643550197723254,0.9643550197723254,1.793579999998932,0,0,-0.000446282313885911,9.999999025923074e-05
+33653,1791455158947225660,10137336000000,1791455158939336926,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6760232492870417,-0.0048651866751027815,0.08393059177585513,0.9999999826748304,4.7815392170111546e-05,-0.00011064218190016918,0.00010754161687657965,0.6761,-0.0048,0.08389637780852155,1.0,0.0,0.0,0.0,-0.04974567949078877,-0.07991471945658143,0.7493900505929814,-0.005363673353416637,0.003989539393824523,-0.00011157708344148535,-0.016016614596375368,-0.16932683385608335,0.6280940988290198,-0.008319694767889917,0.0010471536998357398,-0.0016131733671767648,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1117649312092932,-0.1763679570066685,-0.2630556022910891,0.4884818511852295,0.3163615372591711,-0.1397100131680349,0.721557885649919,0.7493900505929814,0.984613487941008,0.984613487941008,1.793579999998932,0,0,-0.0004237823182692572,9.999999025923074e-05
+33703,1791455159364295201,10137753000000,1791455159363336833,DOWN_SETTLE,5,0.036,0.03600240498781204,0.6760219718594846,-0.0048646531407241685,0.08375694084891062,0.9999999833126394,4.1970438119118234e-05,-0.00010882626790137768,0.00010589103450062247,0.6761,-0.0048,0.08372399738095433,1.0,0.0,0.0,0.0,-0.049549730296625585,-0.0802650331614971,0.739368949475655,-0.0053618182218541695,0.003991730951442119,-0.00010345915672909127,-0.01582066540221219,-0.16967714756099903,0.6180729977116934,-0.00831783963632745,0.0010493452574533366,-0.0016050554404643707,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1594869665476812,-0.23536210023806065,-0.2665856813893637,0.5076220044533697,0.3298348828528439,-0.17582396283426363,0.721557885649919,0.739368949475655,0.9881435670392826,0.9881435670392826,1.793579999998932,0,0,-0.00040293232233115796,9.999999025923074e-05
+33761,1791455159847264940,10138236000000,1791455159839337052,DOWN_SETTLE,5,0.036,0.03600240498781204,0.6760169412490968,-0.004873700819342757,0.0835639240482315,0.9999999818734201,3.981360203208834e-05,-0.0001158104451168686,0.0001126891383842428,0.6761,-0.0048,0.08353520121812982,1.0,0.0,0.0,0.0,-0.04974355061822407,-0.08984476512397307,0.7391616746667667,-0.005363214969368797,0.003992596215194304,-0.00010332943171883634,-0.01601448572381067,-0.179256879523475,0.6178657229028052,-0.008319236383842077,0.0010502105212055217,-0.0016049257154541158,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2061007422400951,-0.15921471477071167,-0.3072645486488635,0.4877158205115662,0.36589592910521485,-0.12146669776123868,0.721557885649919,0.7391616746667667,1.0288224342987824,1.0288224342987824,1.793579999998932,0,0,-0.0003787823270359495,9.999999025923074e-05
+33818,1791455160322314984,10138711000000,1791455160315337017,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6760130657018981,-0.004875080413968913,0.0833840373436905,0.9999999816669595,3.475211187268719e-05,-0.0001223694511233312,0.00010921059178262698,0.6761,-0.0048,0.08336090836168655,1.0,0.0,0.0,0.0,-0.04968447308611091,-0.08091556448845716,0.721522348973516,-0.005358526961537352,0.003995627995626095,-8.905901606089811e-05,-0.01595540819169751,-0.17032767888795908,0.6002263972095544,-0.008314548376010632,0.0010532423016373128,-0.0015906552997961775,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.273074582691197,-0.2537729874631136,-0.294229790847677,0.5119219816995895,0.3729155353875465,-0.18653718062811805,0.721557885649919,0.721522348973516,1.015787676497596,1.015787676497596,1.793579999998932,0,0,-0.0003550323316628149,9.999999025923074e-05
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+33943,1791455161364304805,10139753000000,1791455161363337040,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6760115215325225,-0.004876465793686681,0.08304186658362914,0.9999999817220147,3.079930776745915e-05,-0.00012154262449575187,0.0001108044577121721,0.6761,-0.0048,0.08301808271680074,1.0,0.0,0.0,0.0,-0.0496479474465749,-0.08244988694668329,0.7091425173041617,-0.005356167362417407,0.004001938951429437,-8.361057335479227e-05,-0.0159188825521615,-0.1718620013461852,0.5878465655402001,-0.008312188776890687,0.0010595532574406547,-0.0015852068570900717,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3931918708661744,-0.24871097279171486,-0.3693295100602856,0.5046160022268575,0.44781001709706886,-0.1764434954951426,0.721557885649919,0.7091425173041617,1.0908873957102045,1.0908873957102045,1.793579999998932,0,0,-0.0003029323418126965,9.999999025923074e-05
+34013,1791455161947268258,10140336000000,1791455161939337283,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6760055656493387,-0.004886131663531807,0.08286730617464967,0.999999979495967,2.984058254317806e-05,-0.00013258335304667978,0.00011824603286362852,0.6761,-0.0048,0.0828499558098657,1.0,0.0,0.0,0.0,-0.04018429682478508,-0.08187184785180257,0.699312790895251,-0.0053269237888786,0.002987061792255778,-8.567440944262563e-05,-0.006455231930371685,-0.1712839622513045,0.5780168391312894,-0.00828294520335188,4.467609826699513e-05,-0.001587270693177905,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3782280343527242,-0.22337714498280922,-0.40826195315280633,0.49965326685298433,0.465221332463324,-0.15714276685816292,0.721557885649919,0.699312790895251,1.1298198388027254,1.1298198388027254,1.793579999998932,0,0,-0.00027378234749156496,9.999999025923074e-05
+34090,1791455162589229251,10140978000000,1791455162587336980,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6759989068657692,-0.004880794748926795,0.08269342351520892,0.9999999804156502,1.647425025375738e-05,-0.00014014837503465856,0.00010343401625976949,0.6761,-0.0048,0.0826844755907656,1.0,0.0,0.0,0.0,-0.030879596950201482,-0.08223679004599183,0.6900522211513894,-0.005407833908060121,0.0029898959174694565,-7.700654943701099e-05,0.002849467944211919,-0.17164890444549374,0.5687562693874278,-0.008363855322533401,4.7510223480673655e-05,-0.0015786028331722904,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4295258390308283,-0.21518917957762748,-0.37706323553429777,0.5021924569486855,0.4566404917982883,-0.14944283892594726,0.721557885649919,0.6900522211513894,1.0986211211842167,1.0986211211842167,1.793579999998932,0,0,-0.0002416823537451388,9.999999025923074e-05
+34175,1791455163297307779,10141686000000,1791455163295337451,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6759927565287974,-0.0048892098373746395,0.0825279843698447,0.9999999791865081,1.3390345112099797e-05,-0.00014613244620229776,0.00010740509673605412,0.6761,-0.0048,0.08252587838186924,1.0,0.0,0.0,0.0,-0.036162492342666615,-0.09514312902535099,0.6701761969419093,-0.006342312875654893,0.0030126802744942587,-7.459674460576476e-05,-0.0024334274482532125,-0.1845552434248529,0.5488802451779478,-0.009298334290128173,7.029458050547607e-05,-0.0015761930283410442,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4212348314240986,-0.25562764981688335,-0.41583171406602576,0.5076544373776871,0.4750590044658195,-0.17603085501810442,0.721557885649919,0.6701761969419093,1.1373895997159447,1.1373895997159447,1.793579999998932,0,0,-0.00020628236064160343,9.999999025923074e-05
+34267,1791455164064229966,10142453000000,1791455164059337335,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6759862363326041,-0.0048867101333310925,0.08237444167744754,0.9999999760852891,2.082699442669308e-05,-0.000158580149331158,0.00011700794062986183,0.6761,-0.0048,0.0823823478583882,1.0,0.0,0.0,0.0,-0.039499497908100804,-0.08624912778094693,0.6587997808728264,-0.006339355955993662,0.0030147035942676924,-6.43749831411983e-05,-0.005770433013687404,-0.17566124218044885,0.5375038291088649,-0.009295377370466942,7.231790027890959e-05,-0.0015659712668764777,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4978302507584034,-0.2524327348686032,-0.2892884682798625,0.5068719870963528,0.41150850428761865,-0.17374599492078535,0.721557885649919,0.6587997808728264,1.0108463539297814,1.0108463539297814,1.793579999998932,0,0,-0.00016793236811277345,9.999999025923074e-05
+34375,1791455164964321556,10143353000000,1791455164959337532,DOWN_SETTLE,5,0.036,0.03600174933671951,0.675983694920914,-0.004883018018515298,0.08223567567275596,0.9999999773746441,6.897379394840637e-06,-0.00016382326827598176,9.903503889580168e-05,0.6761,-0.0048,0.08225143622313731,1.0,0.0,0.0,0.0,-0.03438751577637639,-0.07552271268239913,0.6291148657275156,-0.005312707167669944,0.003001479061326508,-2.8249233399161265e-05,-0.0006584508819629836,-0.16493482708190105,0.507818913963554,-0.008268728582143224,5.909336733772551e-05,-0.0015298455171344407,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5020617129528708,-0.19871290966037067,-0.3572848569831198,0.5102571468514522,0.443371107894026,-0.13558815068897995,0.721557885649919,0.6291148657275156,1.0788427426330387,1.0788427426330387,1.793579999998932,0,0,-0.00012293237687946578,9.999999025923074e-05
+34491,1791455165932312729,10144320000000,1791455165927337392,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6759790545496972,-0.004877781662648148,0.08212462619281845,0.9999999747213447,2.154527145649569e-05,-0.00017271445028448028,0.0001081928564462591,0.6761,-0.0048,0.08215591366013592,1.0,0.0,0.0,0.0,-0.030699847430455583,-0.07614220614534223,0.6087529050654862,-0.0053089751927383015,0.0030057659124555053,-1.1354835700112722e-05,0.0030292174639578178,-0.16555432054484415,0.4874569533015246,-0.008264996607211582,6.338021846672258e-05,-0.0015129511194353921,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5125476629823142,-0.10707569161623476,-0.3408990708111014,0.46300198616543553,0.437896392104847,-0.07184827874085707,0.721557885649919,0.6087529050654862,1.0624569564610202,1.0624569564610202,1.793579999998932,0,0,-7.458238629878965e-05,9.999999025923074e-05
+34644,1791455167206296358,10145595000000,1791455167203336995,DOWN_SETTLE,5,0.036,0.03600174933671951,0.6759858068984766,-0.004874846557428553,0.08206583159725411,0.9999999737741916,3.0420889885133308e-05,-0.00017237380295063,0.00011513610286678047,0.6761,-0.0048,0.08210142985968133,1.0,0.0,0.0,0.0,-0.04753544369811803,-0.07114638153058378,0.5292097572917875,-0.004273002817197707,0.003003891403653707,6.239346545581907e-05,-0.013806378803704635,-0.1605584959300857,0.40791380552782597,-0.007229024231670987,6.150570966492423e-05,-0.0014392028182794604,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.6016542702348595,-0.24435538636884696,-0.21064641454660907,0.49808116619755555,0.3728993054891769,-0.16165689249632223,0.721557885649919,0.5292097572917875,0.932204300196528,0.932204300196528,1.793579999998932,0,0,-1.0832398718270459e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..803c5d0665f713ef95cc767066967b32d01e55cd
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ee5c31b56343209095230e9c9988724817cf677
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.300000000e+00,DOWN_FORCE_DETACH,1791455132057198387,5.808554116e-05,-2.826971846e-05,-3.744647063e-04,5.797173152e-05,-2.811016863e-05,-3.742644464e-04,5.869418471e-05,-2.764451514e-05,-3.717986802e-04,7.015959570e-01,-2.671875714e-05,8.403664765e-01,7.015958432e-01,-2.655920731e-05,8.403666767e-01,7.017845212e-01,-2.586229325e-05,8.294088047e-01
+6,3.983333333e+00,DOWN_FORCE_DETACH,1791455133076910629,6.575047466e-05,-5.148559725e-06,-4.639021798e-04,6.454706104e-05,-9.984064684e-06,-4.613083705e-04,6.517501163e-05,-9.635940624e-06,-4.589631663e-04,7.016036220e-01,-3.597598404e-06,8.402770390e-01,7.016024185e-01,-8.433103363e-06,8.402796328e-01,7.017910021e-01,-7.853718731e-06,8.293216402e-01
+7,4.566666667e+00,DOWN_FORCE_DETACH,1791455133957206013,6.245967024e-05,-1.398360740e-05,-5.340793322e-04,6.200842491e-05,-1.961603150e-05,-5.248369500e-04,6.242889408e-05,-1.926375631e-05,-5.225916555e-04,7.016003312e-01,-1.243264608e-05,8.402068619e-01,7.015998799e-01,-1.806507018e-05,8.402161042e-01,7.017882559e-01,-1.748153442e-05,8.292580117e-01
+8,5.300000000e+00,DOWN_FORCE_DETACH,1791455135057216384,6.134455024e-05,-2.083135276e-05,-5.977212476e-04,6.120823759e-05,-2.124105003e-05,-5.874630531e-04,6.144388651e-05,-2.090054237e-05,-5.855280011e-04,7.015992160e-01,-1.928039144e-05,8.401432199e-01,7.015990797e-01,-1.969008871e-05,8.401534781e-01,7.017872709e-01,-1.911832047e-05,8.291950754e-01
+9,6.066666667e+00,DOWN_FORCE_DETACH,1791455136195550816,6.103105349e-05,-2.367347512e-05,-6.731287556e-04,6.109076245e-05,-2.501882958e-05,-6.667860799e-04,6.115084803e-05,-2.467529282e-05,-6.648659875e-04,7.015989025e-01,-2.212251380e-05,8.400678124e-01,7.015989622e-01,-2.346786826e-05,8.400741551e-01,7.017869779e-01,-2.289307092e-05,8.291157374e-01
+10,6.883333333e+00,DOWN_FORCE_DETACH,1791455137426744636,6.297668094e-05,-2.231676483e-05,-7.612976957e-04,6.373341009e-05,-2.767642753e-05,-7.564111745e-04,6.355393254e-05,-2.731490803e-05,-7.543966543e-04,7.016008482e-01,-2.076580351e-05,8.399796435e-01,7.016016049e-01,-2.612546620e-05,8.399845300e-01,7.017893810e-01,-2.553268614e-05,8.290262067e-01
+11,7.633333333e+00,DOWN_FORCE_DETACH,1791455138557271152,6.439164326e-05,-2.946195733e-05,-8.570495005e-04,6.224709664e-05,-2.822250857e-05,-8.400336712e-04,6.185478949e-05,-2.784644321e-05,-8.379069418e-04,7.016022631e-01,-2.791099601e-05,8.398838917e-01,7.016001186e-01,-2.667154725e-05,8.399009075e-01,7.017876818e-01,-2.606422131e-05,8.289426964e-01
+12,8.283333333e+00,DOWN_FORCE_DETACH,1791455139528328231,6.091587929e-05,-3.114794904e-05,-9.555260222e-04,6.121368645e-05,-3.041162244e-05,-9.492986090e-04,6.050652622e-05,-3.004325562e-05,-9.466695519e-04,7.015987874e-01,-2.959698772e-05,8.397854152e-01,7.015990852e-01,-2.886066112e-05,8.397916426e-01,7.017863336e-01,-2.826103373e-05,8.288339338e-01
+13,8.950000000e+00,DOWN_FORCE_DETACH,1791455140527623711,6.089207787e-05,-3.923910288e-05,-1.071339454e-03,6.124086029e-05,-4.090103058e-05,-1.057484652e-03,6.021643227e-05,-4.038470470e-05,-1.054668799e-03,7.015987636e-01,-3.768814156e-05,8.396696017e-01,7.015991123e-01,-3.935006926e-05,8.396834565e-01,7.017860435e-01,-3.860248281e-05,8.287259346e-01
+14,9.600000000e+00,DOWN_FORCE_DETACH,1791455141496497423,6.291642702e-05,-3.765841054e-05,-1.189724589e-03,6.260566211e-05,-3.766627388e-05,-1.190175686e-03,6.120887005e-05,-3.708971315e-05,-1.187079677e-03,7.016007879e-01,-3.610744922e-05,8.395512166e-01,7.016004771e-01,-3.611531256e-05,8.395507655e-01,7.017870359e-01,-3.530749125e-05,8.285935237e-01
+15,1.021666667e+01,DOWN_FORCE_DETACH,1791455142426929808,6.718596352e-05,-4.848902981e-05,-1.319889553e-03,6.672219179e-05,-4.010383604e-05,-1.308004721e-03,6.488710711e-05,-3.952340446e-05,-1.305092003e-03,7.016050574e-01,-4.693806849e-05,8.394210516e-01,7.016045937e-01,-3.855287472e-05,8.394329365e-01,7.017907141e-01,-3.774118257e-05,8.284755114e-01
+16,1.081666667e+01,DOWN_FORCE_DETACH,1791455143329718643,7.016424130e-05,-4.706487365e-05,-1.459265584e-03,7.113504534e-05,-4.747425620e-05,-1.443364489e-03,6.890895313e-05,-4.690507951e-05,-1.440423183e-03,7.016080357e-01,-4.551391233e-05,8.392816756e-01,7.016090065e-01,-4.592329488e-05,8.392975767e-01,7.017947360e-01,-4.512285762e-05,8.283401802e-01
+17,1.138333333e+01,DOWN_FORCE_DETACH,1791455144176967281,7.436969823e-05,-4.927322279e-05,-1.598376261e-03,7.161047520e-05,-4.955480622e-05,-1.584707700e-03,6.890221438e-05,-4.898912699e-05,-1.581425336e-03,7.016122412e-01,-4.772226147e-05,8.391425649e-01,7.016094820e-01,-4.800384490e-05,8.391562335e-01,7.017947293e-01,-4.720690509e-05,8.281991780e-01
+18,1.191666667e+01,DOWN_FORCE_DETACH,1791455144977578445,6.884040941e-05,-5.328277903e-05,-1.749243173e-03,6.869771113e-05,-5.627854272e-05,-1.734951579e-03,6.543213978e-05,-5.564427971e-05,-1.731241477e-03,7.016067119e-01,-5.173181771e-05,8.389916980e-01,7.016065692e-01,-5.472758140e-05,8.390059896e-01,7.017912592e-01,-5.386205782e-05,8.280493619e-01
+19,1.240000000e+01,DOWN_FORCE_DETACH,1791455145697224165,6.338753975e-05,-5.752294496e-05,-1.900539180e-03,6.566119094e-05,-5.787789150e-05,-1.887581368e-03,6.188648181e-05,-5.715007446e-05,-1.883408891e-03,7.016012590e-01,-5.597198364e-05,8.388404020e-01,7.016035327e-01,-5.632693017e-05,8.388533598e-01,7.017877135e-01,-5.536785256e-05,8.278971945e-01
+20,1.290000000e+01,DOWN_FORCE_DETACH,1791455146457890805,6.181802193e-05,-6.025020988e-05,-2.058933495e-03,5.828092615e-05,-6.572808886e-05,-2.044764384e-03,5.376196307e-05,-6.487863660e-05,-2.040381099e-03,7.015996895e-01,-5.869924855e-05,8.386820077e-01,7.015961524e-01,-6.417712754e-05,8.386961768e-01,7.017795890e-01,-6.309641470e-05,8.277402223e-01
+21,1.338333333e+01,DOWN_FORCE_DETACH,1791455147177957458,6.084410831e-05,-6.753101564e-05,-2.222061909e-03,6.093332933e-05,-6.756681281e-05,-2.221400786e-03,5.560632548e-05,-6.674951835e-05,-2.216644427e-03,7.015987156e-01,-6.598005432e-05,8.385188793e-01,7.015988048e-01,-6.601585148e-05,8.385195404e-01,7.017814334e-01,-6.496729646e-05,8.275639589e-01
+22,1.385000000e+01,DOWN_FORCE_DETACH,1791455147877850069,5.845288066e-05,-7.142178490e-05,-2.392846602e-03,5.697441921e-05,-6.737259606e-05,-2.382442055e-03,5.084668088e-05,-6.666186116e-05,-2.377588525e-03,7.015963244e-01,-6.987082358e-05,8.383480946e-01,7.015948459e-01,-6.582163473e-05,8.383584991e-01,7.017766737e-01,-6.487963927e-05,8.274030148e-01
+23,1.428333333e+01,DOWN_FORCE_DETACH,1791455148529252801,5.298355143e-05,-6.575699183e-05,-2.570475411e-03,5.524499528e-05,-6.794537230e-05,-2.551106029e-03,4.837341151e-05,-6.724526829e-05,-2.545891897e-03,7.015908550e-01,-6.420603051e-05,8.381704658e-01,7.015931165e-01,-6.639441098e-05,8.381898352e-01,7.017742005e-01,-6.546304640e-05,8.272347115e-01
+24,1.466666667e+01,DOWN_FORCE_DETACH,1791455149099851876,5.515031786e-05,-7.004047994e-05,-2.730777527e-03,5.515212009e-05,-7.006409680e-05,-2.730437437e-03,4.762104910e-05,-6.930673454e-05,-2.724612538e-03,7.015930218e-01,-6.848951862e-05,8.380101637e-01,7.015930236e-01,-6.851313548e-05,8.380105038e-01,7.017734481e-01,-6.752451265e-05,8.270559908e-01
+25,1.508333333e+01,DOWN_FORCE_DETACH,1791455149728140942,5.778962434e-05,-7.571727472e-05,-2.909131790e-03,5.613352667e-05,-6.985140063e-05,-2.895927546e-03,4.798154688e-05,-6.899462932e-05,-2.890121924e-03,7.015956611e-01,-7.416631340e-05,8.378318094e-01,7.015940050e-01,-6.830043931e-05,8.378450136e-01,7.017738086e-01,-6.721240742e-05,8.268904814e-01
+26,1.540000000e+01,DOWN_FORCE_DETACH,1791455150226104765,5.146058529e-05,-7.540212579e-05,-3.073923904e-03,5.132815771e-05,-7.509414280e-05,-3.066036082e-03,4.238556226e-05,-7.425020435e-05,-3.059918174e-03,7.015893321e-01,-7.385116447e-05,8.376670173e-01,7.015891996e-01,-7.354318147e-05,8.376749051e-01,7.017682126e-01,-7.246798246e-05,8.267206852e-01
+27,1.576666667e+01,DOWN_FORCE_DETACH,1791455150765794462,5.157909069e-05,-7.288779827e-05,-3.249850947e-03,4.983940560e-05,-7.695601996e-05,-3.241912621e-03,4.033204134e-05,-7.612890186e-05,-3.235746097e-03,7.015894506e-01,-7.133683695e-05,8.374910902e-01,7.015877109e-01,-7.540505864e-05,8.374990286e-01,7.017661591e-01,-7.434667996e-05,8.265448573e-01
+28,1.611666667e+01,DOWN_FORCE_DETACH,1791455151295830761,4.867158075e-05,-7.944760246e-05,-3.433993787e-03,4.862029874e-05,-7.929332711e-05,-3.434009384e-03,3.843133020e-05,-7.842975050e-05,-3.427368520e-03,7.015865431e-01,-7.789664113e-05,8.373069474e-01,7.015864918e-01,-7.774236579e-05,8.373069318e-01,7.017642584e-01,-7.664752860e-05,8.263532348e-01
+29,1.643333333e+01,DOWN_FORCE_DETACH,1791455151765115232,4.450969737e-05,-8.618304765e-05,-3.609869271e-03,4.762701652e-05,-8.560825787e-05,-3.603739790e-03,3.689941778e-05,-8.461421000e-05,-3.596944940e-03,7.015823812e-01,-8.463208633e-05,8.371310719e-01,7.015854985e-01,-8.405729655e-05,8.371372014e-01,7.017627265e-01,-8.283198811e-05,8.261836584e-01
+30,1.673333333e+01,DOWN_FORCE_DETACH,1791455152225998668,4.786024974e-05,-8.225395064e-05,-3.784376270e-03,4.664396542e-05,-8.303540697e-05,-3.774781963e-03,3.524694877e-05,-8.201885294e-05,-3.767818496e-03,7.015857317e-01,-8.070298932e-05,8.369565649e-01,7.015845154e-01,-8.148444565e-05,8.369661592e-01,7.017610740e-01,-8.023663105e-05,8.260127849e-01
+31,1.705000000e+01,DOWN_FORCE_DETACH,1791455152695756263,4.928351033e-05,-8.518635528e-05,-3.974474668e-03,4.919597030e-05,-8.510655782e-05,-3.974493320e-03,3.705205399e-05,-8.414828673e-05,-3.967094755e-03,7.015871550e-01,-8.363539396e-05,8.367664665e-01,7.015870675e-01,-8.355559650e-05,8.367664479e-01,7.017628791e-01,-8.236606483e-05,8.258135086e-01
+32,1.733333333e+01,DOWN_FORCE_DETACH,1791455153126142314,4.818806151e-05,-9.107370856e-05,-4.156173360e-03,4.834644254e-05,-9.116322290e-05,-4.155791291e-03,3.555214615e-05,-9.024881067e-05,-4.148120312e-03,7.015860595e-01,-8.952274724e-05,8.365847678e-01,7.015862179e-01,-8.961226158e-05,8.365851499e-01,7.017613792e-01,-8.846658877e-05,8.256324830e-01
+33,1.760000000e+01,DOWN_FORCE_DETACH,1791455153526105952,4.659654664e-05,-9.086515974e-05,-4.330401073e-03,4.611157552e-05,-9.438745338e-05,-4.316759213e-03,3.267591119e-05,-9.343223953e-05,-4.309002803e-03,7.015844680e-01,-8.931419842e-05,8.364105401e-01,7.015839831e-01,-9.283649206e-05,8.364241820e-01,7.017585030e-01,-9.165001764e-05,8.254716006e-01
+34,1.790000000e+01,DOWN_FORCE_DETACH,1791455153964929327,4.724190134e-05,-9.456497390e-05,-4.521214999e-03,4.698884561e-05,-9.442312283e-05,-4.521067631e-03,3.279584307e-05,-9.336939578e-05,-4.513029191e-03,7.015851134e-01,-9.301401258e-05,8.362197262e-01,7.015848603e-01,-9.287216150e-05,8.362198736e-01,7.017586229e-01,-9.158717389e-05,8.252675742e-01
+35,1.815000000e+01,DOWN_FORCE_DETACH,1791455154346737229,4.542401954e-05,-9.694735582e-05,-4.694656443e-03,4.486696151e-05,-9.398949476e-05,-4.690143975e-03,3.001379665e-05,-9.297066725e-05,-4.682064248e-03,7.015832955e-01,-9.539639450e-05,8.360462847e-01,7.015827384e-01,-9.243853344e-05,8.360507972e-01,7.017558408e-01,-9.118844536e-05,8.250985391e-01
+36,1.840000000e+01,DOWN_FORCE_DETACH,1791455154759043680,4.594588711e-05,-9.482154717e-05,-4.888141152e-03,4.582846776e-05,-9.493313777e-05,-4.887832294e-03,3.038971169e-05,-9.396921560e-05,-4.879407743e-03,7.015838174e-01,-9.327058585e-05,8.358528000e-01,7.015836999e-01,-9.338217644e-05,8.358531089e-01,7.017562168e-01,-9.218699370e-05,8.249011956e-01
+37,1.861666667e+01,DOWN_FORCE_DETACH,1791455155113688800,4.133613670e-05,-9.640735679e-05,-5.075702079e-03,4.133341837e-05,-9.626630160e-05,-5.075703608e-03,2.519608409e-05,-9.525833379e-05,-5.066828265e-03,7.015792076e-01,-9.485639547e-05,8.356652391e-01,7.015792049e-01,-9.471534028e-05,8.356652376e-01,7.017510231e-01,-9.347611190e-05,8.247137751e-01
+38,1.886666667e+01,DOWN_FORCE_DETACH,1791455155493977227,3.857398262e-05,-9.704325731e-05,-5.258576469e-03,4.018570779e-05,-9.705145930e-05,-5.246562879e-03,2.341016959e-05,-9.594952428e-05,-5.237970661e-03,7.015764455e-01,-9.549229599e-05,8.354823647e-01,7.015780572e-01,-9.550049798e-05,8.354943783e-01,7.017492372e-01,-9.416730238e-05,8.245426327e-01
+39,1.911666667e+01,DOWN_FORCE_DETACH,1791455155864033295,3.932328772e-05,-9.762724171e-05,-5.439117496e-03,3.751314732e-05,-9.709091364e-05,-5.420409951e-03,2.008020249e-05,-9.595108176e-05,-5.411888867e-03,7.015771948e-01,-9.607628039e-05,8.353018237e-01,7.015753846e-01,-9.553995232e-05,8.353205312e-01,7.017459072e-01,-9.416885986e-05,8.243687145e-01
+40,1.936666667e+01,DOWN_FORCE_DETACH,1791455156235754756,3.783896970e-05,-9.837090021e-05,-5.623175984e-03,3.772050946e-05,-9.820234031e-05,-5.622869312e-03,1.950893896e-05,-9.710964423e-05,-5.614056359e-03,7.015757105e-01,-9.681993889e-05,8.351177652e-01,7.015755920e-01,-9.665137899e-05,8.351180719e-01,7.017453360e-01,-9.532742233e-05,8.241665470e-01
+41,1.961666667e+01,DOWN_FORCE_DETACH,1791455156615404590,4.172708270e-05,-9.620096031e-05,-5.812651307e-03,4.073407821e-05,-9.488725647e-05,-5.797644212e-03,2.191024090e-05,-9.394241389e-05,-5.788964578e-03,7.015795986e-01,-9.464999899e-05,8.349282899e-01,7.015786056e-01,-9.333629515e-05,8.349432970e-01,7.017477373e-01,-9.216019200e-05,8.239916388e-01
+42,1.985000000e+01,DOWN_SETTLE,1791455156998594519,4.168527452e-05,-9.896299434e-05,-5.997232510e-03,4.113420663e-05,-9.847094172e-05,-5.984298289e-03,2.163281116e-05,-9.741641755e-05,-5.975479398e-03,7.015795568e-01,-9.741203302e-05,8.347437087e-01,7.015790057e-01,-9.691998040e-05,8.347566429e-01,7.017474598e-01,-9.563419566e-05,8.238051240e-01
+43,2.005000000e+01,DOWN_SETTLE,1791455157368589889,3.884290415e-05,-1.001779902e-04,-6.190343194e-03,3.871092108e-05,-1.002385365e-04,-6.190106318e-03,1.845424477e-05,-9.910500448e-05,-6.180611939e-03,7.015767144e-01,-9.862702893e-05,8.345505980e-01,7.015765824e-01,-9.868757522e-05,8.345508349e-01,7.017442813e-01,-9.732278259e-05,8.235999914e-01
+44,2.026666667e+01,DOWN_SETTLE,1791455157725902421,3.680985314e-05,-1.110248316e-04,-6.371562363e-03,3.475404978e-05,-1.078271262e-04,-6.363001866e-03,1.385951007e-05,-1.067503778e-04,-6.353755422e-03,7.015746813e-01,-1.094738703e-04,8.343693788e-01,7.015726255e-01,-1.062761649e-04,8.343779393e-01,7.017396865e-01,-1.049681560e-04,8.234268479e-01
+45,2.051666667e+01,DOWN_SETTLE,1791455158096125404,3.021704417e-05,-1.119683229e-04,-6.555449670e-03,2.987922448e-05,-1.121506584e-04,-6.555520758e-03,8.332297509e-06,-1.109934870e-04,-6.546433933e-03,7.015680885e-01,-1.104173616e-04,8.341854915e-01,7.015677507e-01,-1.105996971e-04,8.341854204e-01,7.017341593e-01,-1.092112651e-04,8.232341694e-01
+46,2.078333333e+01,DOWN_SETTLE,1791455158496654146,3.214115055e-05,-1.128109907e-04,-6.731401335e-03,3.185099397e-05,-1.131437252e-04,-6.731550748e-03,9.794137158e-06,-1.118906324e-04,-6.722754207e-03,7.015700126e-01,-1.112600294e-04,8.340095399e-01,7.015697225e-01,-1.115927639e-04,8.340093904e-01,7.017356212e-01,-1.101084105e-04,8.230578492e-01
+47,2.108333333e+01,DOWN_SETTLE,1791455158946410422,3.409850704e-05,-1.167527530e-04,-6.912272349e-03,3.397064465e-05,-1.140697915e-04,-6.904955666e-03,1.125004570e-05,-1.128095537e-04,-6.896739566e-03,7.015719700e-01,-1.152017917e-04,8.338286688e-01,7.015718421e-01,-1.125188302e-04,8.338359855e-01,7.017370771e-01,-1.110273318e-04,8.228838638e-01
+48,2.136666667e+01,DOWN_SETTLE,1791455159364077811,3.073930107e-05,-1.174914479e-04,-7.092311367e-03,2.901297625e-05,-1.214246912e-04,-7.075587135e-03,5.603337992e-06,-1.202581495e-04,-7.067632430e-03,7.015686108e-01,-1.159404865e-04,8.336486298e-01,7.015668845e-01,-1.198737298e-04,8.336653541e-01,7.017314304e-01,-1.184759276e-04,8.227129709e-01
+49,2.168333333e+01,DOWN_SETTLE,1791455159845014198,2.689332693e-05,-1.254801032e-04,-7.282831301e-03,2.484492442e-05,-1.210239398e-04,-7.279370518e-03,5.719327059e-07,-1.199579842e-04,-7.271392664e-03,7.015647648e-01,-1.239291419e-04,8.334581099e-01,7.015627164e-01,-1.194729785e-04,8.334615707e-01,7.017263990e-01,-1.181757624e-04,8.225092107e-01
+50,2.200000000e+01,DOWN_SETTLE,1791455160325916880,2.329714453e-05,-1.238851263e-04,-7.463304714e-03,2.441212215e-05,-1.235815959e-04,-7.449981732e-03,-5.051546056e-07,-1.223842165e-04,-7.442318047e-03,7.015611686e-01,-1.223341650e-04,8.332776365e-01,7.015622836e-01,-1.220306346e-04,8.332909595e-01,7.017253219e-01,-1.206019946e-04,8.223382853e-01
+51,2.233333333e+01,DOWN_SETTLE,1791455160825965233,2.233810479e-05,-1.279632538e-04,-7.633724018e-03,2.367119812e-05,-1.275864943e-04,-7.615465912e-03,-1.897016645e-06,-1.263528600e-04,-7.608291446e-03,7.015602096e-01,-1.264122925e-04,8.331072172e-01,7.015615427e-01,-1.260355330e-04,8.331254753e-01,7.017239300e-01,-1.245706381e-04,8.221723119e-01
+52,2.270000000e+01,DOWN_SETTLE,1791455161366126623,1.873627226e-05,-1.311938183e-04,-7.807442160e-03,1.739858177e-05,-1.301947435e-04,-7.796059336e-03,-8.895997104e-06,-1.289999339e-04,-7.789301198e-03,7.015566078e-01,-1.296428569e-04,8.329334990e-01,7.015552701e-01,-1.286437821e-04,8.329448819e-01,7.017169310e-01,-1.272177120e-04,8.219913022e-01
+53,2.308333333e+01,DOWN_SETTLE,1791455161946909541,1.551772717e-05,-1.379109474e-04,-7.979449175e-03,1.657122787e-05,-1.312758338e-04,-7.965418396e-03,-1.019866326e-05,-1.299828015e-04,-7.959000021e-03,7.015533892e-01,-1.363599861e-04,8.327614920e-01,7.015544427e-01,-1.297248724e-04,8.327755228e-01,7.017156284e-01,-1.282005796e-04,8.218216033e-01
+54,2.351666667e+01,DOWN_SETTLE,1791455162586365777,1.105491259e-05,-1.335051261e-04,-8.148818246e-03,6.899216972e-06,-1.356321135e-04,-8.143578351e-03,-2.063974813e-05,-1.342571998e-04,-8.137516229e-03,7.015489264e-01,-1.319541648e-04,8.325921229e-01,7.015447707e-01,-1.340811521e-04,8.325973628e-01,7.017051873e-01,-1.324749779e-04,8.216430871e-01
+55,2.400000000e+01,DOWN_SETTLE,1791455163301069417,5.245351907e-06,-1.366857725e-04,-8.313844155e-03,8.212630700e-07,-1.373242439e-04,-8.313136236e-03,-2.754341933e-05,-1.360115688e-04,-8.307615637e-03,7.015431168e-01,-1.351348112e-04,8.324270970e-01,7.015386927e-01,-1.357732825e-04,8.324278050e-01,7.016982836e-01,-1.342293469e-04,8.214729877e-01
+56,2.450000000e+01,DOWN_SETTLE,1791455164062145783,-7.042931877e-07,-1.368010967e-04,-8.467154541e-03,-3.878047457e-06,-1.378702909e-04,-8.467542804e-03,-3.300143568e-05,-1.366773206e-04,-8.462476268e-03,7.015371672e-01,-1.352501354e-04,8.322737866e-01,7.015339934e-01,-1.363193296e-04,8.322733984e-01,7.016928256e-01,-1.348950987e-04,8.213181271e-01
+57,2.510000000e+01,DOWN_SETTLE,1791455164961903393,-3.513808854e-06,-1.320277217e-04,-8.607068632e-03,-2.260424267e-06,-1.304965926e-04,-8.602183982e-03,-3.195626865e-05,-1.293521814e-04,-8.597882412e-03,7.015343577e-01,-1.304767604e-04,8.321338726e-01,7.015356111e-01,-1.289456312e-04,8.321387572e-01,7.016938708e-01,-1.275699595e-04,8.211827209e-01
+58,2.575000000e+01,DOWN_SETTLE,1791455165931421938,-1.290346825e-05,-1.325636519e-04,-8.722963144e-03,-1.199309881e-05,-1.332122614e-04,-8.711289084e-03,-4.234750473e-05,-1.319534163e-04,-8.707850320e-03,7.015249680e-01,-1.310126906e-04,8.320179780e-01,7.015258784e-01,-1.316613000e-04,8.320296521e-01,7.016834795e-01,-1.301711944e-04,8.210727530e-01
+59,2.660000000e+01,DOWN_SETTLE,1791455167202060796,-5.444111607e-06,-1.264481422e-04,-8.782365787e-03,-5.632143852e-06,-1.252355288e-04,-8.772803046e-03,-3.607431862e-05,-1.240486966e-04,-8.770917513e-03,7.015324274e-01,-1.248971809e-04,8.319585754e-01,7.015322393e-01,-1.236845675e-04,8.319681381e-01,7.016897527e-01,-1.222664747e-04,8.210096858e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2642de3814eeec27f0bcd9bdb4fc53a3054b6f10
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,1.2366e-03,7.5952e-04,2.4522e+00,-3.6798e-02,3.6862e-02,-1.1213e-05,4.0089e-04,5.8902e-05,-2.6703e-05,-3.8259e-06,2.6740e-05,2.2152e-07,4.0607e-04,2.7013e-05
+1,9.0000e-01,DOWN_FORCE_DETACH,1.9319e-04,2.6018e-02,4.2234e-03,2.4656e+00,-3.7035e-02,3.8622e-02,5.3890e-05,2.5182e-02,3.5228e-03,1.3335e-02,-2.4115e-04,1.7868e-03,6.5325e-05,2.8712e-02,1.8042e-03
+2,1.6000e+00,DOWN_FORCE_DETACH,3.8368e-04,3.4023e-02,6.3612e-03,2.4849e+00,-3.7173e-02,3.9162e-02,8.0914e-05,3.3187e-02,5.6606e-03,3.2655e-02,-3.7839e-04,2.3268e-03,9.2349e-05,4.6902e-02,2.3592e-03
+3,2.2667e+00,DOWN_FORCE_DETACH,5.7882e-04,3.7926e-02,1.4789e-02,2.5155e+00,-3.7735e-02,3.9417e-02,1.0495e-04,3.7091e-02,1.4089e-02,6.3270e-02,-9.4105e-04,2.5821e-03,1.1638e-04,7.4681e-02,2.7507e-03
+4,2.6167e+00,DOWN_FORCE_DETACH,7.6787e-04,2.4865e-02,1.6696e-02,2.5249e+00,-3.7861e-02,3.8537e-02,1.1707e-04,2.4030e-02,1.5995e-02,7.2668e-02,-1.0669e-03,1.7023e-03,1.2850e-04,7.8191e-02,2.0131e-03
+5,3.3000e+00,DOWN_FORCE_DETACH,9.5995e-04,2.7053e-02,2.2591e-02,2.5429e+00,-3.8241e-02,3.8636e-02,1.3226e-04,2.6217e-02,2.1890e-02,9.0622e-02,-1.4472e-03,1.8011e-03,1.4370e-04,9.6845e-02,2.3149e-03
+6,3.9833e+00,DOWN_FORCE_DETACH,1.1549e-03,2.8617e-02,1.5512e-02,2.5480e+00,-3.7759e-02,3.8718e-02,1.2618e-04,2.7782e-02,1.4811e-02,9.5738e-02,-9.6473e-04,1.8830e-03,1.3761e-04,1.0078e-01,2.1202e-03
+7,4.5667e+00,DOWN_FORCE_DETACH,1.3462e-03,3.0512e-02,1.6985e-02,2.5450e+00,-3.7851e-02,3.8843e-02,1.1021e-04,2.9676e-02,1.6284e-02,9.2746e-02,-1.0569e-03,2.0075e-03,1.2165e-04,9.8731e-02,2.2720e-03
+8,5.3000e+00,DOWN_FORCE_DETACH,1.5359e-03,3.3055e-02,1.6958e-02,2.5372e+00,-3.7876e-02,3.9018e-02,8.3495e-05,3.2220e-02,1.6257e-02,8.4944e-02,-1.0814e-03,2.1826e-03,9.4929e-05,9.2293e-02,2.4377e-03
+9,6.0667e+00,DOWN_FORCE_DETACH,1.7309e-03,3.5184e-02,1.6877e-02,2.5299e+00,-3.7919e-02,3.9169e-02,5.4798e-05,3.4349e-02,1.6177e-02,7.7583e-02,-1.1244e-03,2.3337e-03,6.6232e-05,8.6375e-02,2.5913e-03
+10,6.8833e+00,DOWN_FORCE_DETACH,1.9201e-03,3.8375e-02,1.6233e-02,2.5312e+00,-3.7926e-02,3.9394e-02,3.2350e-05,3.7539e-02,1.5532e-02,7.8885e-02,-1.1317e-03,2.5590e-03,4.3785e-05,8.8731e-02,2.7984e-03
+11,7.6333e+00,DOWN_FORCE_DETACH,2.1139e-03,4.2216e-02,1.9253e-02,2.5405e+00,-3.8143e-02,3.9663e-02,2.8252e-05,4.1380e-02,1.8552e-02,8.8221e-02,-1.3484e-03,2.8282e-03,3.9687e-05,9.9194e-02,3.1335e-03
+12,8.2833e+00,DOWN_FORCE_DETACH,2.3052e-03,4.7419e-02,2.1959e-02,2.5559e+00,-3.8312e-02,4.0018e-02,3.9995e-05,4.6584e-02,2.1258e-02,1.0366e-01,-1.5174e-03,3.1832e-03,5.1429e-05,1.1562e-01,3.5267e-03
+13,8.9500e+00,DOWN_FORCE_DETACH,2.4980e-03,5.1525e-02,2.6686e-02,2.5699e+00,-3.8587e-02,4.0297e-02,6.6647e-05,5.0689e-02,2.5986e-02,1.1762e-01,-1.7926e-03,3.4617e-03,7.8081e-05,1.3069e-01,3.8991e-03
+14,9.6000e+00,DOWN_FORCE_DETACH,2.6895e-03,5.3676e-02,3.0960e-02,2.5754e+00,-3.8821e-02,4.0444e-02,1.0273e-04,5.2840e-02,3.0259e-02,1.2316e-01,-2.0269e-03,3.6088e-03,1.1416e-04,1.3739e-01,4.1407e-03
+15,1.0217e+01,DOWN_FORCE_DETACH,2.8773e-03,5.3204e-02,3.1841e-02,2.5783e+00,-3.8862e-02,4.0416e-02,1.3875e-04,5.2369e-02,3.1140e-02,1.2601e-01,-2.0680e-03,3.5812e-03,1.5019e-04,1.3997e-01,4.1382e-03
+16,1.0817e+01,DOWN_FORCE_DETACH,3.0734e-03,5.0072e-02,3.0773e-02,2.5785e+00,-3.8831e-02,4.0211e-02,1.6576e-04,4.9236e-02,3.0072e-02,1.2618e-01,-2.0367e-03,3.3763e-03,1.7720e-04,1.3875e-01,3.9470e-03
+17,1.1383e+01,DOWN_FORCE_DETACH,3.2667e-03,5.0326e-02,3.0104e-02,2.5902e+00,-3.8835e-02,4.0217e-02,1.8149e-04,4.9490e-02,2.9403e-02,1.3792e-01,-2.0405e-03,3.3822e-03,1.9292e-04,1.4945e-01,3.9547e-03
+18,1.1917e+01,DOWN_FORCE_DETACH,3.4566e-03,5.3764e-02,3.4213e-02,2.6086e+00,-3.9128e-02,4.0426e-02,1.9828e-04,5.2928e-02,3.3512e-02,1.5633e-01,-2.3339e-03,3.5913e-03,2.0971e-04,1.6841e-01,4.2882e-03
+19,1.2400e+01,DOWN_FORCE_DETACH,3.6474e-03,5.7958e-02,3.8942e-02,2.6242e+00,-3.9435e-02,4.0686e-02,2.2006e-04,5.7123e-02,3.8242e-02,1.7195e-01,-2.6405e-03,3.8510e-03,2.3150e-04,1.8518e-01,4.6751e-03
+20,1.2900e+01,DOWN_FORCE_DETACH,3.8410e-03,6.1486e-02,4.5719e-02,2.6380e+00,-3.9847e-02,4.0902e-02,2.3848e-04,6.0651e-02,4.5018e-02,1.8576e-01,-3.0529e-03,4.0673e-03,2.4992e-04,2.0053e-01,5.0917e-03
+21,1.3383e+01,DOWN_FORCE_DETACH,4.0303e-03,5.6994e-02,4.7620e-02,2.6445e+00,-3.9931e-02,4.0589e-02,2.3254e-04,5.6158e-02,4.6919e-02,1.9222e-01,-3.1367e-03,3.7533e-03,2.4397e-04,2.0568e-01,4.8975e-03
+22,1.3850e+01,DOWN_FORCE_DETACH,4.2240e-03,5.1141e-02,4.5127e-02,2.6555e+00,-3.9746e-02,4.0171e-02,2.0201e-04,5.0305e-02,4.4427e-02,2.0326e-01,-2.9517e-03,3.3358e-03,2.1345e-04,2.1405e-01,4.4594e-03
+23,1.4283e+01,DOWN_FORCE_DETACH,4.4242e-03,4.7749e-02,4.2609e-02,2.6685e+00,-3.9583e-02,3.9912e-02,1.6426e-04,4.6914e-02,4.1909e-02,2.1623e-01,-2.7889e-03,3.0768e-03,1.7570e-04,2.2519e-01,4.1564e-03
+24,1.4667e+01,DOWN_FORCE_DETACH,4.6052e-03,4.5322e-02,4.4139e-02,2.6844e+00,-3.9665e-02,3.9721e-02,1.3068e-04,4.4486e-02,4.3438e-02,2.3212e-01,-2.8712e-03,2.8857e-03,1.4211e-04,2.4030e-01,4.0732e-03
+25,1.5083e+01,DOWN_FORCE_DETACH,4.8082e-03,4.3580e-02,4.9086e-02,2.6970e+00,-3.9940e-02,3.9576e-02,1.0240e-04,4.2744e-02,4.8386e-02,2.4470e-01,-3.1459e-03,2.7406e-03,1.1383e-04,2.5307e-01,4.1738e-03
+26,1.5400e+01,DOWN_FORCE_DETACH,4.9905e-03,4.3422e-02,5.0598e-02,2.7080e+00,-4.0023e-02,3.9549e-02,9.1029e-05,4.2586e-02,4.9898e-02,2.5572e-01,-3.2287e-03,2.7136e-03,1.0246e-04,2.6400e-01,4.2189e-03
+27,1.5767e+01,DOWN_FORCE_DETACH,5.1837e-03,4.3256e-02,4.7928e-02,2.7129e+00,-3.9868e-02,3.9534e-02,8.7848e-05,4.2420e-02,4.7227e-02,2.6060e-01,-3.0736e-03,2.6985e-03,9.9283e-05,2.6822e-01,4.0914e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..0a46e5443e62823cc6097e88f6fcc1d33ca96ead
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:cef9996f609b4cab1c7c59fa0ac1d1beceec1e58d00b422f7f078ac6dc4b3a2e
+size 3266560
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9dac0ebb6b03231af34fc41095e5e41468058daa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9adbde58aa9e4b63586cd7320ed7fc9acca1b078
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e919036d6d7130995ba921319653d893e0385693
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76dd4d4685ba8322876af5684e2eebc89895b4b1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+12,1.083333333e+00,UP_FORCE_RAMP,1791455116520969758,-2.751572397e-06,-9.719516069e-07,2.421480652e-05,-2.141566820e-06,1.800070562e-06,2.002927685e-05,-1.543789041e-06,1.888619654e-06,1.975509043e-05,7.015351199e-01,5.790097142e-07,8.407651560e-01,7.015357299e-01,3.351031883e-06,8.407609705e-01,7.017242832e-01,3.670841548e-06,8.298003585e-01
+13,1.150000000e+00,UP_FORCE_RAMP,1791455116621183142,-5.068830433e-06,1.689747842e-06,2.546017480e-05,-2.141566820e-06,1.800070562e-06,2.002927685e-05,-1.523751767e-06,1.893083221e-06,1.977191016e-05,7.015328027e-01,3.240709163e-06,8.407664014e-01,7.015357299e-01,3.351031883e-06,8.407609705e-01,7.017243033e-01,3.675305114e-06,8.298003753e-01
+14,1.216666667e+00,UP_FORCE_RAMP,1791455116721195417,-3.770345657e-06,4.158322176e-06,3.278876591e-05,-2.141566820e-06,1.800070562e-06,2.002927685e-05,-1.504432048e-06,1.897115329e-06,1.978574207e-05,7.015341011e-01,5.709283497e-06,8.407737300e-01,7.015357299e-01,3.351031883e-06,8.407609705e-01,7.017243226e-01,3.679337222e-06,8.298003891e-01
+15,1.333333333e+00,UP_FORCE_RAMP,1791455116890902545,-4.193746824e-06,3.017350483e-06,4.322850339e-05,-4.051090267e-06,3.755049120e-06,3.993923556e-05,-3.408054302e-06,3.845694857e-06,3.943790666e-05,7.015336777e-01,4.568311804e-06,8.407841697e-01,7.015338204e-01,5.306010441e-06,8.407808804e-01,7.017224190e-01,5.627916750e-06,8.298200413e-01
+16,1.416666667e+00,UP_FORCE_RAMP,1791455117021912554,-3.028358337e-06,6.054074499e-08,5.169349140e-05,-4.051090267e-06,3.755049120e-06,3.993923556e-05,-3.389391216e-06,3.851082398e-06,3.947680396e-05,7.015348431e-01,1.611502066e-06,8.407926347e-01,7.015338204e-01,5.306010441e-06,8.407808804e-01,7.017224376e-01,5.633304291e-06,8.298200802e-01
+17,1.483333333e+00,UP_FORCE_RAMP,1791455117121231259,-2.888182054e-06,2.925207734e-06,5.831542940e-05,-4.051090267e-06,3.755049120e-06,3.993923556e-05,-3.374611438e-06,3.854553195e-06,3.950120822e-05,7.015349833e-01,4.476169055e-06,8.407992566e-01,7.015338204e-01,5.306010441e-06,8.407808804e-01,7.017224524e-01,5.636775089e-06,8.298201046e-01
+18,1.583333333e+00,UP_FORCE_RAMP,1791455117261828846,-3.745883646e-06,2.308471130e-06,6.468074447e-05,-2.773548396e-06,4.407991242e-06,6.064190106e-05,-1.910531564e-06,4.495205534e-06,5.992223447e-05,7.015341256e-01,3.859432451e-06,8.408056219e-01,7.015350979e-01,5.958952563e-06,8.408015831e-01,7.017239165e-01,6.277427427e-06,8.298405256e-01
+19,1.700000000e+00,UP_FORCE_RAMP,1791455117442054754,-3.341177386e-06,2.704150806e-06,7.654296786e-05,-2.773548396e-06,4.407991242e-06,6.064190106e-05,-1.885310907e-06,4.501138316e-06,5.998536465e-05,7.015345303e-01,4.255112127e-06,8.408174842e-01,7.015350979e-01,5.958952563e-06,8.408015831e-01,7.017239417e-01,6.283360209e-06,8.298405887e-01
+20,1.783333333e+00,UP_FORCE_RAMP,1791455117561533661,-1.936085502e-06,9.835523191e-07,8.314609949e-05,-9.450125337e-07,5.179701935e-06,8.277636316e-05,5.213239040e-08,5.259669057e-06,8.187755657e-05,7.015359354e-01,2.534513640e-06,8.408240873e-01,7.015369265e-01,6.730663256e-06,8.408237176e-01,7.017258792e-01,7.041890950e-06,8.298624809e-01
+21,1.866666667e+00,UP_FORCE_RAMP,1791455117691301279,-2.577884743e-06,3.563605109e-06,9.055426187e-05,-9.450125337e-07,5.179701935e-06,8.277636316e-05,7.018444981e-08,5.264213775e-06,8.193890576e-05,7.015352936e-01,5.114566430e-06,8.408314954e-01,7.015369265e-01,6.730663256e-06,8.408237176e-01,7.017258972e-01,7.046435668e-06,8.298625423e-01
+22,1.933333333e+00,UP_FORCE_RAMP,1791455117791522056,2.722583916e-07,6.731289962e-06,1.042042076e-04,4.088985781e-07,6.554036345e-06,1.037167399e-04,1.499098985e-06,6.634374074e-06,1.026644388e-04,7.015381437e-01,8.282251283e-06,8.408451454e-01,7.015382804e-01,8.104997666e-06,8.408446579e-01,7.017273261e-01,8.416595967e-06,8.298832678e-01
+23,2.000000000e+00,UP_FORCE_RAMP,1791455117891776397,9.986547970e-07,7.033915101e-06,1.114245902e-04,4.088985781e-07,6.554036345e-06,1.037167399e-04,1.513606203e-06,6.639274858e-06,1.027379905e-04,7.015388701e-01,8.584876422e-06,8.408523658e-01,7.015382804e-01,8.104997666e-06,8.408446579e-01,7.017273406e-01,8.421496751e-06,8.298833414e-01
+24,2.083333333e+00,UP_FORCE_RAMP,1791455118021075461,1.687420146e-06,1.017732621e-05,1.213167600e-04,4.088985781e-07,6.554036345e-06,1.037167399e-04,1.529757696e-06,6.643461421e-06,1.028049295e-04,7.015395589e-01,1.172828753e-05,8.408622579e-01,7.015382804e-01,8.104997666e-06,8.408446579e-01,7.017273568e-01,8.425683315e-06,8.298834083e-01
+25,2.150000000e+00,UP_FORCE_RAMP,1791455118121086783,-5.159354910e-07,8.755891562e-06,1.262844186e-04,2.847766620e-06,8.734476360e-06,1.284185738e-04,4.095073364e-06,8.787034595e-06,1.272292392e-04,7.015373555e-01,1.030685288e-05,8.408672256e-01,7.015407192e-01,1.028543768e-05,8.408693598e-01,7.017299221e-01,1.056925649e-05,8.299078326e-01
+26,2.250000000e+00,UP_FORCE_RAMP,1791455118261811358,3.492303198e-07,6.776811676e-06,1.351270488e-04,2.847766620e-06,8.734476360e-06,1.284185738e-04,4.116435560e-06,8.793446605e-06,1.273333932e-04,7.015382207e-01,8.327772997e-06,8.408760682e-01,7.015407192e-01,1.028543768e-05,8.408693598e-01,7.017299435e-01,1.057566850e-05,8.299079368e-01
+27,2.333333333e+00,UP_FORCE_RAMP,1791455118391109855,-1.914530149e-07,1.229659836e-05,1.410812829e-04,2.847766620e-06,8.734476360e-06,1.284185738e-04,4.131516117e-06,8.797412056e-06,1.274073725e-04,7.015376800e-01,1.384755969e-05,8.408820225e-01,7.015407192e-01,1.028543768e-05,8.408693598e-01,7.017299586e-01,1.057963395e-05,8.299080107e-01
+28,2.366666667e+00,UP_FORCE_RAMP,1791455118442787676,4.343994508e-06,1.153413786e-05,1.503446154e-04,4.402897344e-06,1.137931097e-05,1.500766696e-04,5.806540369e-06,1.142297949e-05,1.487659423e-04,7.015422155e-01,1.308509918e-05,8.408912858e-01,7.015422744e-01,1.293027229e-05,8.408910179e-01,7.017316336e-01,1.320520139e-05,8.299293693e-01
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+47,3.816666667e+00,UP_FORCE_RAMP,1791455120663117419,-4.547602980e-05,-3.790798329e-06,1.979133053e-04,-4.539262026e-05,-3.848885252e-06,1.974909541e-04,-4.472803090e-05,-3.664788914e-06,1.966000603e-04,7.014923955e-01,-2.239837008e-06,8.409388545e-01,7.014924789e-01,-2.297923931e-06,8.409384321e-01,7.016810990e-01,-1.882567021e-06,8.299772034e-01
+48,3.900000000e+00,UP_FORCE_RAMP,1791455120793046454,-4.592376053e-05,-3.435408882e-06,2.037562543e-04,-4.539262026e-05,-3.848885252e-06,1.974909541e-04,-4.475413141e-05,-3.661916319e-06,1.966725069e-04,7.014919477e-01,-1.884447561e-06,8.409446974e-01,7.014924789e-01,-2.297923931e-06,8.409384321e-01,7.016810729e-01,-1.879694425e-06,8.299772759e-01
+49,4.033333333e+00,UP_FORCE_RAMP,1791455120991991635,-4.725507884e-05,-3.343093298e-06,2.101220775e-04,-4.539262026e-05,-3.848885252e-06,1.974909541e-04,-4.479069014e-05,-3.664361007e-06,1.967542351e-04,7.014906164e-01,-1.792131977e-06,8.409510633e-01,7.014924789e-01,-2.297923931e-06,8.409384321e-01,7.016810363e-01,-1.882139113e-06,8.299773576e-01
+50,4.083333333e+00,UP_FORCE_RAMP,1791455121063569977,-4.669838369e-05,-7.755280435e-06,2.118651656e-04,-4.539262026e-05,-3.848885252e-06,1.974909541e-04,-4.480375578e-05,-3.665452555e-06,1.967821468e-04,7.014911731e-01,-6.204319114e-06,8.409528064e-01,7.014924789e-01,-2.297923931e-06,8.409384321e-01,7.016810233e-01,-1.883230662e-06,8.299773855e-01
+51,4.200000000e+00,UP_FORCE_RAMP,1791455121241060739,-4.521329942e-05,-4.139321670e-06,2.192325843e-04,-4.583289090e-05,-4.806365535e-07,2.174086940e-04,-4.526031657e-05,-2.856564288e-07,2.164492564e-04,7.014926582e-01,-2.588360349e-06,8.409601738e-01,7.014920386e-01,1.070324768e-06,8.409583499e-01,7.016805667e-01,1.496565464e-06,8.299970526e-01
+52,4.300000000e+00,UP_FORCE_HOLD,1791455121391354490,-4.784028696e-05,-2.880414685e-06,2.213669451e-04,-4.583289090e-05,-4.806365535e-07,2.174086940e-04,-4.528404729e-05,-2.859469139e-07,2.165240854e-04,7.014900312e-01,-1.329453364e-06,8.409623081e-01,7.014920386e-01,1.070324768e-06,8.409583499e-01,7.016805430e-01,1.496274979e-06,8.299971274e-01
+53,4.366666667e+00,UP_FORCE_HOLD,1791455121491614483,-4.500712618e-05,-2.315369871e-06,2.269424291e-04,-4.583289090e-05,-4.806365535e-07,2.174086940e-04,-4.529942986e-05,-2.871462827e-07,2.165664272e-04,7.014928644e-01,-7.644085495e-07,8.409678836e-01,7.014920386e-01,1.070324768e-06,8.409583499e-01,7.016805276e-01,1.495075611e-06,8.299971698e-01
+54,4.450000000e+00,UP_FORCE_HOLD,1791455121622161018,-4.579995220e-05,-1.962188398e-06,2.286284337e-04,-4.583289090e-05,-4.806365535e-07,2.174086940e-04,-4.531809220e-05,-2.887677009e-07,2.166155790e-04,7.014920715e-01,-4.112270771e-07,8.409695696e-01,7.014920386e-01,1.070324768e-06,8.409583499e-01,7.016805089e-01,1.493454192e-06,8.299972189e-01
+55,4.550000000e+00,UP_FORCE_HOLD,1791455121760625746,-4.421664054e-05,1.601066220e-06,2.355317770e-04,-4.263769036e-05,-1.284753876e-06,2.382984387e-04,-4.196960450e-05,-1.114981653e-06,2.373150767e-04,7.014936548e-01,3.152027542e-06,8.409764730e-01,7.014952338e-01,2.662074453e-07,8.409792396e-01,7.016838574e-01,6.672402405e-07,8.300179184e-01
+56,4.683333333e+00,UP_FORCE_HOLD,1791455121960708178,-4.505045912e-05,-5.520607557e-06,2.395763891e-04,-4.263769036e-05,-1.284753876e-06,2.382984387e-04,-4.198942716e-05,-1.117250351e-06,2.374164911e-04,7.014928210e-01,-3.969646236e-06,8.409805176e-01,7.014952338e-01,2.662074453e-07,8.409792396e-01,7.016838376e-01,6.649715422e-07,8.300180199e-01
+57,4.766666667e+00,UP_FORCE_HOLD,1791455122090374881,-4.329491216e-05,7.305932997e-07,2.445392079e-04,-4.263769036e-05,-1.284753876e-06,2.382984387e-04,-4.200282985e-05,-1.118757142e-06,2.374697073e-04,7.014945766e-01,2.281554621e-06,8.409854804e-01,7.014952338e-01,2.662074453e-07,8.409792396e-01,7.016838242e-01,6.634647514e-07,8.300180731e-01
+58,4.866666667e+00,UP_FORCE_HOLD,1791455122240866425,-4.554159920e-05,-3.252448230e-06,2.444437658e-04,-4.263769036e-05,-1.284753876e-06,2.382984387e-04,-4.201862687e-05,-1.120494068e-06,2.375282066e-04,7.014923299e-01,-1.701486909e-06,8.409853850e-01,7.014952338e-01,2.662074453e-07,8.409792396e-01,7.016838084e-01,6.617278253e-07,8.300181316e-01
+59,4.916666667e+00,UP_SETTLE,1791455122321052730,-4.232693460e-05,-3.979125193e-06,2.496487316e-04,-4.263769036e-05,-1.284753876e-06,2.382984387e-04,-4.202630184e-05,-1.121360015e-06,2.375555018e-04,7.014955445e-01,-2.428163872e-06,8.409905899e-01,7.014952338e-01,2.662074453e-07,8.409792396e-01,7.016838007e-01,6.608618780e-07,8.300181589e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cca4b973ea661f9064da1513d0bdfb966dce12e1
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/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+00,1.2366e-03,7.5952e-04,2.4522e+00,-3.6798e-02,3.6862e-02,-1.1213e-05,4.0089e-04,5.8902e-05,-2.6703e-05,-3.8259e-06,2.6740e-05,2.2152e-07,4.0607e-04,2.7013e-05
+1,1.1667e-01,UP_FORCE_RAMP,2.4467e-05,4.0496e-03,1.1268e-03,2.4521e+00,-3.6822e-02,3.7050e-02,-9.3452e-06,3.2138e-03,4.2621e-04,-1.4114e-04,-2.7858e-05,2.1501e-04,2.0894e-06,3.2451e-03,2.1682e-04
+2,2.1667e-01,UP_FORCE_RAMP,4.0972e-05,6.4501e-03,1.3982e-03,2.4521e+00,-3.6840e-02,3.7212e-02,-7.3124e-06,5.6143e-03,6.9762e-04,-1.6260e-04,-4.5840e-05,3.7671e-04,4.1223e-06,5.6598e-03,3.7951e-04
+3,2.6667e-01,UP_FORCE_RAMP,6.0915e-05,7.6320e-03,1.5239e-03,2.4521e+00,-3.6849e-02,3.7292e-02,-6.1579e-06,6.7963e-03,8.2326e-04,-1.5497e-04,-5.4237e-05,4.5668e-04,5.2767e-06,6.8477e-03,4.5992e-04
+4,3.3333e-01,UP_FORCE_RAMP,8.1010e-05,9.1820e-03,1.6838e-03,2.4521e+00,-3.6859e-02,3.7397e-02,-4.4828e-06,8.3462e-03,9.8318e-04,-1.3041e-04,-6.4958e-05,5.6194e-04,6.9518e-06,8.4050e-03,5.6573e-04
+5,4.3333e-01,UP_FORCE_RAMP,1.0640e-04,1.1443e-02,1.9092e-03,2.4522e+00,-3.6874e-02,3.7551e-02,-1.6982e-06,1.0607e-02,1.2086e-03,-6.8665e-05,-8.0168e-05,7.1629e-04,9.7364e-06,1.0676e-02,7.2083e-04
+6,5.0000e-01,UP_FORCE_RAMP,1.2386e-04,1.2901e-02,2.0545e-03,2.4523e+00,-3.6884e-02,3.7652e-02,3.2588e-07,1.2065e-02,1.3539e-03,-2.0027e-05,-9.0022e-05,8.1634e-04,1.1760e-05,1.2141e-02,8.2137e-04
+7,6.0000e-01,UP_FORCE_RAMP,1.4515e-04,2.1441e-02,2.8653e-03,2.4526e+00,-3.6947e-02,3.8326e-02,4.3173e-05,2.0605e-02,2.1647e-03,3.7050e-04,-1.5317e-04,1.4911e-03,5.4608e-05,2.0722e-02,1.4999e-03
+8,7.0000e-01,UP_FORCE_RAMP,1.6523e-04,2.2215e-02,2.9566e-03,2.4526e+00,-3.6953e-02,3.8377e-02,4.4477e-05,2.1379e-02,2.2560e-03,3.5191e-04,-1.5895e-04,1.5420e-03,5.5912e-05,2.1501e-02,1.5512e-03
+9,8.0000e-01,UP_FORCE_RAMP,1.8725e-04,2.3237e-02,3.0751e-03,2.4526e+00,-3.6961e-02,3.8444e-02,4.6115e-05,2.2402e-02,2.3745e-03,3.6192e-04,-1.6651e-04,1.6090e-03,5.7550e-05,2.2530e-02,1.6186e-03
+10,8.8333e-01,UP_FORCE_RAMP,2.0579e-04,2.4202e-02,3.1840e-03,2.4527e+00,-3.6968e-02,3.8508e-02,4.7713e-05,2.3366e-02,2.4834e-03,3.8242e-04,-1.7349e-04,1.6725e-03,5.9148e-05,2.3501e-02,1.6825e-03
+11,9.6667e-01,UP_FORCE_RAMP,2.2657e-04,2.5219e-02,3.2998e-03,2.4527e+00,-3.6975e-02,3.8575e-02,4.9510e-05,2.4384e-02,2.5992e-03,4.1008e-04,-1.8095e-04,1.7399e-03,6.0945e-05,2.4525e-02,1.7504e-03
+12,1.0833e+00,UP_FORCE_RAMP,2.4867e-04,3.0909e-02,2.6353e-03,2.4411e+00,-3.6932e-02,3.8987e-02,8.9542e-05,3.0073e-02,1.9346e-03,-1.1201e-02,-1.3806e-04,2.1520e-03,1.0098e-04,3.2150e-02,2.1588e-03
+13,1.1500e+00,UP_FORCE_RAMP,2.6694e-04,3.1073e-02,2.7629e-03,2.4413e+00,-3.6940e-02,3.8999e-02,9.0012e-05,3.0237e-02,2.0622e-03,-1.0926e-02,-1.4615e-04,2.1634e-03,1.0145e-04,3.2217e-02,2.1707e-03
+14,1.2167e+00,UP_FORCE_RAMP,2.8795e-04,3.1402e-02,2.8430e-03,2.4416e+00,-3.6945e-02,3.9021e-02,9.0503e-05,3.0566e-02,2.1424e-03,-1.0640e-02,-1.5105e-04,2.1860e-03,1.0194e-04,3.2436e-02,2.1935e-03
+15,1.3333e+00,UP_FORCE_RAMP,3.0956e-04,3.2382e-02,2.8152e-03,2.4416e+00,-3.6942e-02,3.9088e-02,9.1764e-05,3.1547e-02,2.1146e-03,-1.0715e-02,-1.4811e-04,2.2526e-03,1.0320e-04,3.3384e-02,2.2598e-03
+16,1.4167e+00,UP_FORCE_RAMP,3.3095e-04,3.5059e-02,2.0435e-03,2.4316e+00,-3.6890e-02,3.9273e-02,9.6277e-05,3.4223e-02,1.3428e-03,-2.0682e-02,-9.5867e-05,2.4379e-03,1.0771e-04,4.0010e-02,2.4422e-03
+17,1.4833e+00,UP_FORCE_RAMP,3.4970e-04,3.5328e-02,2.1615e-03,2.4325e+00,-3.6897e-02,3.9294e-02,9.7436e-05,3.4492e-02,1.4609e-03,-1.9815e-02,-1.0289e-04,2.4587e-03,1.0887e-04,3.9805e-02,2.4633e-03
+18,1.5833e+00,UP_FORCE_RAMP,3.7199e-04,3.5544e-02,1.8647e-03,2.4221e+00,-3.6875e-02,3.9322e-02,1.0356e-04,3.4709e-02,1.1641e-03,-3.0137e-02,-8.1062e-05,2.4872e-03,1.1499e-04,4.5981e-02,2.4911e-03
+19,1.7000e+00,UP_FORCE_RAMP,3.9285e-04,3.6299e-02,1.9953e-03,2.4240e+00,-3.6883e-02,3.9376e-02,1.0573e-04,3.5463e-02,1.2947e-03,-2.8246e-02,-8.9012e-05,2.5408e-03,1.1717e-04,4.5356e-02,2.5450e-03
+20,1.7833e+00,UP_FORCE_RAMP,4.1180e-04,3.6652e-02,1.9409e-03,2.4236e+00,-3.6879e-02,3.9401e-02,1.0755e-04,3.5816e-02,1.2403e-03,-2.8622e-02,-8.4825e-05,2.5662e-03,1.1898e-04,4.5864e-02,2.5704e-03
+21,1.8667e+00,UP_FORCE_RAMP,4.3317e-04,3.6850e-02,1.8696e-03,2.4213e+00,-3.6874e-02,3.9418e-02,1.0942e-04,3.6014e-02,1.1690e-03,-3.1010e-02,-7.9997e-05,2.5827e-03,1.2085e-04,4.7540e-02,2.5867e-03
+22,1.9333e+00,UP_FORCE_RAMP,4.5417e-04,3.7195e-02,1.8656e-03,2.4207e+00,-3.6874e-02,3.9443e-02,1.1092e-04,3.6359e-02,1.1649e-03,-3.1540e-02,-7.9565e-05,2.6077e-03,1.2236e-04,4.8147e-02,2.6118e-03
+23,2.0000e+00,UP_FORCE_RAMP,4.7623e-04,3.7239e-02,1.5518e-03,2.4172e+00,-3.6853e-02,3.9449e-02,1.1260e-04,3.6403e-02,8.5121e-04,-3.5031e-02,-5.8547e-05,2.6134e-03,1.2404e-04,5.0528e-02,2.6170e-03
+24,2.0833e+00,UP_FORCE_RAMP,4.9497e-04,3.7575e-02,1.4187e-03,2.4153e+00,-3.6844e-02,3.9474e-02,1.1458e-04,3.6739e-02,7.1805e-04,-3.7019e-02,-4.9721e-05,2.6390e-03,1.2602e-04,5.2160e-02,2.6425e-03
+25,2.1500e+00,UP_FORCE_RAMP,5.1519e-04,3.7809e-02,1.1761e-03,2.4140e+00,-3.6827e-02,3.9492e-02,1.1619e-04,3.6973e-02,4.7553e-04,-3.8232e-02,-3.3196e-05,2.6566e-03,1.2763e-04,5.3187e-02,2.6599e-03
+26,2.2500e+00,UP_FORCE_RAMP,5.3760e-04,3.7706e-02,7.6236e-04,2.4101e+00,-3.6800e-02,3.9489e-02,1.1811e-04,3.6870e-02,6.1738e-05,-4.2215e-02,-6.1020e-06,2.6537e-03,1.2955e-04,5.6049e-02,2.6568e-03
+27,2.3333e+00,UP_FORCE_RAMP,5.6136e-04,3.7964e-02,6.2227e-04,2.4092e+00,-3.6791e-02,3.9508e-02,1.1948e-04,3.7129e-02,-7.8345e-05,-4.3031e-02,3.0771e-06,2.6732e-03,1.3091e-04,5.6835e-02,2.6764e-03
+28,2.3667e+00,UP_FORCE_RAMP,5.7759e-04,3.8102e-02,5.8401e-04,2.4092e+00,-3.6789e-02,3.9518e-02,1.2002e-04,3.7266e-02,-1.1661e-04,-4.3034e-02,5.5805e-06,2.6832e-03,1.3145e-04,5.6927e-02,2.6864e-03
+29,2.4500e+00,UP_FORCE_RAMP,5.9975e-04,3.8112e-02,-8.5129e-05,2.4061e+00,-3.6744e-02,3.9522e-02,1.2164e-04,3.7277e-02,-7.8575e-04,-4.6149e-02,5.0064e-05,2.6867e-03,1.3308e-04,5.9329e-02,2.6904e-03
+30,2.5000e+00,UP_FORCE_RAMP,6.1648e-04,3.8242e-02,-2.5489e-04,2.4054e+00,-3.6733e-02,3.9532e-02,1.2241e-04,3.7407e-02,-9.5551e-04,-4.6886e-02,6.1125e-05,2.6968e-03,1.3385e-04,5.9987e-02,2.7009e-03
+31,2.5333e+00,UP_FORCE_RAMP,6.4146e-04,3.8673e-02,1.5981e-03,2.4047e+00,-3.6860e-02,3.9563e-02,1.2351e-04,3.7837e-02,8.9745e-04,-4.7529e-02,-6.6135e-05,2.7277e-03,1.3495e-04,6.0757e-02,2.7318e-03
+32,2.6000e+00,UP_FORCE_RAMP,6.6068e-04,3.9744e-02,4.2621e-03,2.4037e+00,-3.7036e-02,3.9636e-02,1.2512e-04,3.8908e-02,3.5615e-03,-4.8521e-02,-2.4189e-04,2.8013e-03,1.3656e-04,6.2296e-02,2.8150e-03
+33,2.6833e+00,UP_FORCE_RAMP,6.8175e-04,4.0665e-02,6.3201e-03,2.4037e+00,-3.7172e-02,3.9700e-02,1.2703e-04,3.9829e-02,5.6195e-03,-4.8578e-02,-3.7769e-04,2.8644e-03,1.3846e-04,6.3070e-02,2.8925e-03
+34,2.7833e+00,UP_FORCE_RAMP,7.0264e-04,4.1501e-02,7.8979e-03,2.4048e+00,-3.7279e-02,3.9758e-02,1.2919e-04,4.0665e-02,7.1973e-03,-4.7481e-02,-4.8449e-04,2.9225e-03,1.4063e-04,6.2927e-02,2.9657e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..06759eb2d71a4613747a0146f488d7a0364fc5a3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2979840
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5548464d90b4d4295e95d3fd6096b48cfdcb16ee
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8827b6158369dfc821ffeb753f250d19a02c00d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/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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+37826,1791455193671306301,10172060000000,1791455193667337284,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760577302026279,-0.004759999303492342,0.0903619076647226,0.9999999917804151,7.121765720158385e-05,-5.2519875083250135e-05,-7.193214422050222e-06,0.6761,-0.0048,0.09036859940399303,1.0,0.0,0.0,0.0,-0.020149464466068592,-0.08819975505445482,0.5617591781785285,-0.007324797964677993,0.0024410586844846403,-8.872408513423222e-07,0.013579600428344808,-0.17761186945395674,0.4404632264145669,-0.010280819379151273,-0.0005013270095041424,-0.0015024835245866217,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4477693717229846,-0.11903937332410901,0.5072837700441968,-0.00935305123842817,-0.16707778626880618,-0.1387752104584728,0.721557885649919,0.5617591781785285,0.21427411560572218,0.21427411560572218,0.4120200000000251,0,0,-6.209729477432558e-05,-9.942454778777971e-05
+37970,1791455194871294998,10173260000000,1791455194863336663,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760616144510918,-0.004769294583258113,0.09028659463263945,0.9999999910630629,8.143701341762252e-05,-4.8680352984165966e-05,1.7747521840139895e-05,0.6761,-0.0048,0.090281755325994,1.0,0.0,0.0,0.0,-0.027825904325760122,-0.10250866124882685,0.6081034598785474,-0.007860323511952746,0.0022562313984984136,-4.890080107247067e-05,0.005903160568653279,-0.19192077564832877,0.48680750811458584,-0.010816344926426026,-0.0006861542954903692,-0.00155049708480775,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5568893870151488,-0.05947499612898222,0.2734984405384286,0.027963851637974033,-0.003428154934386063,-0.11169123818510096,0.721557885649919,0.6081034598785474,0.4480594451114904,0.4480594451114904,0.4840200000000305,0,0,-7.228266129114124e-05,9.999999025923074e-05
+38105,1791455195996294473,10174385000000,1791455195995336827,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760576833417712,-0.004777029345115912,0.09020635934173149,0.9999999892667547,9.190928222342252e-05,-5.5137389246958956e-05,3.7708179919900056e-05,0.6761,-0.0048,0.09020470282529248,1.0,0.0,0.0,0.0,-0.02921022060684003,-0.10240413157195902,0.635851326490071,-0.008376543227465708,0.0030579097241622043,-6.762405138321177e-05,0.004518844287573371,-0.19181624597146094,0.5145553747261095,-0.011332564641938988,0.00011552403017342164,-0.0015692203351184912,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5164132098313481,-0.14794046116775258,0.2939359763149026,0.1412340700611587,-0.04686519907151175,-0.1826438854611002,0.721557885649919,0.635851326490071,0.42762190933501637,0.42762190933501637,0.5515199999999879,0,0,-6.46438294935311e-05,-8.874825460492559e-05
+38262,1791455197304357225,10175693000000,1791455197303336931,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760568781541841,-0.004777300557093625,0.09012307799677052,0.999999989230844,8.790807183222696e-05,-5.688249703370783e-05,4.491913729920769e-05,0.6761,-0.0048,0.09011963540277537,1.0,0.0,0.0,0.0,-0.03818990730697516,-0.10225749278521867,0.6379489789504855,-0.008376749049391063,0.0030577085158175893,-7.040615689659431e-05,-0.004460842412561764,-0.1916696071847206,0.516653027186524,-0.011332770463864343,0.00011532282182880644,-0.0015720024406318737,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5548622103554247,-0.18013134601783057,0.17364070233746473,0.1817222353115902,0.03267189649071102,-0.2120968876979104,0.721557885649919,0.6379489789504855,0.5479171833124542,0.5479171833124542,0.6299999999999212,0,0,-6.951735207341857e-05,9.965713951143868e-05
+38418,1791455198604367194,10176993000000,1791455198603336320,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760588174935475,-0.004782930067182639,0.09002932012083387,0.9999999904510302,7.269515870425261e-05,-5.3963987395658425e-05,4.8415967646604686e-05,0.6761,-0.0048,0.09002049356857485,1.0,0.0,0.0,0.0,-0.029759130021539255,-0.10791671055160451,0.6579745587805773,-0.0083815492830693,0.0030536901578954554,-8.558973106352423e-05,0.003969934872874147,-0.19732882495110643,0.5366786070166157,-0.01133757069754258,0.00011130446390667283,-0.0015871860147988037,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6062350858021563,-0.15856270816627444,0.08638572246532963,0.17927575585504893,0.09719131771612098,-0.19408204294639747,0.721557885649919,0.6579745587805773,0.6351721631845894,0.6351721631845894,0.7079999999998549,0,0,-8.561270355558902e-05,9.909435358246838e-05
+38548,1791455199688368534,10178077000000,1791455199687336418,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760572280849902,-0.004787730870773527,0.08993024287065592,0.9999999909730221,5.8725763617566096e-05,-5.844334682756947e-05,5.130770288321025e-05,0.6761,-0.0048,0.08991827763119885,1.0,0.0,0.0,0.0,-0.031225697461492972,-0.11159191232809743,0.6580020715556029,-0.008382078930592021,0.0030539988042803156,-8.57726419192567e-05,0.002503367432920428,-0.20100402672759934,0.5367061197916413,-0.011338100345065301,0.00011161311029153294,-0.0015873689256545361,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6325511035436191,-0.18691873742563994,0.1340146673980316,0.19317446767890503,0.06534718807090309,-0.21967260726981602,0.721557885649919,0.6580020715556029,0.5875432182518874,0.5875432182518874,0.7730399999997996,0,0,-0.00010512603091701876,-6.234381951240948e-05
+38680,1791455200788408848,10179177000000,1791455200783337450,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760608290574307,-0.004788080638371275,0.08981295100593155,0.9999999919081739,4.376311910932588e-05,-5.179953553414685e-05,5.502830323017793e-05,0.6761,-0.0048,0.08979512385883201,1.0,0.0,0.0,0.0,-0.03260791958860426,-0.11085928602863365,0.678066662381679,-0.00838573030345063,0.003049665943812241,-0.0001021500231678902,0.0011211453058091393,-0.20027140042813557,0.5567707106177174,-0.01134175171792391,0.0001072802498234584,-0.0016037463069031696,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5981659392055583,-0.14142027793136908,0.18080907916628663,0.18654740486628446,0.021630138640748097,-0.1860000701902555,0.721557885649919,0.678066662381679,0.5407488064836323,0.5407488064836323,0.8390399999997434,0,0,-0.00011672835445039465,-9.999999025923074e-05
+38798,1791455201771301857,10180160000000,1791455201763336790,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760585634656521,-0.004791825810550383,0.089694918078173,0.9999999923893882,2.7409539236750942e-05,-5.604868190625271e-05,5.2643617222143964e-05,0.6761,-0.0048,0.08967482330442587,1.0,0.0,0.0,0.0,-0.04592799599838806,-0.1103195416805263,0.6850482886011932,-0.008414827845416703,0.004061210105240073,-9.616046602943192e-05,-0.012198931103974658,-0.1997316560800282,0.5637523368372316,-0.011370849259889983,0.0011188244112512904,-0.0015977567497647113,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6206238356195063,-0.25536259071521267,0.13095829896480532,0.22986334442482953,0.05063153039035669,-0.2610746669417122,0.721557885649919,0.6850482886011932,0.5905995866851137,0.5905995866851137,0.8980199999996933,0,0,-0.00012840576221337242,-9.977848688803021e-05
+38910,1791455202704388643,10181093000000,1791455202703337250,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760646678897001,-0.004794722117108993,0.08957845162977299,0.9999999825041995,0.00014578079144676203,-4.916162088592593e-05,5.258859972652705e-05,0.6761,-0.0048,0.08954786167920954,1.0,0.0,0.0,0.0,-0.04837078624306721,-0.0973030601286172,0.6984363904056728,-0.007395604882297369,0.004039132865043067,-9.328518712912624e-05,-0.01464172134865381,-0.18671517452811912,0.5771404386417113,-0.010351626296770649,0.001096747171054284,-0.0015948814708644057,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6837815543230845,-0.11189396839711654,0.07659858852180289,0.18464139878871544,0.0982591880891719,-0.18493447030525867,0.721557885649919,0.6984363904056728,0.6449592971281161,0.6449592971281161,0.9539999999996457,0,0,-0.00014594440436307832,-9.999999025923074e-05
+39025,1791455203663298893,10182052000000,1791455203659336788,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760672549061562,-0.00479509257069422,0.08943714805393606,0.9999999869418524,0.000111817096191139,-4.807955620202662e-05,5.2387523295040145e-05,0.6761,-0.0048,0.0894025408899237,1.0,0.0,0.0,0.0,-0.05166577966713371,-0.10976545157652565,0.7076905909610385,-0.008417797770170562,0.004056837146202509,-0.00010948012300816541,-0.01793671477272031,-0.19917756597602757,0.5863946391970769,-0.011373819184643842,0.0011144514522137263,-0.0016110764067434448,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7203418747139056,-0.29163280210540427,-0.05019531570107327,0.2662204717271529,0.17660320388526163,-0.2685088257932541,0.721557885649919,0.7076905909610385,0.7717532013509922,0.7717532013509922,1.0115399999995969,0,0,-0.00016009857617818734,9.43582115483565e-05
+39130,1791455204538350625,10182927000000,1791455204535336790,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760718382344709,-0.004800019367137758,0.08929661850824519,0.9999999885818656,9.473010096144112e-05,-4.382538882976768e-05,5.817797193437411e-05,0.6761,-0.0048,0.08925859135537556,1.0,0.0,0.0,0.0,-0.05683515943420032,-0.11904143923671343,0.7160290343269853,-0.008420375840739744,0.004056161837751679,-0.00012024991973274462,-0.023106094539786917,-0.20845355363621534,0.5947330825630237,-0.011376397255213024,0.0011137761437628963,-0.001621846203468024,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7633202005212771,-0.34688293903004536,-0.01947022202222809,0.2890679203915388,0.16340734627039488,-0.2995124493129938,0.721557885649919,0.7160290343269853,0.741028107672147,0.741028107672147,1.0640399999995522,0,0,-0.00016971293271691857,-9.832981237434808e-05
+39222,1791455205304401707,10183693000000,1791455205303337560,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760692157109199,-0.004805634319839328,0.0891574138432734,0.9999999903097999,7.049852653237227e-05,-4.938729202570428e-05,5.843045256010535e-05,0.6761,-0.0048,0.08912490608210669,1.0,0.0,0.0,0.0,-0.04813363445971498,-0.1190657485829702,0.7281287134150914,-0.008423256381310536,0.004052806692630983,-0.00012877347982754748,-0.01440456956530158,-0.20847786298247212,0.6068327616511299,-0.011379277795783816,0.0011104209986422004,-0.001630369763562827,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7360479530527126,-0.2526649129790294,-0.10532489342900368,0.26878256223186336,0.20829544272231335,-0.23742452218474008,0.721557885649919,0.7281287134150914,0.8268827790789226,0.8268827790789226,1.1099999999995132,0,0,-0.00017855666476137362,8.774072938403358e-05
+39318,1791455206104407286,10184493000000,1791455206103336887,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760649871151556,-0.004811690465134177,0.08900163787150789,0.999999990815009,5.571955594644984e-05,-5.562651113895346e-05,6.0115461488773875e-05,0.6761,-0.0048,0.0889765102687001,1.0,0.0,0.0,0.0,-0.047309660049706374,-0.1218305909283473,0.7277429035485693,-0.009443639741137995,0.004072028771396661,-0.0001398783753043492,-0.013580595155292972,-0.21124270532784922,0.6064469517846077,-0.012399661155611275,0.0011296430774078786,-0.0016414746590396286,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6936088231313499,-0.25826455588701186,-0.09104190320955516,0.27093592703591063,0.1837890748562173,-0.23978934639558996,0.721557885649919,0.7277429035485693,0.8125997888594741,0.8125997888594741,1.1579999999994723,0,0,-0.00019371052424196756,-9.999999025923074e-05
+39413,1791455206896380576,10185285000000,1791455206895337128,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760583836997365,-0.004813612767502906,0.08883180061616361,0.9999999899762745,5.235460115869633e-05,-6.747721207079257e-05,6.477759636580775e-05,0.6761,-0.0048,0.08881564322752171,1.0,0.0,0.0,0.0,-0.041934610511102074,-0.13033325196872567,0.7478499024819304,-0.009423322061844817,0.003137147906412563,-0.00016991996659101592,-0.008205545616688672,-0.21974536636822758,0.6265539507179688,-0.012379343476318097,0.00019476221242378027,-0.0016715162503262953,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6877289001993293,-0.2879772644983871,0.027055616484708292,0.29937019278166077,0.10381972715370787,-0.25630758781214324,0.721557885649919,0.7478499024819304,0.6945022691652106,0.6945022691652106,1.205519999999432,0,0,-0.0002117469753662712,-9.999997638144293e-05
+39500,1791455207621362484,10186010000000,1791455207619336934,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760595921929748,-0.004815803535522887,0.08867399866305378,0.9999999901845726,4.4361785367181124e-05,-6.57573897776109e-05,6.914995921694319e-05,0.6761,-0.0048,0.08865573874648192,1.0,0.0,0.0,0.0,-0.04759037894522703,-0.13111034702929175,0.7490849254491051,-0.009449066626265731,0.004068208530225452,-0.00015716596057940456,-0.01386131405081363,-0.22052246142879367,0.6277889736851435,-0.012405088040739011,0.0011258228362366696,-0.001658762244314684,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.714750859664475,-0.23896593867086655,-0.14148999893674907,0.28555413708193916,0.2113107658359983,-0.22412963992261817,0.721557885649919,0.7490849254491051,0.863047884586668,0.863047884586668,1.249019999999395,0,0,-0.0002287739831805555,-2.837662694020807e-05
+39580,1791455208288333775,10186677000000,1791455208283336979,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760550161923184,-0.004816985961711406,0.0885118181840263,0.9999999844241061,0.00010935385610089874,-7.191353015636983e-05,7.392449068943402e-05,0.6761,-0.0048,0.08849852656192121,1.0,0.0,0.0,0.0,-0.04833131037314228,-0.1311601204244673,0.7464418780910589,-0.009448755388267551,0.004068596263714641,-0.0001555463517123178,-0.014602245478728884,-0.22057223482396923,0.6251459263270973,-0.012404776802740831,0.0011262105697258588,-0.0016571426354475972,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6881358543780026,-0.2046719515595776,-0.1698204800850894,0.29050554112373583,0.21481314909822768,-0.1887904129115634,0.721557885649919,0.7464418780910589,0.8913783657350084,0.8913783657350084,1.289039999999361,0,0,-0.00024331508420707523,4.765761261074495e-05
+39654,1791455208904365831,10187293000000,1791455208903336940,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760550762213964,-0.0048146360054778575,0.08835694692603387,0.9999999837229067,0.00011416147596837243,-7.407844154714331e-05,7.40040048237539e-05,0.6761,-0.0048,0.0883431354458076,1.0,0.0,0.0,0.0,-0.05635758829625369,-0.13087833203322163,0.7525442659476451,-0.00944938969239165,0.004067622403632176,-0.00016066403859288066,-0.022628523401840288,-0.22029044643272355,0.6312483141836835,-0.01240541110686493,0.0011252367096433933,-0.00166226032232816,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6799824402472944,-0.21251200243140905,-0.09367322172417768,0.2937934781688748,0.1643777380256285,-0.20974708074138473,0.721557885649919,0.7525442659476451,0.8152311073740967,0.8152311073740967,1.3259999999993295,0,0,-0.0002619422951697078,-9.999999025923074e-05
+39730,1791455209538375570,10187927000000,1791455209535337128,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.676051095481974,-0.00481979743421737,0.08818053632533344,0.9999999859662719,8.340677968028668e-05,-7.999693370038296e-05,7.844819948729755e-05,0.6761,-0.0048,0.0881725121353337,1.0,0.0,0.0,0.0,-0.04765259445723362,-0.1292865612414494,0.7778812147149483,-0.009454267945030632,0.004061850128589071,-0.00018043475916559642,-0.013923529562820218,-0.21869867564095133,0.6565852629509867,-0.012410289359503912,0.0011194644346002888,-0.0016820310429008758,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7179871970341303,-0.22324204465244774,-0.08225962546963282,0.31645384006982985,0.16371300563414995,-0.2047575921890687,0.721557885649919,0.7778812147149483,0.8038175111195518,0.8038175111195518,1.3640399999992971,0,0,-0.00027661695282540775,-9.999932412541596e-05
+39798,1791455210104403342,10188493000000,1791455210099336924,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760528239572079,-0.004824568585928893,0.08801911038253367,0.9999999873751574,5.755211457261859e-05,-7.973584848926077e-05,8.38003461715997e-05,0.6761,-0.0048,0.08801147987907297,1.0,0.0,0.0,0.0,-0.056144944176435126,-0.12924201538209157,0.7786851426088386,-0.009454222233242245,0.004061866715032561,-0.00018173312652290598,-0.022415879282021725,-0.2186541297815935,0.657389190844877,-0.012410243647715525,0.0011194810210437783,-0.0016833294102581854,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6797346657250933,-0.1790142903821204,-0.0736889877582733,0.31194986550401294,0.14501920440095267,-0.17989947783646376,0.721557885649919,0.7786851426088386,0.7952468734081922,0.7952468734081922,1.3979999999992683,0,0,-0.00029241957321820964,-9.999999025923074e-05
+39862,1791455210638368180,10189027000000,1791455210631337707,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760516563522558,-0.004823647317380148,0.08785296647480086,0.9999999873554667,4.4361182161542636e-05,-8.398673663306923e-05,8.780799804793153e-05,0.6761,-0.0048,0.08785105228254876,1.0,0.0,0.0,0.0,-0.04789863580586501,-0.12824628331420107,0.7876278870269574,-0.009473867509652225,0.004725161970098066,-0.00018591742566953745,-0.014169570911451605,-0.217658397713703,0.6663319352629958,-0.012429888924125505,0.0017827762761092832,-0.0016875137094048169,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6845808516895567,-0.20306595013421558,-0.1505979525897142,0.3323721153440558,0.19664586385282207,-0.19547570006982695,0.721557885649919,0.7876278870269574,0.8721558382396332,0.8721558382396332,1.430039999999241,0,0,-0.0003083523286110098,-9.997625924207938e-05
+39926,1791455211171305539,10189560000000,1791455211163346224,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760521863023969,-0.004827782939984927,0.08768935119668055,0.9999999865305452,6.126934617328145e-05,-8.326440941990937e-05,8.77204600476577e-05,0.6761,-0.0048,0.08768118064655872,1.0,0.0,0.0,0.0,-0.057338416211397264,-0.1293289169460691,0.7978630357827248,-0.009485589853892392,0.005071011763250454,-0.00018204407397544092,-0.02360935131698386,-0.21874103134557102,0.6765670840187632,-0.012441611268365672,0.0021286260692616717,-0.0016836403577107203,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6759309601383523,-0.2536658275393559,-0.15719343782957892,0.36066293821103196,0.1933485111763116,-0.2230352627400555,0.721557885649919,0.7978630357827248,0.8787513234794979,0.8787513234794979,1.4620199999992138,0,0,-0.00032815859548759727,-9.999999025923074e-05
+39990,1791455211704462861,10190093000000,1791455211699337092,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760502709999907,-0.004829117850118466,0.08750901830551813,0.9999999821931087,0.00010668911432522468,-8.597931194397491e-05,9.100350222897551e-05,0.6761,-0.0048,0.08750154395327486,1.0,0.0,0.0,0.0,-0.0579172384710661,-0.13153876101091133,0.7974407029929951,-0.010455367925955332,0.00508933894879539,-0.0001928762169062727,-0.024188173576652698,-0.22095087541041325,0.6761447512290335,-0.013411389340428612,0.0021469532548066077,-0.0016944725006415521,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7260481484197634,-0.2749653889535208,-0.18497974980563342,0.37618059334764414,0.22409739228811287,-0.2347306553750731,0.721557885649919,0.7974407029929951,0.9065376354555523,0.9065376354555523,1.4939999999991866,0,0,-0.00034685357678505943,-5.6806484253748494e-05
+40050,1791455212204362748,10190593000000,1791455212203336593,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760475746838124,-0.0048310405625313375,0.08733240477608424,0.9999999837552889,8.130179084263613e-05,-9.214063924073034e-05,9.398089069587698e-05,0.6761,-0.0048,0.0873239028855946,1.0,0.0,0.0,0.0,-0.06610231875940573,-0.13115447870333047,0.8140121680580038,-0.010136006768353087,0.0050798421501734945,-0.00020345246189654967,-0.03237325386499233,-0.2205665931028324,0.6927162162940422,-0.013092028182826367,0.0021374564561847122,-0.001705048745631829,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6484418212450553,-0.2982170716509166,-0.0745451721936367,0.3977876226208391,0.12929323565039844,-0.2539289343500547,0.721557885649919,0.8140121680580038,0.7961030578435556,0.7961030578435556,1.5239999999991611,0,0,-0.00036252725504479075,-9.999999025923074e-05
+40110,1791455212704412656,10191093000000,1791455212699336991,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760495587009774,-0.00483250299440815,0.08715795853105564,0.9999999862081417,5.5109329189785555e-05,-8.691342911033293e-05,9.18455150690284e-05,0.6761,-0.0048,0.08713770055565802,1.0,0.0,0.0,0.0,-0.06692333833532442,-0.12300985021803904,0.8069768894172754,-0.00951413219024895,0.006081400760980172,-0.00017471871205532999,-0.03319427344091102,-0.21242196461754095,0.6856809376533138,-0.01247015360472223,0.003139015066991389,-0.0016763149957906094,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6930023549771889,-0.2419555436870677,-0.22493667237742354,0.3858034844831259,0.23683173818309358,-0.2198004621941221,0.721557885649919,0.8069768894172754,0.9464945580273425,0.9464945580273425,1.5539999999991356,0,0,-0.00038125651128232,7.203170978987145e-05
+40166,1791455213171335606,10191560000000,1791455213171336999,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760512136388582,-0.00483275723389211,0.08697616431468376,0.9999999849576783,6.864049243663291e-05,-8.319520331106596e-05,9.947134505476808e-05,0.6761,-0.0048,0.0869551608783109,1.0,0.0,0.0,0.0,-0.07520786357618725,-0.11880114134175723,0.8178741093790511,-0.009515210495210567,0.006079456156213339,-0.00018465172752584608,-0.04147879868177386,-0.20821325574125915,0.6965781576150896,-0.012471231909683847,0.003137070462224556,-0.0016862480112611255,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6796796812607179,-0.2531222921555425,-0.13880795126982234,0.4103400445114855,0.17350515983845477,-0.21887153704105894,0.721557885649919,0.8178741093790511,0.8603658369197413,0.8603658369197413,1.5820199999991118,0,0,-0.0003992152336582385,-9.378251927672494e-05
+40214,1791455213571308536,10191960000000,1791455213563336737,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760461765812117,-0.0048415965134060695,0.08680781470749163,0.9999999832930276,8.196067436828275e-05,-9.112529674982462e-05,9.917377198051704e-05,0.6761,-0.0048,0.08679241158008827,1.0,0.0,0.0,0.0,-0.07641071111248604,-0.12253400532721012,0.8279751970728308,-0.008579865341556685,0.006067596511698092,-0.00018698939646326026,-0.04268164621807265,-0.21194611972671204,0.7066792453088693,-0.011535886756029965,0.0031252108177093093,-0.0016885856801985397,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7041442422564298,-0.21739532838471942,-0.1812596277971209,0.4121315989906118,0.20418111577614897,-0.19436060081126957,0.721557885649919,0.8279751970728308,0.9028175134470399,0.9028175134470399,1.6060199999990914,0,0,-0.0004137646102948058,-8.23927438022736e-05
+40266,1791455214004328362,10192393000000,1791455214003336892,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760450350752579,-0.004845056108564948,0.08662613532509181,0.9999999834078839,7.02131683408133e-05,-9.160654015370096e-05,0.00010632708619380084,0.6761,-0.0048,0.08661089036048238,1.0,0.0,0.0,0.0,-0.06651606752834965,-0.1360348007175028,0.8279350202935326,-0.009493422606765348,0.005114862586892488,-0.0002066900062096251,-0.03278700263393626,-0.2254469151170047,0.706639068529571,-0.012449444021238628,0.0021724768929037054,-0.0017082862899449045,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.695421240716,-0.21049120565129512,-0.10127000907416792,0.4269061102708284,0.15309410736152396,-0.18985701315877196,0.721557885649919,0.8279350202935326,0.8228278947240869,0.8228278947240869,1.6319999999990693,0,0,-0.00042640364548571084,-9.999999025923074e-05
+40318,1791455214438313787,10192827000000,1791455214431337096,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760438781689843,-0.004847795846767139,0.08644461237144067,0.9999999841256227,5.660940090211291e-05,-9.242066397010432e-05,0.0001069832474488701,0.6761,-0.0048,0.08642308229433696,1.0,0.0,0.0,0.0,-0.05834303955964196,-0.10761771089707481,0.8283854512251463,-0.008479581857308146,0.0050552162122498405,-0.00019607713115947804,-0.024613974665228553,-0.19702982529657673,0.7070894994611847,-0.011435603271781426,0.002112830518261058,-0.0016976734148947575,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8096984364916247,-0.2501578954940363,-0.21311957664376238,0.4425388751236718,0.25392708798279995,-0.2182342109183558,0.721557885649919,0.8283854512251463,0.9346774622936813,0.9346774622936813,1.6580399999990472,0,0,-0.0004389183421236358,4.950322727693241e-05
+40368,1791455214854424781,10193243000000,1791455214847337781,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760444044166661,-0.004843557523228941,0.08625955042826974,0.9999999845858409,6.0803578263573704e-05,-9.032943127442502e-05,0.00010205244222891961,0.6761,-0.0048,0.08623744152915452,1.0,0.0,0.0,0.0,-0.07615121242226108,-0.11880574030153021,0.8283408201132557,-0.008470014014580881,0.005045360952767185,-0.00019742641286268122,-0.042422147527847676,-0.20821785470103213,0.7070448683492941,-0.011426035429054161,0.002102975258778402,-0.0016990226965979606,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7246360113045388,-0.2937612548270795,-0.16561372943687047,0.47063131259678137,0.19355007703128643,-0.24324828735516224,0.721557885649919,0.8283408201132557,0.8871716150867894,0.8871716150867894,1.682999999999026,0,0,-0.00045198792898301497,-9.999881064726707e-05
+40418,1791455215271368594,10193660000000,1791455215271336835,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760435947204402,-0.004846545539826571,0.08607484188372835,0.9999999825647065,8.450201429328492e-05,-8.880319979119725e-05,0.00010623959934080131,0.6761,-0.0048,0.08604665450323801,1.0,0.0,0.0,0.0,-0.07094096133997219,-0.10327549751704937,0.8225118190047822,-0.007847504567337793,0.006044070378158685,-0.00016918715964761707,-0.03721189644555878,-0.1926876119165513,0.7012158672408206,-0.010803525981811073,0.0031016846841699025,-0.0016707834433828965,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8001975476358082,-0.3867825149942145,-0.22091581545052125,0.49259938239086265,0.24963272059629613,-0.3020846654299338,0.721557885649919,0.8225118190047822,0.9424737011004403,0.9424737011004403,1.7080199999990047,0,0,-0.0004629032105182788,3.611546645596129e-05
+40466,1791455215671326291,10194060000000,1791455215671337062,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760441637893182,-0.004847461486129268,0.08588892366500356,0.9999999832663384,7.360392222951596e-05,-8.912579843630377e-05,0.00010746740017112262,0.6761,-0.0048,0.0858593499264939,1.0,0.0,0.0,0.0,-0.06316680615975392,-0.10263790500346068,0.829079114532752,-0.007448521047118,0.0050249192464145095,-0.00018497333107181987,-0.02943774126534052,-0.1920500194029626,0.7077831627687904,-0.01040454246159128,0.0020825335524257264,-0.0016865696148070993,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8011252241718114,-0.2719102645365485,-0.2206866871771048,0.47480915229641985,0.24720675945244625,-0.2299979846198672,0.721557885649919,0.829079114532752,0.9422445728270238,0.9422445728270238,1.7320199999989843,0,0,-0.00047348861131534984,-3.8044948265294077e-06
+40515,1791455216079317313,10194468000000,1791455216079336920,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760424082971592,-0.004842904787527699,0.0856925535067302,0.9999999837794287,6.321539117906837e-05,-9.033244952209339e-05,0.00010829528948557481,0.6761,-0.0048,0.08566426209752577,1.0,0.0,0.0,0.0,-0.05843107820183892,-0.10165281293199946,0.8296034933210723,-0.007449023962874798,0.00502436996387913,-0.00018476378120137736,-0.024702013307425514,-0.19106492733150138,0.7083075415571107,-0.010405045377348078,0.0020819842698903473,-0.0016863600649366568,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8251983180797631,-0.2510462760288433,-0.146223729489125,0.4742278638286585,0.20351495859386987,-0.21448583199878488,0.721557885649919,0.8296034933210723,0.867781615139044,0.867781615139044,1.7564999999989634,0,0,-0.00048195413112769723,-9.999997638144293e-05
+40558,1791455216438310213,10194827000000,1791455216435336434,DOWN_FORCE_DETACH,6,0.0355,0.03550136834383011,0.6760404403110071,-0.0048441161604800935,0.08551525472667502,0.9999999828682268,6.881162029813676e-05,-9.219673455069442e-05,0.00011167423090140858,0.6761,-0.0048,0.08549008382565847,1.0,0.0,0.0,0.0,-0.060329850132398534,-0.10221960552737833,0.8388175877439212,-0.007450386686974921,0.005022795559860016,-0.00019244160583692404,-0.026600785237985133,-0.19163171992688025,0.7175216359799597,-0.010406408101448201,0.002080409865871233,-0.0016940378895722035,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8788468929061323,-0.1664476194960864,-0.27830114645773435,0.4565829853955967,0.30188659358022213,-0.1556036030835897,0.721557885649919,0.8388175877439212,0.9998590321076533,0.9998590321076533,1.7780399999989451,0,0,-0.0004879264886334126,9.999971270347458e-05
+40606,1791455216838318172,10195227000000,1791455216835336849,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760406820386663,-0.004851199597186591,0.08532099760456503,0.9999999826456646,7.239500379883629e-05,-9.121515751790895e-05,0.00011220647763767455,0.6761,-0.0048,0.08529358727094964,1.0,0.0,0.0,0.0,-0.06755054429837094,-0.10251700900848915,0.8309386272056504,-0.007448989074831465,0.005024511690199313,-0.00018831870409956298,-0.03382147940395754,-0.19192912340799106,0.7096426754416888,-0.010405010489304745,0.002082125996210531,-0.0016899149878348424,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8769875462455144,-0.24076393512930605,-0.2432343290859392,0.49422595228004434,0.2712388391887029,-0.19905254748398904,0.721557885649919,0.8309386272056504,0.9647922147358582,0.9647922147358582,1.8020399999989247,0,0,-0.0004950369576686409,-7.385569181009126e-05
+40650,1791455217204418441,10195593000000,1791455217203336340,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760419112448429,-0.004847200411422438,0.08514501818384047,0.999999983523589,7.205602782434869e-05,-8.398163622647825e-05,0.00011023021239896817,0.6761,-0.0048,0.08511117352906601,1.0,0.0,0.0,0.0,-0.0687678634484235,-0.10221599549570845,0.8388043049114131,-0.007450337896977856,0.0050229456617362596,-0.00019388566750078314,-0.0350387985540101,-0.19162810989521037,0.7175083531474515,-0.010406359311451136,0.002080559967747477,-0.0016954819512360626,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9131272611571144,-0.2776795033060074,-0.23861676143021376,0.5005458710178723,0.27789189031456935,-0.2243303737696722,0.721557885649919,0.8388043049114131,0.9601746470801327,0.9601746470801327,1.823999999998906,0,0,-0.0005010755340470726,-9.998441938131037e-05
+40698,1791455217604375171,10195993000000,1791455217603336532,DOWN_FORCE_DETACH,6,0.0355,0.035502027720212936,0.6760366280696658,-0.00485357882917003,0.08494638763479843,0.9999999831990325,6.4671673466756e-05,-9.308147007586015e-05,0.00011044552319053467,0.6761,-0.0048,0.0849094565784236,1.0,0.0,0.0,0.0,-0.06554441958884216,-0.10222331559166226,0.8388081694385499,-0.007450265387007665,0.005022915700245948,-0.00019306814283071906,-0.03181535469442876,-0.19163542999116417,0.7175122176745883,-0.010406286801480945,0.0020805300062571655,-0.0016946644265659985,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.931293674107848,-0.2746596524138404,-0.17607578467249813,0.5010508494992627,0.24136762136841122,-0.22148796385990746,0.721557885649919,0.8388081694385499,0.897633670322417,0.897633670322417,1.8479999999988856,0,0,-0.0005051885439241996,-9.99857238933643e-05
+40740,1791455217952382224,10196341000000,1791455217947336555,DOWN_SETTLE,6,0.0355,0.035502027720212936,0.6760355239937267,-0.00485595012557774,0.08476944398247614,0.9999999831801571,5.9018586819231306e-05,-9.433857896848611e-05,0.00011269245269526948,0.6761,-0.0048,0.08473329212934387,1.0,0.0,0.0,0.0,-0.0584121719497784,-0.10597055557297583,0.845364433624535,-0.007452212511267438,0.005021657446338854,-0.00019750289128825978,-0.024683107055365,-0.19538266997247775,0.7240684818605734,-0.010408233925740718,0.0020792717523500704,-0.0016990991750235392,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9770659767254328,-0.1903243115442391,-0.2461227260948265,0.48757638866236386,0.291231207222653,-0.16330157181653318,0.721557885649919,0.845364433624535,0.9676806117447454,0.9676806117447454,1.8598799999988755,0,0,-0.0005011547175900758,9.999999025923074e-05
+40788,1791455218352372696,10196741000000,1791455218347337237,DOWN_SETTLE,6,0.0355,0.035502027720212936,0.6760352659795151,-0.004854456560342983,0.08457361784586566,0.9999999829759144,6.451160873866457e-05,-9.395851091276304e-05,0.00011180825492190522,0.6761,-0.0048,0.08453682024152663,1.0,0.0,0.0,0.0,-0.06746902394615757,-0.09261911333311898,0.847527935077825,-0.007441003525001459,0.005020036775262268,-0.00020032826086169926,-0.03373995905174417,-0.1820312277326209,0.7262319833138634,-0.010397024939474739,0.0020776510812734856,-0.0017019245445969787,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.012384861420164,-0.23989062306699482,-0.24950078029076414,0.4991244021916264,0.297810381020893,-0.1898594655461105,0.721557885649919,0.847527935077825,0.9710586659406831,0.9710586659406831,1.8598799999988755,0,0,-0.0004811547214863835,9.999999025923074e-05
+40834,1791455218736453623,10197125000000,1791455218735336887,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.676031021555514,-0.00486570187853812,0.08438868769090996,0.9999999827636527,5.9045333584082904e-05,-9.890962666845198e-05,0.00011245484919347138,0.6761,-0.0048,0.08435573362775582,1.0,0.0,0.0,0.0,-0.06754484023798671,-0.10295192848056198,0.8187520207604707,-0.007446536243853963,0.005027323747772271,-0.00017710303013917963,-0.03381577534357331,-0.1923640428800639,0.6974560689965091,-0.010402557658327243,0.0020849380537834887,-0.001678699313874459,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.067378935018816,-0.27882683393048324,-0.28252988590630385,0.516029599845343,0.3319214226317755,-0.214226994213764,0.721557885649919,0.8187520207604707,1.0040877715562229,1.0040877715562229,1.8598799999988755,0,0,-0.0004619547252268389,9.999999025923074e-05
+40884,1791455219152410375,10197541000000,1791455219147337415,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760330397361558,-0.004860238849946903,0.0842078049195847,0.9999999837740932,5.18762334970985e-05,-9.451902258811993e-05,0.00011076862692795061,0.6761,-0.0048,0.08416787646121658,1.0,0.0,0.0,0.0,-0.06390535514367124,-0.10266230453816375,0.8270535790591999,-0.00744821502696612,0.0050253677991608115,-0.00018294350255542748,-0.030176290249257845,-0.19207441893766566,0.7057576272952383,-0.0104042364414394,0.002082982105172029,-0.001684539786290707,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1245095117233357,-0.27433132136047667,-0.3448332019245444,0.5125960068048959,0.3852008778351807,-0.20950836876460333,0.721557885649919,0.8270535790591999,1.0663910875744633,1.0663910875744633,1.8598799999988755,0,0,-0.0004411547292789989,9.999999025923074e-05
+40938,1791455219602412084,10197991000000,1791455219599336813,DOWN_SETTLE,6,0.0355,0.035502027720212936,0.676030093814944,-0.004862638204936531,0.08402039226098405,0.9999999838472505,4.858469114631247e-05,-9.743817498348068e-05,0.0001090582097666199,0.6761,-0.0048,0.08397440808205259,1.0,0.0,0.0,0.0,-0.07675860500493746,-0.10330212824713542,0.808688690451809,-0.00744449413422376,0.005029702625921385,-0.00017009615211008907,-0.04302954011052406,-0.19271424264663733,0.6873927386878474,-0.01040051554869704,0.0020873169319326024,-0.0016716924358453685,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1174806048599986,-0.2891321322587693,-0.2957509017966432,0.5172073788721071,0.3472883921412542,-0.2159089767887259,0.721557885649919,0.808688690451809,1.017308787446562,1.017308787446562,1.8598799999988755,0,0,-0.0004186547336623451,9.999999025923074e-05
+40992,1791455220052390519,10198441000000,1791455220051336611,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760282643603522,-0.004868024188294466,0.08383511292229172,0.9999999839372709,4.5262962148077066e-05,-9.911125753573523e-05,0.00010815056781750902,0.6761,-0.0048,0.08379106470091609,1.0,0.0,0.0,0.0,-0.06791405238123774,-0.1035171807252904,0.8080695395516875,-0.007444706559299184,0.005029687755900003,-0.0001688994296895111,-0.03418498748682434,-0.19292929512479232,0.6867735877877259,-0.010400727973772464,0.00208730206191122,-0.0016704957134247905,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1497471668712635,-0.2881319832350474,-0.37738664949327694,0.5216053061987704,0.4026877387462321,-0.20941828698500636,0.721557885649919,0.8080695395516875,1.098944535143196,1.098944535143196,1.8598799999988755,0,0,-0.00039615473804569126,9.999999025923074e-05
+41046,1791455220502393437,10198891000000,1791455220499337082,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760262584413789,-0.004874308055447991,0.0836618009193084,0.9999999833165223,4.009303563698018e-05,-0.00010202875294558089,0.00011310394218963179,0.6761,-0.0048,0.08361784631780708,1.0,0.0,0.0,0.0,-0.07471814575231542,-0.11356619556026931,0.8008492456694587,-0.007444336740040374,0.005032401981328281,-0.00016352846558026013,-0.04098908085790202,-0.20297830995977123,0.6795532939054971,-0.010400358154513654,0.0020900162873394986,-0.0016651247493155396,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.244061099145489,-0.2738085633598476,-0.3442103565151247,0.5129983738428491,0.4026325651556016,-0.20031688208596093,0.721557885649919,0.8008492456694587,1.0657682421650436,1.0657682421650436,1.8598799999988755,0,0,-0.0003736547424290374,9.999999025923074e-05
+41102,1791455220969353246,10199358000000,1791455220963339151,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760221058825204,-0.004876835235517287,0.08348433333752517,0.9999999826023958,3.686346835937897e-05,-0.00010846628349390703,0.00011451734645870751,0.6761,-0.0048,0.08344879010202827,1.0,0.0,0.0,0.0,-0.07475715987309872,-0.10590121006120831,0.7984755996709305,-0.007442635046234889,0.005031915909201837,-0.00016185058734641635,-0.04102809497868532,-0.19531332446071023,0.6771796479069689,-0.010398656460708169,0.0020895302152130544,-0.0016634468710816958,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2073539069363086,-0.2977183119905597,-0.2865798666122069,0.5265887371071319,0.3507102696013875,-0.21155433302605706,0.721557885649919,0.7984755996709305,1.008137752262126,1.008137752262126,1.8598799999988755,0,0,-0.00035030474697797666,9.999999025923074e-05
+41159,1791455221444386163,10199833000000,1791455221443337295,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760199549201585,-0.004878755587077412,0.08332385493816845,0.9999999828206944,3.3089808073772577e-05,-0.000111078906101032,0.00011121158582388288,0.6761,-0.0048,0.08328802409611254,1.0,0.0,0.0,0.0,-0.06571201881107211,-0.10404967833243867,0.7886340619971368,-0.0074410101029711,0.005033916842663151,-0.00015255788928567266,-0.0319829539166587,-0.19346179273194059,0.6673381102331752,-0.01039703151744438,0.0020915311486743686,-0.001654154173020952,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2556294095670364,-0.19225052528798534,-0.41816066137821223,0.4913340598179436,0.44956942555423696,-0.14379274459908614,0.721557885649919,0.7886340619971368,1.1397185470281312,1.1397185470281312,1.8598799999988755,0,0,-0.00032655475160484206,9.999999025923074e-05
+41223,1791455221977394464,10200366000000,1791455221975337534,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760202197034118,-0.004879695851981251,0.0831543825071282,0.999999983871135,1.8838361676044577e-05,-0.00011109458110109144,0.00010489854374249649,0.6761,-0.0048,0.08312105931212094,1.0,0.0,0.0,0.0,-0.06745680293267987,-0.10441362572250654,0.7786387506782486,-0.00743913306769765,0.005036088168412094,-0.00014469201920237263,-0.033727738038266473,-0.19382574012200846,0.657342798914287,-0.01039515448217093,0.002093702474423311,-0.001646288302937652,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.295948743701406,-0.23440390063179165,-0.3819204417845087,0.5052395111641846,0.43211549817125056,-0.16586102429317245,0.721557885649919,0.7786387506782486,1.1034783274344275,1.1034783274344275,1.8598799999988755,0,0,-0.0002999047567966721,9.999999025923074e-05
+41298,1791455222602401962,10200991000000,1791455222599337562,DOWN_SETTLE,6,0.0355,0.035502027720212936,0.6760160563018647,-0.004886170156896129,0.08297728787851247,0.9999999819102755,2.7506066630214787e-05,-0.00011437865824559773,0.00011740209568115965,0.6761,-0.0048,0.08294336883721748,1.0,0.0,0.0,0.0,-0.06741269019800394,-0.10514787735778708,0.75853997875813,-0.007435423745740664,0.005040480628579716,-0.00012845063094344528,-0.033683625303590536,-0.194559991757289,0.6372440269941684,-0.010391445160213944,0.0020980949345909333,-0.0016300469146787247,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3225803577903994,-0.2463512006122435,-0.43010339494886407,0.5073541965622398,0.4646797970581484,-0.17064933375503716,0.721557885649919,0.75853997875813,1.1516612805987831,1.1516612805987831,1.8598799999988755,0,0,-0.00026865476288465286,9.999999025923074e-05
+41378,1791455223269385079,10201658000000,1791455223263337039,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760063138717506,-0.004891262133807377,0.08279880461551999,0.9999999812765653,1.522897434637917e-05,-0.00012738516497366598,0.00011149363835525728,0.6761,-0.0048,0.08277528165820339,1.0,0.0,0.0,0.0,-0.057833481278869336,-0.11746052166491089,0.7385175617631772,-0.007813352369912888,0.00403891083068664,-0.0001344789723791112,-0.02410441638445594,-0.2068726360644128,0.6172216099992156,-0.010769373784386168,0.001096525136697857,-0.0016360752561143906,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.399066731271059,-0.28541676055368786,-0.38645969852082257,0.5216640899160295,0.4562692161638484,-0.1985504929454904,0.721557885649919,0.7385175617631772,1.1080175841707416,1.1080175841707416,1.8598799999988755,0,0,-0.00023530476938174593,9.999999025923074e-05
+41456,1791455223919361779,10202308000000,1791455223919336442,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760080183649031,-0.004889128236013983,0.08265785668830353,0.9999999819455972,1.1002015014557144e-05,-0.00012610052705877878,0.00010737449589603617,0.6761,-0.0048,0.08263287980604435,1.0,0.0,0.0,0.0,-0.057858607551810506,-0.107408402386822,0.7285091031711662,-0.007402374358371945,0.004033593647944796,-0.00011874192361401026,-0.024129542657397102,-0.19682051678632392,0.6072131514072047,-0.010358395772845225,0.0010912079539560136,-0.0016203382073492897,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4523899505575715,-0.19889009201041413,-0.3493291943977365,0.49815861559229296,0.4400994879516455,-0.13405912154240715,0.721557885649919,0.7285091031711662,1.0708870800476555,1.0708870800476555,1.8598799999988755,0,0,-0.00020280477571324595,9.999999025923074e-05
+41541,1791455224627336282,10203016000000,1791455224627337014,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6760063669533727,-0.0048876493821637884,0.08252086815448215,0.9999999807221307,1.6578253677278666e-05,-0.00013002526683336682,0.00011321304761134498,0.6761,-0.0048,0.08250180792239457,1.0,0.0,0.0,0.0,-0.06727160799150174,-0.10220152121365736,0.7083806756234918,-0.00741880270409674,0.005048505429068614,-8.790222103584582e-05,-0.03354254309708834,-0.19161363561315928,0.5870847238595303,-0.01037482411857002,0.0021061197350798317,-0.0015894985047711252,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4442722978638245,-0.18849616066358424,-0.3832509267323699,0.49062217063204344,0.45643694638054416,-0.12638747538919898,0.721557885649919,0.7083806756234918,1.1048088123822888,1.1048088123822888,1.8598799999988755,0,0,-0.00016740478260971058,9.999999025923074e-05
+41651,1791455225544352948,10203933000000,1791455225539337186,DOWN_SETTLE,6,0.0355,0.035502027720212936,0.675993318937093,-0.004890429130019849,0.08237174473992828,0.9999999765586128,2.4595508984398707e-05,-0.00014895951029476618,0.0001246264963245399,0.6761,-0.0048,0.08236929703264155,1.0,0.0,0.0,0.0,-0.04797418965288016,-0.11054655781383252,0.6848324933737204,-0.008414949021679033,0.004060220104077329,-9.494373490558376e-05,-0.01424512475846676,-0.19995867221333444,0.5635365416097589,-0.011370970436152313,0.001117834410088546,-0.0015965400186408632,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4546558600492634,-0.2618730604945248,-0.3890034276269242,0.5077119765998385,0.4609084751728423,-0.17068870870718217,0.721557885649919,0.6848324933737204,1.1105613132768433,1.1105613132768433,1.8598799999988755,0,0,-0.00012155479154199599,9.999999025923074e-05
+41778,1791455226602382914,10204991000000,1791455226595337774,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6759824637108611,-0.004888272662561852,0.08225377073642304,0.999999974386928,3.10060617885923e-05,-0.000165139733022231,0.00012015198934895558,0.6761,-0.0048,0.08226864970773323,1.0,0.0,0.0,0.0,-0.03370890574181902,-0.11013581773601583,0.6577319492547559,-0.007775401580726019,0.0030436828430545535,-7.59815436548782e-05,2.015915259437947e-05,-0.19954793213551775,0.5364359974907943,-0.010731422995199299,0.00010129714906577068,-0.0015775778273901576,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4570759769401824,-0.3609508906490359,-0.31553207446871323,0.5549524799108752,0.4058119926524896,-0.23574611808770332,0.721557885649919,0.6577319492547559,1.037089960118632,1.037089960118632,1.8598799999988755,0,0,-6.865480184772987e-05,9.999999025923074e-05
+41918,1791455227769430419,10206158000000,1791455227767337131,DOWN_SETTLE,6,0.0355,0.03550136834383011,0.6759763869832479,-0.004878051898730469,0.08218445522590387,0.9999999756495661,1.047860682206076e-05,-0.0001742267310826572,9.838179066679207e-05,0.6761,-0.0048,0.08222254759733832,1.0,0.0,0.0,0.0,-0.029340079177007386,-0.11005110375550609,0.5884047948159329,-0.007321188762308788,0.0020365239703002054,-3.529087879381972e-05,0.004388985717406015,-0.199463218155008,0.46710884305197137,-0.010277210176782068,-0.0009058617236885775,-0.0015368871625290991,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.44774236040126,-0.19683840092329313,-0.2439025065861211,0.48432069369547137,0.3630296620979778,-0.12981794322055118,0.721557885649919,0.5884047948159329,0.9654603922360401,0.9654603922360401,1.8598799999988755,0,0,-1.0304813215207593e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f426ba1f162efdd0f9957276cf200026feb219b4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0902525875f2f68e7391ab1f84d9d2a5501b7521
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.600000000e+00,DOWN_FORCE_DETACH,1791455190770681765,5.307289140e-05,-1.838278214e-05,-2.605250136e-04,5.061204043e-05,-1.624198191e-05,-2.516192807e-04,5.155542750e-05,-1.593415390e-05,-2.495791025e-04,7.015909444e-01,-1.683182082e-05,8.404804162e-01,7.015884835e-01,-1.469102059e-05,8.404893219e-01,7.017773394e-01,-1.407183764e-05,8.295310346e-01
+5,3.250000000e+00,DOWN_FORCE_DETACH,1791455191771871903,5.900305961e-05,-2.643437143e-05,-3.659543622e-04,5.755846615e-05,-3.032592487e-05,-3.661561009e-04,5.843981437e-05,-2.979766942e-05,-3.635685708e-04,7.015968745e-01,-2.488341011e-05,8.403749868e-01,7.015954299e-01,-2.877496355e-05,8.403747851e-01,7.017842238e-01,-2.793535317e-05,8.294170451e-01
+6,3.933333333e+00,DOWN_FORCE_DETACH,1791455192800565532,6.154277172e-05,-3.776976448e-05,-4.437831990e-04,6.219382592e-05,-3.316009176e-05,-4.316782051e-04,6.307892556e-05,-3.260038359e-05,-4.293342271e-04,7.015994143e-01,-3.621880315e-05,8.402971580e-01,7.016000653e-01,-3.160913044e-05,8.403092630e-01,7.017888629e-01,-3.073806734e-05,8.293512795e-01
+7,4.516666667e+00,DOWN_FORCE_DETACH,1791455193671017306,6.569899314e-05,-1.291225854e-05,-4.902036415e-04,5.812730660e-05,-7.106549492e-07,-4.786938718e-04,5.887712032e-05,-4.604135401e-07,-4.766279398e-04,7.016035705e-01,-1.136129722e-05,8.402507375e-01,7.015959988e-01,8.403063718e-07,8.402622473e-01,7.017846611e-01,1.401902714e-06,8.293039857e-01
+8,5.316666667e+00,DOWN_FORCE_DETACH,1791455194869649243,6.894123865e-05,-1.960989933e-05,-5.651527944e-04,6.441553957e-05,-1.757893944e-05,-5.554804866e-04,6.503493488e-05,-1.723018858e-05,-5.534398319e-04,7.016068127e-01,-1.805893801e-05,8.401757884e-01,7.016022870e-01,-1.602797812e-05,8.401854607e-01,7.017908189e-01,-1.536787233e-05,8.292271738e-01
+9,6.066666667e+00,DOWN_FORCE_DETACH,1791455196000056085,6.366194364e-05,-2.420774194e-05,-6.481614753e-04,6.324374466e-05,-2.504080754e-05,-6.378492013e-04,6.356332823e-05,-2.464186913e-05,-6.357368879e-04,7.016015334e-01,-2.265678062e-05,8.400927797e-01,7.016011152e-01,-2.348984622e-05,8.401030920e-01,7.017893473e-01,-2.277955288e-05,8.291448768e-01
+10,6.950000000e+00,DOWN_FORCE_DETACH,1791455197306364372,6.403964873e-05,-2.771852050e-05,-7.295677622e-04,6.471724335e-05,-2.595677052e-05,-7.274214559e-04,6.486154438e-05,-2.558060802e-05,-7.253107631e-04,7.016019111e-01,-2.616755918e-05,8.400113734e-01,7.016025887e-01,-2.440580920e-05,8.400135197e-01,7.017906455e-01,-2.371829177e-05,8.290553029e-01
+11,7.816666667e+00,DOWN_FORCE_DETACH,1791455198606756642,6.506842237e-05,-3.101095415e-05,-8.237477153e-04,6.314459901e-05,-2.899086894e-05,-8.088370477e-04,6.304071924e-05,-2.857200989e-05,-8.066902455e-04,7.016029399e-01,-2.945999283e-05,8.399171935e-01,7.016010161e-01,-2.743990762e-05,8.399321041e-01,7.017888247e-01,-2.670969364e-05,8.289739234e-01
+12,8.533333333e+00,DOWN_FORCE_DETACH,1791455199688806580,6.560305591e-05,-3.707914401e-05,-9.200825003e-04,6.404266851e-05,-3.412748726e-05,-9.121886154e-04,6.373282572e-05,-3.368461056e-05,-9.096074110e-04,7.016034745e-01,-3.552818268e-05,8.398208587e-01,7.016019141e-01,-3.257652594e-05,8.398287526e-01,7.017895168e-01,-3.182229431e-05,8.288710063e-01
+13,9.266666667e+00,DOWN_FORCE_DETACH,1791455200787551800,6.662443445e-05,-3.932745981e-05,-1.039900735e-03,6.618426837e-05,-4.041984767e-05,-1.026329665e-03,6.559296868e-05,-3.990688193e-05,-1.023282720e-03,7.016044959e-01,-3.777649849e-05,8.397010405e-01,7.016040557e-01,-3.886888635e-05,8.397146115e-01,7.017913769e-01,-3.804456568e-05,8.287573310e-01
+14,9.916666667e+00,DOWN_FORCE_DETACH,1791455201770465209,6.589025321e-05,-4.214112662e-05,-1.156829349e-03,6.621340496e-05,-4.176344800e-05,-1.138868786e-03,6.528945169e-05,-4.120068633e-05,-1.135611823e-03,7.016037617e-01,-4.059016530e-05,8.395841118e-01,7.016040849e-01,-4.021248668e-05,8.396020724e-01,7.017910734e-01,-3.933837007e-05,8.286450019e-01
+15,1.055000000e+01,DOWN_FORCE_DETACH,1791455202705794275,7.010123559e-05,-4.381558549e-05,-1.274421476e-03,7.019849193e-05,-4.215249063e-05,-1.267134964e-03,6.887376743e-05,-4.148574465e-05,-1.263727649e-03,7.016079727e-01,-4.226462417e-05,8.394665197e-01,7.016080700e-01,-4.060152930e-05,8.394738062e-01,7.017946577e-01,-3.962342840e-05,8.285168860e-01
+16,1.118333333e+01,DOWN_FORCE_DETACH,1791455203666041096,7.157530256e-05,-4.758091206e-05,-1.418376357e-03,7.259122047e-05,-5.042863000e-05,-1.400775210e-03,7.086970643e-05,-4.972113575e-05,-1.397430218e-03,7.016094468e-01,-4.602995074e-05,8.393225648e-01,7.016104627e-01,-4.887766868e-05,8.393401660e-01,7.017966536e-01,-4.785881950e-05,8.283831835e-01
+17,1.176666667e+01,DOWN_FORCE_DETACH,1791455204536374672,7.811409878e-05,-4.829275805e-05,-1.554369336e-03,7.442708242e-05,-5.128702375e-05,-1.536386617e-03,7.225123443e-05,-5.066013545e-05,-1.532868685e-03,7.016159856e-01,-4.674179673e-05,8.391865719e-01,7.016122986e-01,-4.973606243e-05,8.392045546e-01,7.017980352e-01,-4.879781920e-05,8.282477450e-01
+18,1.228333333e+01,DOWN_FORCE_DETACH,1791455205307742359,7.682557029e-05,-5.798864472e-05,-1.695005326e-03,7.617876697e-05,-5.563738146e-05,-1.678140541e-03,7.356249613e-05,-5.494415792e-05,-1.674137226e-03,7.016146971e-01,-5.643768340e-05,8.390459359e-01,7.016140502e-01,-5.408642014e-05,8.390628006e-01,7.017993464e-01,-5.308184167e-05,8.281064765e-01
+19,1.281666667e+01,DOWN_FORCE_DETACH,1791455206106149462,7.273899625e-05,-5.797860375e-05,-1.851159283e-03,7.139581567e-05,-5.930734382e-05,-1.838829445e-03,6.824087043e-05,-5.855130206e-05,-1.834285272e-03,7.016106105e-01,-5.642764243e-05,8.388897819e-01,7.016092673e-01,-5.775638250e-05,8.389021117e-01,7.017940248e-01,-5.668898581e-05,8.279463284e-01
+20,1.331666667e+01,DOWN_FORCE_DETACH,1791455206898114778,6.933392990e-05,-6.514990775e-05,-2.015314865e-03,6.652470654e-05,-6.460375923e-05,-1.997967659e-03,6.275525434e-05,-6.370242613e-05,-1.993016615e-03,7.016072054e-01,-6.359894643e-05,8.387256263e-01,7.016043962e-01,-6.305279791e-05,8.387429735e-01,7.017885392e-01,-6.184010988e-05,8.277875971e-01
+21,1.380000000e+01,DOWN_FORCE_DETACH,1791455207618049438,6.728845672e-05,-6.637925715e-05,-2.177227211e-03,6.709111253e-05,-6.630750604e-05,-2.177000313e-03,6.261063283e-05,-6.538695445e-05,-2.171529179e-03,7.016051599e-01,-6.482829583e-05,8.385637140e-01,7.016049626e-01,-6.475654472e-05,8.385639409e-01,7.017883946e-01,-6.352463820e-05,8.276090845e-01
+22,1.425000000e+01,DOWN_FORCE_DETACH,1791455208287918111,6.599956327e-05,-6.675109278e-05,-2.334006741e-03,6.311974647e-05,-6.552463271e-05,-2.333151464e-03,5.777539755e-05,-6.462299670e-05,-2.327520183e-03,7.016038710e-01,-6.520013145e-05,8.384069344e-01,7.016009912e-01,-6.397367139e-05,8.384077897e-01,7.017835593e-01,-6.276068045e-05,8.274530935e-01
+23,1.466666667e+01,DOWN_FORCE_DETACH,1791455208905707442,6.348116001e-05,-6.253212576e-05,-2.494509165e-03,6.347830671e-05,-6.236715504e-05,-2.494054255e-03,5.741767739e-05,-6.161406497e-05,-2.488134921e-03,7.016013526e-01,-6.098116444e-05,8.382464320e-01,7.016013498e-01,-6.081619372e-05,8.382468869e-01,7.017832016e-01,-5.975174871e-05,8.272924788e-01
+24,1.508333333e+01,DOWN_FORCE_DETACH,1791455209534240098,5.960732568e-05,-7.361270106e-05,-2.666953896e-03,5.926079142e-05,-7.362670416e-05,-2.667082677e-03,5.238584026e-05,-7.282679609e-05,-2.660620280e-03,7.015974788e-01,-7.206173974e-05,8.380739873e-01,7.015971323e-01,-7.207574283e-05,8.380738585e-01,7.017781698e-01,-7.096447983e-05,8.271199934e-01
+25,1.546666667e+01,DOWN_FORCE_DETACH,1791455210105017536,5.859388031e-05,-7.253162949e-05,-2.837408709e-03,5.840725028e-05,-7.275291309e-05,-2.837472020e-03,5.082568553e-05,-7.195230515e-05,-2.830563807e-03,7.015964654e-01,-7.098066817e-05,8.379035325e-01,7.015962787e-01,-7.120195176e-05,8.379034692e-01,7.017766096e-01,-7.008998890e-05,8.269500499e-01
+26,1.581666667e+01,DOWN_FORCE_DETACH,1791455210634375959,5.707900867e-05,-7.111416527e-05,-2.998411169e-03,5.516755845e-05,-7.157704459e-05,-2.991828367e-03,4.695094327e-05,-7.073143210e-05,-2.984855287e-03,7.015949505e-01,-6.956320395e-05,8.377425300e-01,7.015930390e-01,-7.002608327e-05,8.377491128e-01,7.017727349e-01,-6.886911585e-05,8.267957584e-01
+27,1.618333333e+01,DOWN_FORCE_DETACH,1791455211174135438,5.810981663e-05,-8.088820012e-05,-3.166391524e-03,5.776441646e-05,-8.085749400e-05,-3.166494120e-03,4.895065893e-05,-7.994821548e-05,-3.159348480e-03,7.015959813e-01,-7.933723880e-05,8.375745497e-01,7.015956359e-01,-7.930653267e-05,8.375744471e-01,7.017747346e-01,-7.808589922e-05,8.266212652e-01
+28,1.653333333e+01,DOWN_FORCE_DETACH,1791455211703612898,5.696353380e-05,-7.738259259e-05,-3.343967913e-03,5.626713357e-05,-7.635196134e-05,-3.331517851e-03,4.683028952e-05,-7.552765037e-05,-3.324340972e-03,7.015948350e-01,-7.583163127e-05,8.373969733e-01,7.015941386e-01,-7.480100002e-05,8.374094233e-01,7.017726142e-01,-7.366533412e-05,8.264562727e-01
+29,1.686666667e+01,DOWN_FORCE_DETACH,1791455212203793754,5.229900006e-05,-8.084479239e-05,-3.522224124e-03,5.405735238e-05,-8.280073062e-05,-3.506979665e-03,4.403354466e-05,-8.187066082e-05,-3.499413402e-03,7.015901705e-01,-7.929383107e-05,8.372187171e-01,7.015919288e-01,-8.124976930e-05,8.372339615e-01,7.017698175e-01,-8.000834457e-05,8.262812003e-01
+30,1.720000000e+01,DOWN_FORCE_DETACH,1791455212704057361,5.638052821e-05,-8.216679023e-05,-3.695537458e-03,5.630291059e-05,-8.213441433e-05,-3.695064108e-03,4.567744821e-05,-8.107816314e-05,-3.687113106e-03,7.015942520e-01,-8.061582891e-05,8.370454037e-01,7.015941744e-01,-8.058345301e-05,8.370458771e-01,7.017714614e-01,-7.921584688e-05,8.260935006e-01
+31,1.751666667e+01,DOWN_FORCE_DETACH,1791455213174296813,5.987816852e-05,-9.083382796e-05,-3.873012457e-03,5.436415758e-05,-8.528575580e-05,-3.855554338e-03,4.318112028e-05,-8.418239487e-05,-3.847686767e-03,7.015977496e-01,-8.928286664e-05,8.368679287e-01,7.015922356e-01,-8.373479448e-05,8.368853868e-01,7.017689651e-01,-8.232007862e-05,8.259329269e-01
+32,1.778333333e+01,DOWN_FORCE_DETACH,1791455213572473023,5.319987217e-05,-9.216906710e-05,-4.045064633e-03,5.311826809e-05,-9.249804890e-05,-4.045204554e-03,4.114435786e-05,-9.141951757e-05,-4.036643049e-03,7.015910714e-01,-9.061810578e-05,8.366958766e-01,7.015909897e-01,-9.094708757e-05,8.366957366e-01,7.017669283e-01,-8.955720132e-05,8.257439706e-01
+33,1.806666667e+01,DOWN_FORCE_DETACH,1791455214003804042,5.321819805e-05,-9.222764313e-05,-4.223123731e-03,4.805787981e-05,-9.414725411e-05,-4.217515066e-03,3.533156993e-05,-9.313791209e-05,-4.208811441e-03,7.015910897e-01,-9.067668180e-05,8.365178175e-01,7.015859294e-01,-9.259629279e-05,8.365234261e-01,7.017611155e-01,-9.127559584e-05,8.255718022e-01
+34,1.835000000e+01,DOWN_FORCE_DETACH,1791455214434179197,5.083563428e-05,-1.013376399e-04,-4.404071662e-03,5.066130680e-05,-1.012754002e-04,-4.403747527e-03,3.729929474e-05,-1.002302389e-04,-4.394656448e-03,7.015887071e-01,-9.978667861e-05,8.363368695e-01,7.015885328e-01,-9.972443885e-05,8.363371937e-01,7.017630832e-01,-9.836792264e-05,8.253859572e-01
+35,1.863333333e+01,DOWN_FORCE_DETACH,1791455214855356048,4.915000369e-05,-9.402927381e-05,-4.592373632e-03,4.897529146e-05,-9.391086117e-05,-4.592025029e-03,3.486491987e-05,-9.289475748e-05,-4.582660608e-03,7.015870215e-01,-9.247831249e-05,8.361485676e-01,7.015868468e-01,-9.235989985e-05,8.361489162e-01,7.017606489e-01,-9.103244123e-05,8.251979531e-01
+36,1.891666667e+01,DOWN_FORCE_DETACH,1791455215274448805,5.334461063e-05,-9.826564958e-05,-4.775199924e-03,5.237553588e-05,-9.767435923e-05,-4.771275273e-03,3.766905443e-05,-9.661642924e-05,-4.762011233e-03,7.015912161e-01,-9.671468826e-05,8.359657413e-01,7.015902470e-01,-9.612339790e-05,8.359696659e-01,7.017634530e-01,-9.475411299e-05,8.250186024e-01
+37,1.918333333e+01,DOWN_FORCE_DETACH,1791455215674594687,5.150318387e-05,-9.778119433e-05,-4.962769788e-03,4.834476492e-05,-9.391254077e-05,-4.948469592e-03,3.302515223e-05,-9.294946925e-05,-4.939271061e-03,7.015893747e-01,-9.623023301e-05,8.357781714e-01,7.015862162e-01,-9.236157945e-05,8.357924716e-01,7.017588091e-01,-9.108715299e-05,8.248413426e-01
+38,1.945000000e+01,DOWN_FORCE_DETACH,1791455216076149105,4.909637300e-05,-9.103327634e-05,-5.156168476e-03,4.866688103e-05,-9.115511402e-05,-5.156177278e-03,3.273008208e-05,-9.013427104e-05,-5.146488485e-03,7.015869679e-01,-8.948231502e-05,8.355847727e-01,7.015865384e-01,-8.960415270e-05,8.355847639e-01,7.017585140e-01,-8.827195478e-05,8.246341252e-01
+39,1.968333333e+01,DOWN_FORCE_DETACH,1791455216436605818,4.498424915e-05,-9.188176696e-05,-5.336433318e-03,4.597818682e-05,-9.519347236e-05,-5.321915004e-03,2.939318142e-05,-9.404664891e-05,-5.312171860e-03,7.015828557e-01,-9.033080564e-05,8.354045079e-01,7.015838497e-01,-9.364251104e-05,8.354190262e-01,7.017551771e-01,-9.218433265e-05,8.244684418e-01
+40,1.995000000e+01,DOWN_FORCE_DETACH,1791455216834202889,4.849370882e-05,-9.728122348e-05,-5.528839651e-03,4.673383452e-05,-9.776345437e-05,-5.517335668e-03,2.947349904e-05,-9.654564217e-05,-5.507520098e-03,7.015863652e-01,-9.573026215e-05,8.352121015e-01,7.015846053e-01,-9.621249305e-05,8.352236055e-01,7.017552574e-01,-9.468332591e-05,8.242730936e-01
+41,2.020000000e+01,DOWN_FORCE_DETACH,1791455217204195189,4.923803240e-05,-9.751572749e-05,-5.706729243e-03,4.909860381e-05,-9.759209663e-05,-5.706665283e-03,3.109021799e-05,-9.647880075e-05,-5.696595661e-03,7.015871095e-01,-9.596476617e-05,8.350342119e-01,7.015869701e-01,-9.604113531e-05,8.350342759e-01,7.017568742e-01,-9.461648450e-05,8.240840180e-01
+42,2.046666667e+01,DOWN_FORCE_DETACH,1791455217604023096,4.686603124e-05,-1.020776988e-04,-5.904227131e-03,4.670192893e-05,-1.020255673e-04,-5.904006191e-03,2.791714817e-05,-1.009589659e-04,-5.893813085e-03,7.015847375e-01,-1.005267374e-04,8.348367141e-01,7.015845734e-01,-1.004746060e-04,8.348369350e-01,7.017537011e-01,-9.909664965e-05,8.238868006e-01
+43,2.070000000e+01,DOWN_SETTLE,1791455217953186621,4.094205554e-05,-1.056927326e-04,-6.086928946e-03,3.985779381e-05,-1.087830307e-04,-6.076080250e-03,2.035227639e-05,-1.076511356e-04,-6.065893942e-03,7.015788135e-01,-1.041417713e-04,8.346540122e-01,7.015777293e-01,-1.072320694e-04,8.346648609e-01,7.017461362e-01,-1.057888194e-04,8.237147197e-01
+44,2.096666667e+01,DOWN_SETTLE,1791455218354126234,4.287162966e-05,-1.114715033e-04,-6.280601456e-03,4.256984706e-05,-1.116255279e-04,-6.280433845e-03,2.238066797e-05,-1.103984212e-04,-6.270102307e-03,7.015807431e-01,-1.099205419e-04,8.344603397e-01,7.015804413e-01,-1.100745665e-04,8.344605073e-01,7.017481646e-01,-1.085361050e-04,8.235105114e-01
+45,2.121666667e+01,DOWN_SETTLE,1791455218734959504,4.132343440e-05,-1.082695924e-04,-6.458646982e-03,4.125771290e-05,-1.085774203e-04,-6.458388148e-03,2.043032065e-05,-1.074711200e-04,-6.448206767e-03,7.015791949e-01,-1.067186311e-04,8.342822942e-01,7.015791292e-01,-1.070264589e-04,8.342825530e-01,7.017462143e-01,-1.056088038e-04,8.233324069e-01
+46,2.150000000e+01,DOWN_SETTLE,1791455219155223818,3.960626182e-05,-1.121573587e-04,-6.642752303e-03,3.868616878e-05,-1.118964662e-04,-6.637061032e-03,1.725513752e-05,-1.106728191e-04,-6.627252900e-03,7.015774777e-01,-1.106063974e-04,8.340981889e-01,7.015765577e-01,-1.103455049e-04,8.341038802e-01,7.017430391e-01,-1.088105029e-04,8.231533608e-01
+47,2.180000000e+01,DOWN_SETTLE,1791455219603317888,3.667135125e-05,-1.177046582e-04,-6.832563225e-03,3.827220774e-05,-1.175332374e-04,-6.816798162e-03,1.635089602e-05,-1.161318868e-04,-6.807346438e-03,7.015745428e-01,-1.161536968e-04,8.339083780e-01,7.015761437e-01,-1.159822761e-04,8.339241430e-01,7.017421348e-01,-1.142695705e-04,8.229732672e-01
+48,2.210000000e+01,DOWN_SETTLE,1791455220053596679,3.541137798e-05,-1.204373074e-04,-7.018350788e-03,3.635430964e-05,-1.207512621e-04,-7.008110053e-03,1.372372282e-05,-1.192959822e-04,-6.998748033e-03,7.015732829e-01,-1.188863461e-04,8.337225904e-01,7.015742258e-01,-1.192003008e-04,8.337328311e-01,7.017395077e-01,-1.174336659e-04,8.227818656e-01
+49,2.240000000e+01,DOWN_SETTLE,1791455220504928555,3.390774279e-05,-1.217461133e-04,-7.188563286e-03,3.354614987e-05,-1.216125182e-04,-7.188750456e-03,1.011187014e-05,-1.203296175e-04,-7.179466471e-03,7.015717792e-01,-1.201951520e-04,8.335523779e-01,7.015714176e-01,-1.200615568e-04,8.335521907e-01,7.017358958e-01,-1.184673012e-04,8.226011472e-01
+50,2.270000000e+01,DOWN_SETTLE,1791455220971540337,2.839902317e-05,-1.286858028e-04,-7.368473088e-03,2.833792219e-05,-1.285962255e-04,-7.368148684e-03,4.094154867e-06,-1.273833630e-04,-7.358937032e-03,7.015662705e-01,-1.271348415e-04,8.333724681e-01,7.015662094e-01,-1.270452642e-04,8.333727925e-01,7.017298781e-01,-1.255210467e-04,8.224216766e-01
+51,2.301666667e+01,DOWN_SETTLE,1791455221443560806,2.605914964e-05,-1.271402603e-04,-7.527291415e-03,2.775675523e-05,-1.295328027e-04,-7.514608909e-03,2.933291016e-06,-1.282659334e-04,-7.505966517e-03,7.015639306e-01,-1.255892990e-04,8.332136498e-01,7.015656282e-01,-1.279818414e-04,8.332263323e-01,7.017287172e-01,-1.264036172e-04,8.222746472e-01
+52,2.336666667e+01,DOWN_SETTLE,1791455221975566374,2.464258660e-05,-1.310141537e-04,-7.698889589e-03,2.573342793e-05,-1.330101731e-04,-7.683078983e-03,2.070256151e-07,-1.317192151e-04,-7.674910949e-03,7.015625141e-01,-1.294631924e-04,8.330420516e-01,7.015636049e-01,-1.314592118e-04,8.330578622e-01,7.017259910e-01,-1.298568989e-04,8.221057027e-01
+53,2.378333333e+01,DOWN_SETTLE,1791455222602957370,2.338308942e-05,-1.364854730e-04,-7.874459549e-03,2.381971400e-05,-1.385629963e-04,-7.867529887e-03,-2.289375442e-06,-1.372419919e-04,-7.859938289e-03,7.015612546e-01,-1.349345116e-04,8.328664816e-01,7.015616912e-01,-1.370120350e-04,8.328734113e-01,7.017234946e-01,-1.353796757e-04,8.219206754e-01
+54,2.423333333e+01,DOWN_SETTLE,1791455223272833434,1.416475043e-05,-1.416896389e-04,-8.053125344e-03,1.399367138e-05,-1.418175426e-04,-8.052847672e-03,-1.277206836e-05,-1.403825738e-04,-8.045580116e-03,7.015520362e-01,-1.401386775e-04,8.326878158e-01,7.015518652e-01,-1.402665813e-04,8.326880935e-01,7.017130119e-01,-1.385202575e-04,8.217350336e-01
+55,2.466666667e+01,DOWN_SETTLE,1791455223923245616,1.279048429e-05,-1.398075744e-04,-8.199687035e-03,8.714812874e-06,-1.384104993e-04,-8.198610335e-03,-1.871483417e-05,-1.369256308e-04,-8.191926362e-03,7.015506620e-01,-1.382566130e-04,8.325412542e-01,7.015465863e-01,-1.368595380e-04,8.325423309e-01,7.017070691e-01,-1.350633145e-04,8.215886873e-01
+56,2.513333333e+01,DOWN_SETTLE,1791455224624027595,1.312168866e-05,-1.383471386e-04,-8.333316151e-03,1.307559836e-05,-1.382784784e-04,-8.333061875e-03,-1.483195811e-05,-1.368702215e-04,-8.326953809e-03,7.015509932e-01,-1.367961773e-04,8.324076250e-01,7.015509471e-01,-1.367275170e-04,8.324078793e-01,7.017109520e-01,-1.350079052e-04,8.214536599e-01
+57,2.575000000e+01,DOWN_SETTLE,1791455225545308450,-2.203302355e-07,-1.427786539e-04,-8.480341376e-03,1.230882972e-06,-1.428436642e-04,-8.464061919e-03,-2.747530893e-05,-1.415506146e-04,-8.459048326e-03,7.015376512e-01,-1.412276926e-04,8.322605998e-01,7.015391024e-01,-1.412927029e-04,8.322768793e-01,7.016983086e-01,-1.396882983e-04,8.213215654e-01
+58,2.645000000e+01,DOWN_SETTLE,1791455226602800121,-1.020950158e-05,-1.385879786e-04,-8.597976691e-03,-1.027088697e-05,-1.384684355e-04,-8.597980584e-03,-3.982709349e-05,-1.372517640e-04,-8.593681272e-03,7.015276620e-01,-1.370370173e-04,8.321429645e-01,7.015276006e-01,-1.369174742e-04,8.321429606e-01,7.016859568e-01,-1.353894477e-04,8.211869324e-01
+59,2.723333333e+01,DOWN_SETTLE,1791455227771143465,-1.494905969e-05,-1.234948419e-04,-8.665193576e-03,-1.730020980e-05,-1.257749007e-04,-8.663842134e-03,-4.736862429e-05,-1.245979228e-04,-8.660837343e-03,7.015229224e-01,-1.219438806e-04,8.320757476e-01,7.015205713e-01,-1.242239394e-04,8.320770991e-01,7.016784153e-01,-1.227356066e-04,8.211197763e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..debf5d536358bc6a8682cdc045176083b5ed4b68
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-8.3525e-04,3.3959e-03,2.4526e+00,-3.6979e-02,3.6720e-02,-9.5129e-06,4.1010e-04,7.5653e-05,-1.8120e-05,-5.1335e-06,2.7195e-05,2.9690e-07,4.1741e-04,2.7676e-05
+1,8.0000e-01,DOWN_FORCE_DETACH,1.9431e-04,2.4711e-02,6.5903e-03,2.4539e+00,-3.7218e-02,3.8557e-02,7.0382e-05,2.5956e-02,3.2701e-03,1.2681e-03,-2.4384e-04,1.8643e-03,8.0191e-05,2.6192e-02,1.8819e-03
+2,1.5833e+00,DOWN_FORCE_DETACH,3.8858e-04,3.7773e-02,1.2124e-02,2.4933e+00,-3.7589e-02,3.9413e-02,1.0464e-04,3.9018e-02,8.8033e-03,4.0706e-02,-6.1536e-04,2.7203e-03,1.1445e-04,5.7069e-02,2.7914e-03
+3,2.2333e+00,DOWN_FORCE_DETACH,5.8098e-04,4.1771e-02,1.8513e-02,2.5217e+00,-3.8011e-02,3.9677e-02,1.2676e-04,4.3016e-02,1.5192e-02,6.9093e-02,-1.0371e-03,2.9844e-03,1.3657e-04,8.2795e-02,3.1624e-03
+4,2.6000e+00,DOWN_FORCE_DETACH,7.7516e-04,3.1393e-02,2.1274e-02,2.5351e+00,-3.8191e-02,3.8976e-02,1.3960e-04,3.2638e-02,1.7954e-02,8.2474e-02,-1.2169e-03,2.2837e-03,1.4941e-04,9.0496e-02,2.5920e-03
+5,3.2500e+00,DOWN_FORCE_DETACH,9.7296e-04,2.9753e-02,2.7883e-02,2.5499e+00,-3.8620e-02,3.8826e-02,1.5663e-04,3.0998e-02,2.4563e-02,9.7300e-02,-1.6458e-03,2.1336e-03,1.6644e-04,1.0503e-01,2.6997e-03
+6,3.9333e+00,DOWN_FORCE_DETACH,1.1660e-03,3.4137e-02,3.1050e-02,2.5532e+00,-3.8826e-02,3.9098e-02,1.5772e-04,3.5382e-02,2.7730e-02,1.0064e-01,-1.8523e-03,2.4057e-03,1.6753e-04,1.1023e-01,3.0408e-03
+7,4.5167e+00,DOWN_FORCE_DETACH,1.3614e-03,3.7601e-02,2.1217e-02,2.5470e+00,-3.8181e-02,3.9333e-02,1.4219e-04,3.8846e-02,1.7897e-02,9.4364e-02,-1.2070e-03,2.6405e-03,1.5200e-04,1.0360e-01,2.9072e-03
+8,5.3167e+00,DOWN_FORCE_DETACH,1.5567e-03,3.7453e-02,2.0430e-02,2.5414e+00,-3.8129e-02,3.9331e-02,1.0724e-04,3.8698e-02,1.7109e-02,8.8771e-02,-1.1550e-03,2.6382e-03,1.1705e-04,9.8339e-02,2.8823e-03
+9,6.0667e+00,DOWN_FORCE_DETACH,1.7538e-03,4.0572e-02,2.1523e-02,2.5413e+00,-3.8231e-02,3.9541e-02,7.4330e-05,4.1818e-02,1.8203e-02,8.8683e-02,-1.2571e-03,2.8487e-03,8.4139e-05,9.9723e-02,3.1149e-03
+10,6.9500e+00,DOWN_FORCE_DETACH,1.9485e-03,4.4384e-02,2.1755e-02,2.5376e+00,-3.8295e-02,3.9807e-02,4.5757e-05,4.5630e-02,1.8435e-02,8.5050e-02,-1.3216e-03,3.1142e-03,5.5567e-05,9.8262e-02,3.3835e-03
+11,7.8167e+00,DOWN_FORCE_DETACH,2.1394e-03,4.7696e-02,2.3675e-02,2.5429e+00,-3.8451e-02,4.0044e-02,3.7797e-05,4.8942e-02,2.0354e-02,9.0298e-02,-1.4774e-03,3.3513e-03,4.7607e-05,1.0471e-01,3.6628e-03
+12,8.5333e+00,DOWN_FORCE_DETACH,2.3382e-03,5.2262e-02,2.6832e-02,2.5578e+00,-3.8662e-02,4.0357e-02,4.7578e-05,5.3507e-02,2.3512e-02,1.0519e-01,-1.6881e-03,3.6641e-03,5.7388e-05,1.2033e-01,4.0346e-03
+13,9.2667e+00,DOWN_FORCE_DETACH,2.5327e-03,5.5517e-02,3.0080e-02,2.5760e+00,-3.8851e-02,4.0576e-02,7.0618e-05,5.6762e-02,2.6760e-02,1.2336e-01,-1.8768e-03,3.8829e-03,8.0428e-05,1.3840e-01,4.3134e-03
+14,9.9167e+00,DOWN_FORCE_DETACH,2.7284e-03,6.0029e-02,3.3452e-02,2.5900e+00,-3.9025e-02,4.0873e-02,1.0008e-04,6.1275e-02,3.0132e-02,1.3737e-01,-2.0510e-03,4.1801e-03,1.0989e-04,1.5340e-01,4.6575e-03
+15,1.0550e+01,DOWN_FORCE_DETACH,2.9181e-03,6.0280e-02,3.5937e-02,2.5946e+00,-3.9146e-02,4.0889e-02,1.3306e-04,6.1526e-02,3.2617e-02,1.4203e-01,-2.1718e-03,4.1967e-03,1.4287e-04,1.5818e-01,4.7275e-03
+16,1.1183e+01,DOWN_FORCE_DETACH,3.1160e-03,5.9797e-02,3.7251e-02,2.5966e+00,-3.9244e-02,4.0858e-02,1.6430e-04,6.1042e-02,3.3931e-02,1.4396e-01,-2.2705e-03,4.1654e-03,1.7411e-04,1.6001e-01,4.7473e-03
+17,1.1767e+01,DOWN_FORCE_DETACH,3.3080e-03,5.9603e-02,3.5276e-02,2.6038e+00,-3.9163e-02,4.0844e-02,1.8519e-04,6.0848e-02,3.1955e-02,1.5119e-01,-2.1895e-03,4.1513e-03,1.9500e-04,1.6608e-01,4.6973e-03
+18,1.2283e+01,DOWN_FORCE_DETACH,3.5018e-03,6.1825e-02,3.7239e-02,2.6192e+00,-3.9325e-02,4.0982e-02,2.0075e-04,6.3071e-02,3.3919e-02,1.6659e-01,-2.3514e-03,4.2888e-03,2.1056e-04,1.8133e-01,4.8957e-03
+19,1.2817e+01,DOWN_FORCE_DETACH,3.6984e-03,6.7278e-02,4.2033e-02,2.6403e+00,-3.9651e-02,4.1326e-02,2.2322e-04,6.8523e-02,3.8713e-02,1.8771e-01,-2.6768e-03,4.6337e-03,2.3302e-04,2.0354e-01,5.3563e-03
+20,1.3317e+01,DOWN_FORCE_DETACH,3.8944e-03,7.2603e-02,4.8443e-02,2.6599e+00,-4.0058e-02,4.1661e-02,2.4796e-04,7.3849e-02,4.5123e-02,2.0735e-01,-3.0840e-03,4.9684e-03,2.5777e-04,2.2468e-01,5.8534e-03
+21,1.3800e+01,DOWN_FORCE_DETACH,4.0900e-03,7.3478e-02,5.2179e-02,2.6728e+00,-4.0276e-02,4.1706e-02,2.6048e-04,7.4723e-02,4.8858e-02,2.2020e-01,-3.3019e-03,5.0132e-03,2.7029e-04,2.3761e-01,6.0090e-03
+22,1.4250e+01,DOWN_FORCE_DETACH,4.2843e-03,6.8383e-02,5.2173e-02,2.6836e+00,-4.0248e-02,4.1350e-02,2.4832e-04,6.9628e-02,4.8852e-02,2.3101e-01,-3.2744e-03,4.6570e-03,2.5813e-04,2.4617e-01,5.6988e-03
+23,1.4667e+01,DOWN_FORCE_DETACH,4.4786e-03,6.2283e-02,4.8760e-02,2.6932e+00,-4.0013e-02,4.0914e-02,2.1826e-04,6.3529e-02,4.5440e-02,2.4058e-01,-3.0389e-03,4.2210e-03,2.2807e-04,2.5294e-01,5.2061e-03
+24,1.5083e+01,DOWN_FORCE_DETACH,4.6729e-03,5.7131e-02,4.6363e-02,2.7094e+00,-3.9854e-02,4.0533e-02,1.8002e-04,5.8376e-02,4.3043e-02,2.5678e-01,-2.8801e-03,3.8398e-03,1.8983e-04,2.6683e-01,4.8037e-03
+25,1.5467e+01,DOWN_FORCE_DETACH,4.8745e-03,5.4705e-02,4.8533e-02,2.7277e+00,-3.9969e-02,4.0332e-02,1.4535e-04,5.5951e-02,4.5213e-02,2.7509e-01,-2.9949e-03,3.6397e-03,1.5516e-04,2.8434e-01,4.7161e-03
+26,1.5817e+01,DOWN_FORCE_DETACH,5.0643e-03,5.4451e-02,5.3464e-02,2.7422e+00,-4.0245e-02,4.0283e-02,1.1949e-04,5.5696e-02,5.0144e-02,2.8963e-01,-3.2714e-03,3.5906e-03,1.2930e-04,2.9917e-01,4.8591e-03
+27,1.6183e+01,DOWN_FORCE_DETACH,5.2582e-03,5.1054e-02,5.3368e-02,2.7482e+00,-4.0223e-02,4.0040e-02,1.0395e-04,5.2300e-02,5.0048e-02,2.9559e-01,-3.2488e-03,3.3473e-03,1.1376e-04,3.0433e-01,4.6661e-03
+28,1.6533e+01,DOWN_FORCE_DETACH,5.4515e-03,5.0863e-02,5.0381e-02,2.7535e+00,-4.0042e-02,4.0020e-02,9.8920e-05,5.2108e-02,4.7061e-02,3.0088e-01,-3.0687e-03,3.3269e-03,1.0873e-04,3.0896e-01,4.5273e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e86fce6eab7c65dce5e227f0f4fae9e0d5b68b41
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb2b8b407ad1005be4ad53adf178fa398ba604a433b46a81d938394253060416
+size 3092480
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6aff06362b890475d11df247d094f3e99adb81bd
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cfd74da6962df98673d00f19cbe6a5f8b99c517a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b85180d918ca4a49e69e7a08cbaf41a85ae28d94
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e3f4cd7bc340818f5baf687cc12ad28bd0ad5ea
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,6.333333333e-01,UP_FORCE_RAMP,1791455174668958179,-2.306324626e-06,-5.694239634e-07,4.033609461e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.184459254e-07,5.974481829e-08,3.332441745e-08,7.015355652e-01,9.815373576e-07,8.407413445e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262024e-01,1.922061073e-06,8.297806470e-01
+7,6.833333333e-01,UP_FORCE_RAMP,1791455174750093718,2.387635828e-07,-6.897441280e-08,5.631971013e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.448309068e-07,6.358810527e-08,3.517753333e-08,7.015381102e-01,1.481986908e-06,8.407465732e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262288e-01,1.925904360e-06,8.297806489e-01
+8,7.833333333e-01,UP_FORCE_RAMP,1791455174900377309,-2.711705747e-06,5.170761914e-07,7.149606340e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.952585013e-07,7.101526419e-08,3.852092334e-08,7.015351598e-01,2.068037512e-06,8.407480908e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262792e-01,1.933331518e-06,8.297806522e-01
+9,8.833333333e-01,UP_FORCE_RAMP,1791455175050175768,-3.717470305e-06,-3.178819390e-06,1.293811112e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.427072765e-07,7.797348173e-08,4.149866284e-08,7.015341540e-01,-1.627858069e-06,8.407538793e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263266e-01,1.940289736e-06,8.297806552e-01
+10,1.000000000e+00,UP_FORCE_RAMP,1791455175229974874,-6.561579854e-06,-1.678939357e-07,1.653307741e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.944036123e-07,8.561081718e-08,4.458864766e-08,7.015313099e-01,1.383067385e-06,8.407574743e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263783e-01,1.947927071e-06,8.297806583e-01
+11,1.100000000e+00,UP_FORCE_RAMP,1791455175369043262,-3.805206193e-06,2.520171205e-06,2.679040214e-05,-4.471806590e-06,4.403119083e-07,1.971890323e-05,-3.825678904e-06,5.394590753e-07,1.944822081e-05,7.015340663e-01,4.071132526e-06,8.407677316e-01,7.015333997e-01,1.991273229e-06,8.407606601e-01,7.017219583e-01,2.401775329e-06,8.298000619e-01
+12,1.200000000e+00,UP_FORCE_RAMP,1791455175529932722,-7.649554768e-06,3.893010010e-06,3.224377510e-05,-4.471806590e-06,4.403119083e-07,1.971890323e-05,-3.791933475e-06,5.450993128e-07,1.946982416e-05,7.015302219e-01,5.443971331e-06,8.407731850e-01,7.015333997e-01,1.991273229e-06,8.407606601e-01,7.017219920e-01,2.407415567e-06,8.298000835e-01
+13,1.266666667e+00,UP_FORCE_RAMP,1791455175630143453,-6.705479672e-06,2.477733525e-06,3.898820498e-05,-5.434231259e-06,9.468874149e-06,3.981369790e-05,-4.759762854e-06,9.509795895e-06,3.931264738e-05,7.015311660e-01,4.028694846e-06,8.407799294e-01,7.015324373e-01,1.101983547e-05,8.407807549e-01,7.017210242e-01,1.137211215e-05,8.298199263e-01
+14,1.350000000e+00,UP_FORCE_RAMP,1791455175750159467,-5.322834885e-06,2.405694770e-06,4.793489158e-05,-5.434231259e-06,9.468874149e-06,3.981369790e-05,-4.735064637e-06,9.519201805e-06,3.935169263e-05,7.015325486e-01,3.956656091e-06,8.407888761e-01,7.015324373e-01,1.101983547e-05,8.407807549e-01,7.017210489e-01,1.138151806e-05,8.298199654e-01
+15,1.450000000e+00,UP_FORCE_RAMP,1791455175899186856,-7.326503939e-06,5.100801276e-06,5.395389756e-05,-5.434231259e-06,9.468874149e-06,3.981369790e-05,-4.706491338e-06,9.526028456e-06,3.938722877e-05,7.015305450e-01,6.651762597e-06,8.407948951e-01,7.015324373e-01,1.101983547e-05,8.407807549e-01,7.017210774e-01,1.138834471e-05,8.298200009e-01
+16,1.533333333e+00,UP_FORCE_RAMP,1791455176030042944,-4.086385979e-06,1.878112553e-06,6.427777215e-05,-4.885882364e-06,2.538880136e-06,6.182332611e-05,-3.961357815e-06,2.682763940e-06,6.110794275e-05,7.015337851e-01,3.429073874e-06,8.408052190e-01,7.015329856e-01,4.089841458e-06,8.408027645e-01,7.017218226e-01,4.545080194e-06,8.298417216e-01
+17,1.666666667e+00,UP_FORCE_RAMP,1791455176230018002,-4.745380928e-06,8.287094853e-06,7.542436047e-05,-4.885882364e-06,2.538880136e-06,6.182332611e-05,-3.926026830e-06,2.685671271e-06,6.118192343e-05,7.015331261e-01,9.838056174e-06,8.408163655e-01,7.015329856e-01,4.089841458e-06,8.408027645e-01,7.017218579e-01,4.547987525e-06,8.298417956e-01
+18,1.766666667e+00,UP_FORCE_RAMP,1791455176368405985,-4.836887285e-06,5.142170186e-06,8.236008286e-05,-3.400746531e-06,8.675895592e-06,8.157180122e-05,-2.363445906e-06,8.716825990e-06,8.072455453e-05,7.015330346e-01,6.693131507e-06,8.408233013e-01,7.015344707e-01,1.022685691e-05,8.408225130e-01,7.017234205e-01,1.057914224e-05,8.298613382e-01
+19,1.866666667e+00,UP_FORCE_RAMP,1791455176529922608,-1.705715728e-06,6.299493085e-06,1.000862399e-04,-3.400746531e-06,8.675895592e-06,8.157180122e-05,-2.338401156e-06,8.724007491e-06,8.078987933e-05,7.015361658e-01,7.850454406e-06,8.408410274e-01,7.015344707e-01,1.022685691e-05,8.408225130e-01,7.017234455e-01,1.058632375e-05,8.298614036e-01
+20,1.933333333e+00,UP_FORCE_RAMP,1791455176629900799,-2.173428537e-06,7.914880538e-06,1.093448904e-04,-7.851769502e-07,9.454388571e-06,1.024578519e-04,4.030604643e-07,9.502002701e-06,1.014165224e-04,7.015356981e-01,9.465841859e-06,8.408502861e-01,7.015370863e-01,1.100534989e-05,8.408433990e-01,7.017261870e-01,1.136431895e-05,8.298820302e-01
+21,2.050000000e+00,UP_FORCE_RAMP,1791455176799701137,1.573185522e-06,9.536132159e-06,1.270831136e-04,2.025589305e-06,1.112681823e-05,1.228098077e-04,3.409331094e-06,1.118308229e-05,1.215252710e-04,7.015394447e-01,1.108709348e-05,8.408680243e-01,7.015398971e-01,1.267777955e-05,8.408637510e-01,7.017291933e-01,1.304539855e-05,8.299021389e-01
+22,2.150000000e+00,UP_FORCE_RAMP,1791455176976413808,-1.123706900e-06,1.027791745e-05,1.333129182e-04,2.025589305e-06,1.112681823e-05,1.228098077e-04,3.437206644e-06,1.118956134e-05,1.216225004e-04,7.015367478e-01,1.182887877e-05,8.408742541e-01,7.015398971e-01,1.267777955e-05,8.408637510e-01,7.017292211e-01,1.305187759e-05,8.299022362e-01
+23,2.266666667e+00,UP_FORCE_RAMP,1791455177161979917,2.379990630e-07,9.079691060e-06,1.424907174e-04,1.573081188e-06,1.002721658e-05,1.432042291e-04,3.028655092e-06,1.006515609e-05,1.419036814e-04,7.015381095e-01,1.063065238e-05,8.408834319e-01,7.015394446e-01,1.157817790e-05,8.408841454e-01,7.017288126e-01,1.192747235e-05,8.299225174e-01
+24,2.366666667e+00,UP_FORCE_RAMP,1791455177315645896,-1.180899462e-06,8.654951888e-06,1.463194018e-04,1.573081188e-06,1.002721658e-05,1.432042291e-04,3.049709133e-06,1.006916475e-05,1.420081293e-04,7.015366906e-01,1.020591321e-05,8.408872606e-01,7.015394446e-01,1.157817790e-05,8.408841454e-01,7.017288336e-01,1.193148100e-05,8.299226218e-01
+25,2.450000000e+00,UP_FORCE_RAMP,1791455177433039456,-1.153307890e-06,1.217794009e-05,1.526849318e-04,1.573081188e-06,1.002721658e-05,1.432042291e-04,3.066089095e-06,1.007291142e-05,1.420826734e-04,7.015367182e-01,1.372890142e-05,8.408936261e-01,7.015394446e-01,1.157817790e-05,8.408841454e-01,7.017288500e-01,1.193522767e-05,8.299226964e-01
+26,2.533333333e+00,UP_FORCE_RAMP,1791455177561752644,-1.544706600e-07,1.145175892e-05,1.599826436e-04,1.573081188e-06,1.002721658e-05,1.432042291e-04,3.081190344e-06,1.007637635e-05,1.421519426e-04,7.015377170e-01,1.300272024e-05,8.409009238e-01,7.015394446e-01,1.157817790e-05,8.408841454e-01,7.017288651e-01,1.193869261e-05,8.299227656e-01
+27,2.633333333e+00,UP_FORCE_RAMP,1791455177702777462,-2.573834259e-06,9.034625727e-06,1.627867735e-04,1.573081188e-06,1.002721658e-05,1.432042291e-04,3.097883332e-06,1.008022132e-05,1.422294190e-04,7.015352976e-01,1.058558705e-05,8.409037280e-01,7.015394446e-01,1.157817790e-05,8.408841454e-01,7.017288818e-01,1.194253757e-05,8.299228431e-01
+28,2.700000000e+00,UP_FORCE_RAMP,1791455177801601445,-1.403065220e-06,9.583989167e-06,1.688500224e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.336098699e-06,1.317798098e-05,1.669737844e-04,7.015364684e-01,1.113495049e-05,8.409097912e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281200e-01,1.504029724e-05,8.299475875e-01
+29,2.800000000e+00,UP_FORCE_RAMP,1791455177962041115,-2.129318224e-06,1.258513248e-05,1.738760189e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.350271407e-06,1.318322015e-05,1.670708112e-04,7.015357422e-01,1.413609380e-05,8.409148172e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281342e-01,1.504553640e-05,8.299476845e-01
+30,2.900000000e+00,UP_FORCE_RAMP,1791455178104323756,-2.663486121e-07,1.323765973e-05,1.803394538e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.362909359e-06,1.318710466e-05,1.671561585e-04,7.015376051e-01,1.478862105e-05,8.409212806e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281468e-01,1.504942091e-05,8.299477698e-01
+31,2.966666667e+00,UP_FORCE_RAMP,1791455178203263556,-1.283111573e-06,1.686069029e-05,1.818006485e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.370589480e-06,1.318936673e-05,1.672091061e-04,7.015365884e-01,1.841165161e-05,8.409227418e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281545e-01,1.505168298e-05,8.299478228e-01
+32,3.050000000e+00,UP_FORCE_RAMP,1791455178332513341,-2.670315527e-06,7.955837877e-06,1.857086656e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.379450686e-06,1.319192921e-05,1.672714440e-04,7.015352012e-01,9.506799198e-06,8.409266499e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281634e-01,1.505424547e-05,8.299478851e-01
+33,3.133333333e+00,UP_FORCE_RAMP,1791455178461927155,-4.407006391e-06,9.017567717e-06,1.864021022e-04,7.362687949e-07,1.314845388e-05,1.683090179e-04,2.387531733e-06,1.319415663e-05,1.673298447e-04,7.015334645e-01,1.056852904e-05,8.409273433e-01,7.015386078e-01,1.469941520e-05,8.409092502e-01,7.017281715e-01,1.505647289e-05,8.299479435e-01
+34,3.216666667e+00,UP_FORCE_RAMP,1791455178582340397,-2.934106888e-06,8.871887246e-06,1.896896763e-04,-3.265174056e-06,8.126519245e-06,1.879116309e-04,-1.532273347e-06,8.246301105e-06,1.867852282e-04,7.015349374e-01,1.042284857e-05,8.409306309e-01,7.015346063e-01,9.677480566e-06,8.409288528e-01,7.017242517e-01,1.010861736e-05,8.299673989e-01
+35,3.333333333e+00,UP_FORCE_HOLD,1791455178762259415,-4.940854060e-06,9.383386173e-06,1.926343509e-04,-3.265174056e-06,8.126519245e-06,1.879116309e-04,-1.527941127e-06,8.247646991e-06,1.868790735e-04,7.015329306e-01,1.093434749e-05,8.409335755e-01,7.015346063e-01,9.677480566e-06,8.409288528e-01,7.017242560e-01,1.010996324e-05,8.299674928e-01
+36,3.383333333e+00,UP_FORCE_HOLD,1791455178838528355,-7.734549433e-06,-1.014282797e-05,2.012192265e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.964053176e-06,-9.964883829e-06,1.999142309e-04,7.015301369e-01,-8.591866654e-06,8.409421604e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198199e-01,-8.102567575e-06,8.299805279e-01
+37,3.450000000e+00,UP_FORCE_HOLD,1791455178933780357,-8.041326639e-06,-8.264236104e-06,2.040731001e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.970810880e-06,-9.986276301e-06,1.999812116e-04,7.015298302e-01,-6.713274782e-06,8.409450143e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198131e-01,-8.123960047e-06,8.299805949e-01
+38,3.533333333e+00,UP_FORCE_HOLD,1791455179062120686,-9.101622541e-06,-1.232624878e-05,2.002787883e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.972994541e-06,-9.989655259e-06,2.000469842e-04,7.015287699e-01,-1.077528746e-05,8.409412200e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198109e-01,-8.127339005e-06,8.299806607e-01
+39,3.683333333e+00,UP_FORCE_HOLD,1791455179283131344,-1.307739708e-05,-1.011740440e-05,2.017964862e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.976605083e-06,-9.990830761e-06,2.001524667e-04,7.015247941e-01,-8.566443082e-06,8.409427377e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198073e-01,-8.128514507e-06,8.299807661e-01
+40,3.800000000e+00,UP_FORCE_HOLD,1791455179462058430,-1.268239983e-05,-9.665189777e-06,2.054938823e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.979745033e-06,-9.990918380e-06,2.002257288e-04,7.015251891e-01,-8.114228456e-06,8.409464351e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198042e-01,-8.128602125e-06,8.299808394e-01
+41,3.833333333e+00,UP_FORCE_HOLD,1791455179501802709,-2.295936415e-05,-1.095880668e-05,1.979200606e-04,-7.646129021e-06,-1.027002657e-05,2.011310404e-04,-5.980690740e-06,-9.990953593e-06,2.002454170e-04,7.015149121e-01,-9.407845357e-06,8.409388612e-01,7.015302254e-01,-8.719065250e-06,8.409420722e-01,7.017198032e-01,-8.128637339e-06,8.299808591e-01
+42,3.850000000e+00,UP_FORCE_HOLD,1791455179531879257,-4.904840005e-05,-1.778884222e-05,1.746569474e-04,-4.879692447e-05,-1.758991979e-05,1.745145553e-04,-4.773864248e-05,-1.717681963e-05,1.740151031e-04,7.014888231e-01,-1.623788090e-05,8.409155981e-01,7.014890746e-01,-1.603895847e-05,8.409154557e-01,7.016780453e-01,-1.531450337e-05,8.299546288e-01
+43,3.933333333e+00,UP_FORCE_HOLD,1791455179661965204,-4.586627970e-05,-1.456093260e-05,1.860016491e-04,-4.879692447e-05,-1.758991979e-05,1.745145553e-04,-4.782184870e-05,-1.719277549e-05,1.740171673e-04,7.014920052e-01,-1.300997128e-05,8.409269428e-01,7.014890746e-01,-1.603895847e-05,8.409154557e-01,7.016779621e-01,-1.533045924e-05,8.299546308e-01
+44,3.983333333e+00,UP_FORCE_HOLD,1791455179731492754,-4.561690678e-05,-1.141102270e-05,1.870994600e-04,-4.879692447e-05,-1.758991979e-05,1.745145553e-04,-4.784894275e-05,-1.719548737e-05,1.740296437e-04,7.014922546e-01,-9.860061383e-06,8.409280406e-01,7.014890746e-01,-1.603895847e-05,8.409154557e-01,7.016779350e-01,-1.533317112e-05,8.299546433e-01
+45,4.066666667e+00,UP_FORCE_HOLD,1791455179862133212,-4.687476772e-05,-1.161070524e-05,1.893288093e-04,-4.879692447e-05,-1.758991979e-05,1.745145553e-04,-4.788706076e-05,-1.719872683e-05,1.740517548e-04,7.014909967e-01,-1.005974392e-05,8.409302700e-01,7.014890746e-01,-1.603895847e-05,8.409154557e-01,7.016778969e-01,-1.533641058e-05,8.299546654e-01
+46,4.200000000e+00,UP_FORCE_HOLD,1791455180061923086,-4.716469914e-05,-1.470230191e-05,1.922541911e-04,-4.879692447e-05,-1.758991979e-05,1.745145553e-04,-4.793980198e-05,-1.720336226e-05,1.740865518e-04,7.014907068e-01,-1.315134059e-05,8.409331954e-01,7.014890746e-01,-1.603895847e-05,8.409154557e-01,7.016778441e-01,-1.534104601e-05,8.299547002e-01
+47,4.283333333e+00,UP_FORCE_HOLD,1791455180183086632,-4.524679668e-05,-1.076451494e-05,1.999168623e-04,-4.669312085e-05,-1.066332565e-05,1.948018002e-04,-4.573814686e-05,-1.036565924e-05,1.941103091e-04,7.014926247e-01,-9.213553614e-06,8.409408580e-01,7.014911784e-01,-9.112364333e-06,8.409357430e-01,7.016800458e-01,-8.503342989e-06,8.299747240e-01
+48,4.366666667e+00,UP_FORCE_HOLD,1791455180300992121,-4.695353216e-05,-1.503642092e-05,2.018704210e-04,-4.669312085e-05,-1.066332565e-05,1.948018002e-04,-4.576399652e-05,-1.036603549e-05,1.941467728e-04,7.014909179e-01,-1.348545960e-05,8.409428116e-01,7.014911784e-01,-9.112364333e-06,8.409357430e-01,7.016800199e-01,-8.503719232e-06,8.299747605e-01
+49,4.466666667e+00,UP_FORCE_HOLD,1791455180461983760,-4.832222410e-05,-1.649002401e-05,2.071591187e-04,-4.669312085e-05,-1.066332565e-05,1.948018002e-04,-4.579381716e-05,-1.036790542e-05,1.941853589e-04,7.014895493e-01,-1.493906268e-05,8.409481003e-01,7.014911784e-01,-9.112364333e-06,8.409357430e-01,7.016799901e-01,-8.505589169e-06,8.299747990e-01
+50,4.550000000e+00,UP_FORCE_HOLD,1791455180582892399,-4.706294088e-05,-9.940707006e-06,2.162000675e-04,-4.692797380e-05,-1.011284505e-05,2.160323101e-04,-4.605514305e-05,-9.797090669e-06,2.151223097e-04,7.014908085e-01,-8.389745685e-06,8.409571413e-01,7.014909435e-01,-8.561883726e-06,8.409569735e-01,7.016797288e-01,-7.934774415e-06,8.299957360e-01
+51,4.683333333e+00,UP_FORCE_HOLD,1791455180782908439,-4.691231901e-05,-9.991705681e-06,2.223948484e-04,-4.692797380e-05,-1.011284505e-05,2.160323101e-04,-4.609184882e-05,-9.798778532e-06,2.152125202e-04,7.014909592e-01,-8.440744360e-06,8.409633360e-01,7.014909435e-01,-8.561883726e-06,8.409569735e-01,7.016796921e-01,-7.936462278e-06,8.299958262e-01
+52,4.766666667e+00,UP_FORCE_HOLD,1791455180903907670,-4.569233799e-05,-8.966389388e-06,2.267861758e-04,-4.692797380e-05,-1.011284505e-05,2.160323101e-04,-4.611327551e-05,-9.800384457e-06,2.152528651e-04,7.014921791e-01,-7.415428067e-06,8.409677274e-01,7.014909435e-01,-8.561883726e-06,8.409569735e-01,7.016796707e-01,-7.938068203e-06,8.299958665e-01
+53,4.850000000e+00,UP_FORCE_HOLD,1791455181033314570,-4.671790983e-05,-5.600504040e-06,2.294919524e-04,-4.692797380e-05,-1.011284505e-05,2.160323101e-04,-4.613405132e-05,-9.802023069e-06,2.152901467e-04,7.014911536e-01,-4.049542719e-06,8.409704331e-01,7.014909435e-01,-8.561883726e-06,8.409569735e-01,7.016796499e-01,-7.939706815e-06,8.299959038e-01
+54,4.933333333e+00,UP_FORCE_HOLD,1791455181162066353,-4.748781634e-05,-1.105631042e-05,2.331851707e-04,-4.692797380e-05,-1.011284505e-05,2.160323101e-04,-4.615411844e-05,-9.803654418e-06,2.153249719e-04,7.014903837e-01,-9.505349101e-06,8.409741264e-01,7.014909435e-01,-8.561883726e-06,8.409569735e-01,7.016796298e-01,-7.941338164e-06,8.299959386e-01
+55,5.033333333e+00,UP_FORCE_HOLD,1791455181303315190,-4.592966062e-05,-7.752431651e-06,2.394531937e-04,-4.458151067e-05,-8.672153154e-06,2.366793138e-04,-4.366994956e-05,-8.393675288e-06,2.357553931e-04,7.014919418e-01,-6.201470329e-06,8.409803944e-01,7.014932900e-01,-7.121191833e-06,8.409776205e-01,7.016821140e-01,-6.531359033e-06,8.300163691e-01
+56,5.166666667e+00,UP_FORCE_HOLD,1791455181504487149,-4.598947862e-05,-9.633717556e-06,2.449878962e-04,-4.458151067e-05,-8.672153154e-06,2.366793138e-04,-4.369549993e-05,-8.395224297e-06,2.358278772e-04,7.014918820e-01,-8.082756235e-06,8.409859291e-01,7.014932900e-01,-7.121191833e-06,8.409776205e-01,7.016820884e-01,-6.532908043e-06,8.300164416e-01
+57,5.266666667e+00,UP_FORCE_HOLD,1791455181662244715,-4.841667656e-05,-7.898774210e-06,2.452052242e-04,-4.458151067e-05,-8.672153154e-06,2.366793138e-04,-4.371440348e-05,-8.396770074e-06,2.358760706e-04,7.014894548e-01,-6.347812889e-06,8.409861464e-01,7.014932900e-01,-7.121191833e-06,8.409776205e-01,7.016820695e-01,-6.534453820e-06,8.300164897e-01
+58,5.350000000e+00,UP_FORCE_HOLD,1791455181835340586,-4.299175067e-05,-5.408090347e-06,2.532991588e-04,-4.458151067e-05,-8.672153154e-06,2.366793138e-04,-4.372973563e-05,-8.398159652e-06,2.359132506e-04,7.014948797e-01,-3.857129026e-06,8.409942403e-01,7.014932900e-01,-7.121191833e-06,8.409776205e-01,7.016820542e-01,-6.535843398e-06,8.300165269e-01
+59,5.450000000e+00,UP_SETTLE,1791455181986955240,-4.463938771e-05,-1.112927866e-05,2.527896879e-04,-4.458151067e-05,-8.672153154e-06,2.366793138e-04,-4.374749250e-05,-8.399848211e-06,2.359546721e-04,7.014932321e-01,-9.578317335e-06,8.409937309e-01,7.014932900e-01,-7.121191833e-06,8.409776205e-01,7.016820364e-01,-6.537531957e-06,8.300165683e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..73c3f70d7c089ef16c016056e6e5f2357a505a07
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_06/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-8.3525e-04,3.3959e-03,2.4526e+00,-3.6979e-02,3.6720e-02,-9.5129e-06,4.1010e-04,7.5653e-05,-1.8120e-05,-5.1335e-06,2.7195e-05,2.9690e-07,4.1741e-04,2.7676e-05
+1,1.5000e-01,UP_FORCE_RAMP,2.2918e-05,3.0025e-03,3.9911e-03,2.4526e+00,-3.7020e-02,3.6975e-02,-6.2792e-06,4.2479e-03,6.7090e-04,-4.5300e-05,-4.5996e-05,2.8273e-04,3.5306e-06,4.3008e-03,2.8647e-04
+2,2.3333e-01,UP_FORCE_RAMP,4.4710e-05,5.1684e-03,4.2688e-03,2.4526e+00,-3.7039e-02,3.7121e-02,-4.0872e-06,6.4138e-03,9.4862e-04,1.5736e-05,-6.5316e-05,4.2789e-04,5.7226e-06,6.4836e-03,4.3289e-04
+3,3.5000e-01,UP_FORCE_RAMP,6.7533e-05,8.1656e-03,4.6171e-03,2.4528e+00,-3.7063e-02,3.7323e-02,-5.9264e-07,9.4109e-03,1.2969e-03,1.5640e-04,-8.9750e-05,6.2993e-04,9.2171e-06,9.5012e-03,6.3636e-04
+4,4.3333e-01,UP_FORCE_RAMP,8.9768e-05,1.0256e-02,4.8449e-03,2.4529e+00,-3.7080e-02,3.7464e-02,2.1812e-06,1.1501e-02,1.5247e-03,2.8038e-04,-1.0582e-04,7.7166e-04,1.1991e-05,1.1605e-02,7.7898e-04
+5,5.3333e-01,UP_FORCE_RAMP,1.1267e-04,1.2701e-02,5.1023e-03,2.4530e+00,-3.7098e-02,3.7631e-02,5.7963e-06,1.3946e-02,1.7821e-03,4.4250e-04,-1.2403e-04,9.3825e-04,1.5606e-05,1.4066e-02,9.4654e-04
+6,6.3333e-01,UP_FORCE_RAMP,1.3715e-04,1.5069e-02,5.3468e-03,2.4532e+00,-3.7115e-02,3.7793e-02,9.7054e-06,1.6315e-02,2.0266e-03,6.0892e-04,-1.4134e-04,1.1006e-03,1.9515e-05,1.6451e-02,1.1098e-03
+7,6.8333e-01,UP_FORCE_RAMP,1.5826e-04,2.3654e-02,6.4912e-03,2.4539e+00,-3.7212e-02,3.8489e-02,6.8916e-05,2.4899e-02,3.1710e-03,1.2980e-03,-2.3797e-04,1.7967e-03,7.8726e-05,2.5134e-02,1.8141e-03
+8,7.8333e-01,UP_FORCE_RAMP,1.8299e-04,2.4532e-02,6.5739e-03,2.4539e+00,-3.7217e-02,3.8545e-02,7.0144e-05,2.5777e-02,3.2537e-03,1.2679e-03,-2.4285e-04,1.8528e-03,7.9953e-05,2.6013e-02,1.8703e-03
+9,8.8333e-01,UP_FORCE_RAMP,2.0472e-04,2.5697e-02,6.6787e-03,2.4539e+00,-3.7223e-02,3.8621e-02,7.1707e-05,2.6942e-02,3.3585e-03,1.2856e-03,-2.4921e-04,1.9280e-03,8.1517e-05,2.7181e-02,1.9458e-03
+10,1.0000e+00,UP_FORCE_RAMP,2.2752e-04,2.7241e-02,6.8139e-03,2.4539e+00,-3.7231e-02,3.8721e-02,7.3917e-05,2.8487e-02,3.4937e-03,1.3428e-03,-2.5753e-04,2.0287e-03,8.3726e-05,2.8732e-02,2.0467e-03
+11,1.1000e+00,UP_FORCE_RAMP,2.5004e-04,3.4067e-02,6.7094e-03,2.4410e+00,-3.7223e-02,3.9175e-02,8.4223e-05,3.5313e-02,3.3892e-03,-1.1630e-02,-2.4905e-04,2.4825e-03,9.4033e-05,3.7333e-02,2.4967e-03
+12,1.2000e+00,UP_FORCE_RAMP,2.7421e-04,3.4243e-02,6.8146e-03,2.4420e+00,-3.7229e-02,3.9192e-02,8.6707e-05,3.5489e-02,3.4944e-03,-1.0636e-02,-2.5566e-04,2.4998e-03,9.6517e-05,3.7213e-02,2.5147e-03
+13,1.2667e+00,UP_FORCE_RAMP,2.9606e-04,3.7350e-02,6.5930e-03,2.4476e+00,-3.7210e-02,3.9435e-02,1.0952e-04,3.8596e-02,3.2727e-03,-4.9987e-03,-2.3627e-04,2.7421e-03,1.1933e-04,3.9055e-02,2.7548e-03
+14,1.3500e+00,UP_FORCE_RAMP,3.1590e-04,3.7489e-02,1.8515e-03,2.4326e+00,-3.6898e-02,3.9451e-02,1.1250e-04,3.8734e-02,-1.4688e-03,-2.0038e-02,7.5553e-05,2.7582e-03,1.2231e-04,4.3635e-02,2.7620e-03
+15,1.4500e+00,UP_FORCE_RAMP,3.4013e-04,3.8256e-02,2.2600e-03,2.4335e+00,-3.6921e-02,3.9503e-02,1.1394e-04,3.9502e-02,-1.0603e-03,-1.9067e-02,5.2534e-05,2.8108e-03,1.2375e-04,4.3875e-02,2.8140e-03
+16,1.5333e+00,UP_FORCE_RAMP,3.6206e-04,3.9594e-02,7.1221e-03,2.4217e+00,-3.7236e-02,3.9600e-02,1.2046e-04,4.0839e-02,3.8018e-03,-3.0899e-02,-2.6177e-04,2.9075e-03,1.3027e-04,5.1352e-02,2.9221e-03
+17,1.6667e+00,UP_FORCE_RAMP,3.8703e-04,4.0319e-02,6.2541e-03,2.4237e+00,-3.7179e-02,3.9653e-02,1.2347e-04,4.1565e-02,2.9338e-03,-2.8923e-02,-2.0549e-04,2.9602e-03,1.3328e-04,5.0722e-02,2.9703e-03
+18,1.7667e+00,UP_FORCE_RAMP,4.0967e-04,4.0807e-02,4.9920e-03,2.4229e+00,-3.7096e-02,3.9688e-02,1.2578e-04,4.2053e-02,1.6718e-03,-2.9730e-02,-1.2262e-04,2.9955e-03,1.3559e-04,5.1527e-02,3.0010e-03
+19,1.8667e+00,UP_FORCE_RAMP,4.3404e-04,4.1302e-02,4.0631e-03,2.4211e+00,-3.7036e-02,3.9725e-02,1.2793e-04,4.2547e-02,7.4285e-04,-3.1481e-02,-6.2551e-05,3.0319e-03,1.3774e-04,5.2933e-02,3.0356e-03
+20,1.9333e+00,UP_FORCE_RAMP,4.5079e-04,4.1245e-02,3.5538e-03,2.4182e+00,-3.7003e-02,3.9723e-02,1.2948e-04,4.2490e-02,2.3361e-04,-3.4414e-02,-2.8852e-05,3.0302e-03,1.3929e-04,5.4679e-02,3.0336e-03
+21,2.0500e+00,UP_FORCE_RAMP,4.7738e-04,4.1406e-02,3.0141e-03,2.4148e+00,-3.6966e-02,3.9738e-02,1.3180e-04,4.2652e-02,-3.0607e-04,-3.7844e-02,7.4282e-06,3.0448e-03,1.4161e-04,5.7021e-02,3.0481e-03
+22,2.1500e+00,UP_FORCE_RAMP,4.9916e-04,4.1300e-02,2.5699e-03,2.4109e+00,-3.6937e-02,3.9734e-02,1.3372e-04,4.2545e-02,-7.5030e-04,-4.1681e-02,3.7104e-05,3.0414e-03,1.4353e-04,5.9565e-02,3.0450e-03
+23,2.2667e+00,UP_FORCE_RAMP,5.1993e-04,4.1839e-02,2.4071e-03,2.4088e+00,-3.6926e-02,3.9774e-02,1.3610e-04,4.3084e-02,-9.1316e-04,-4.3797e-02,4.8205e-05,3.0811e-03,1.4591e-04,6.1443e-02,3.0850e-03
+24,2.3667e+00,UP_FORCE_RAMP,5.4244e-04,4.2431e-02,2.4678e-03,2.4058e+00,-3.6929e-02,3.9816e-02,1.3806e-04,4.3676e-02,-8.5244e-04,-4.6780e-02,4.4651e-05,3.1238e-03,1.4787e-04,6.4006e-02,3.1276e-03
+25,2.4500e+00,UP_FORCE_RAMP,5.6667e-04,4.2991e-02,2.5151e-03,2.4051e+00,-3.6932e-02,3.9856e-02,1.3963e-04,4.4236e-02,-8.0511e-04,-4.7542e-02,4.1779e-05,3.1634e-03,1.4944e-04,6.4944e-02,3.1672e-03
+26,2.5333e+00,UP_FORCE_RAMP,5.9145e-04,4.3583e-02,2.5642e-03,2.4053e+00,-3.6935e-02,3.9898e-02,1.4117e-04,4.4828e-02,-7.5604e-04,-4.7288e-02,3.8587e-05,3.2049e-03,1.5098e-04,6.5164e-02,3.2087e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b06de2b884b17a2f820ed358cf00457932066e84
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bae3c8732775769eba993ffdc6faba71f3fd5dabf81dbb8d5d43f2147a273d9d
+size 2570240
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1575b11c47043f0889e26c97b6088fde23740b87
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7d453e108c40c2eee05c163e83869f065c5c3a04
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
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+44772,1791455251508353070,10229897000000,1791455251503337269,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760573749304857,-0.004780239556112988,0.09040837832793762,0.9999999578229788,0.0002311818176933534,-6.729145236126466e-05,0.00013350555157175443,0.6761,-0.0048,0.09041235787077222,1.0,0.0,0.0,0.0,-0.07240355303000978,-0.19183539933736216,0.5613813206057131,-0.014546985113584812,0.005222821976945353,-5.040727602544158e-05,-0.03867448813559639,-0.2812475137368641,0.44008536884175153,-0.017503006528058092,0.00228043628295657,-0.001552003559760721,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.3546042461203082,-0.26793961306221376,0.37165358581950597,0.14392862028895398,-0.12369641489372099,-0.26666727245008676,0.721557885649919,0.5613813206057131,0.349904299830413,0.349904299830413,0.3640200000000215,0,0,-5.783269100137633e-05,9.371607242870112e-05
+44929,1791455252816453938,10231205000000,1791455252811338358,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760599360489695,-0.004787389588921651,0.09035021701399247,0.9999999566969737,0.00023110395323842084,-6.284426401742772e-05,0.00014384184385291942,0.6761,-0.0048,0.0903468345412178,1.0,0.0,0.0,0.0,-0.06376728307326657,-0.17829780554363,0.5850508358410288,-0.013529684350151798,0.005195967675554114,-5.6993919276434246e-05,-0.03003821817885316,-0.2677099199431319,0.4637548840770672,-0.01648570576462508,0.0022535819815653313,-0.0015585902030117137,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4031173647109386,-0.20295141699404914,0.3776688588635708,0.12956884533281574,-0.11836084967854124,-0.22142490456573571,0.721557885649919,0.5850508358410288,0.34388902678634814,0.34388902678634814,0.44250000000002737,0,0,-4.837094128992548e-05,-9.999999025923074e-05
+45036,1791455253708423123,10232097000000,1791455253703337070,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760623082318838,-0.0047378175182884435,0.09029687056860397,0.9999999930826063,3.2842538297861264e-05,-4.9584593245110675e-05,-4.171795303922091e-05,0.6761,-0.0048,0.09029820364426187,1.0,0.0,0.0,0.0,-0.06381262078642776,-0.17098151225138886,0.6056371067552918,-0.013532636529608401,0.00519022641416716,-7.361713178935764e-05,-0.03008355589201436,-0.2603936266508908,0.48434115499133024,-0.01648865794408168,0.0022478407201783775,-0.001575213415524637,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4410687498571943,-0.2730353639188123,0.42028656405819365,0.1661137452076946,-0.1296014690582251,-0.26951117228088806,0.721557885649919,0.6056371067552918,0.3012713215917253,0.3012713215917253,0.4960200000000314,0,0,-6.098700030684879e-05,-9.646451279288754e-05
+45149,1791455254650437990,10233039000000,1791455254643337005,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760629244346122,-0.004760716715612792,0.09023486676491713,0.9999999935654165,4.954750464415994e-05,-4.279082763788306e-05,-5.101118332447095e-06,0.6761,-0.0048,0.09022653428759095,1.0,0.0,0.0,0.0,-0.03885207596273052,-0.12109802260685815,0.649860025162844,-0.009410942094572388,0.0034446234056190518,-8.779161277614432e-05,-0.005123011068317123,-0.21051013700636007,0.5285640733988825,-0.012366963509045668,0.000502237711630269,-0.0015893878965114237,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.48567678799293695,-0.1346974469020223,0.3624540050994699,0.03118358688297337,-0.07428911944362099,-0.1511313442951887,0.721557885649919,0.649860025162844,0.35910388055044906,0.35910388055044906,0.552539999999987,0,0,-8.295868717952815e-05,-9.99903451967043e-05
+45284,1791455255775359071,10234164000000,1791455255771336954,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760648184813602,-0.0047753787826988695,0.09015025231861594,0.9999999926994597,6.112128670534325e-05,-4.295001707264055e-05,2.152740842251603e-05,0.6761,-0.0048,0.09013985090322356,1.0,0.0,0.0,0.0,-0.03855573248068605,-0.1222593475726032,0.687865294081161,-0.008616671316256775,0.0030709168429950717,-0.0001131808970109224,-0.004826667586272647,-0.21167146197210512,0.5665693423171995,-0.011572692730730055,0.00012853114900628903,-0.0016147771807462018,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5308454468363526,-0.12101390284872372,0.2541451584512491,0.10469208831317278,-0.009763751152095901,-0.15630697488348533,0.721557885649919,0.687865294081161,0.4674127271986699,0.4674127271986699,0.6200399999999296,0,0,-6.97684344838897e-05,-9.908576323181534e-05
+45404,1791455256775389786,10235164000000,1791455256771337393,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760647806330115,-0.004779697150525823,0.09008514044051635,0.999999991751043,6.75118528627456e-05,-4.4057348045199894e-05,3.797206947186476e-05,0.6761,-0.0048,0.09007133145231573,1.0,0.0,0.0,0.0,-0.032722430931267255,-0.12068017319426752,0.6880176714682799,-0.008621674237928725,0.0031863965123919086,-0.0001094199216348402,0.0010066339631461447,-0.21009228759376944,0.5667217197043183,-0.011577695652402005,0.00024401081840312588,-0.0016110162053701196,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5492653166160671,-0.25304467380136475,0.17873574579699875,0.18809269749003546,0.03206907174689452,-0.2557530297998958,0.721557885649919,0.6880176714682799,0.5428221398529203,0.5428221398529203,0.6800399999998786,0,0,-6.678331805207017e-05,-8.761083111619711e-05
+45540,1791455257908442163,10236297000000,1791455257907337019,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760641346742255,-0.004778679289101268,0.09000695101429053,0.9999999903950245,7.546437573560322e-05,-4.7654358358148475e-05,5.183633457037043e-05,0.6761,-0.0048,0.08998769772529149,1.0,0.0,0.0,0.0,-0.04690023294173507,-0.12789787381875706,0.6972623796250863,-0.010454027770880076,0.004097501110117514,-0.0001266722069738547,-0.013171168047321671,-0.21730998821825898,0.5759664278611247,-0.013410049185353356,0.0011551154161287313,-0.0016282684907091341,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5621400788576156,-0.23145320191832805,0.05830555725726686,0.20006268440010655,0.1038164818946775,-0.24507246480091371,0.721557885649919,0.6972623796250863,0.6632523283926521,0.6632523283926521,0.7480199999998208,0,0,-8.17128033750184e-05,9.994804569946609e-05
+45674,1791455259025404682,10237414000000,1791455259023336972,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760645275557025,-0.004787181937219624,0.08991453851256878,0.999999991760085,5.6734689321562744e-05,-4.543995656091016e-05,5.137197454518092e-05,0.6761,-0.0048,0.08988944612736406,1.0,0.0,0.0,0.0,-0.04732624472951713,-0.13191078379392931,0.7047873023287136,-0.009440761435010147,0.004077817416765621,-0.00012108860615371955,-0.01359717983510373,-0.22132289819343123,0.583491350564752,-0.012396782849483427,0.0011354317227768383,-0.001622684889888999,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5780372209015696,-0.1591398002528492,0.16146184510657705,0.19238757308395768,0.032696014391305574,-0.19761812436984694,0.721557885649919,0.7047873023287136,0.5600960405433419,0.5600960405433419,0.8150399999997638,0,0,-9.706093527103577e-05,-9.999367586577818e-05
+45800,1791455260075392246,10238464000000,1791455260071336967,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.676065908166037,-0.004790496963663422,0.08980907252480631,0.9999999928690714,3.4020377974993524e-05,-4.394419893394425e-05,5.1149222784469144e-05,0.6761,-0.0048,0.0897811095854452,1.0,0.0,0.0,0.0,-0.049506929651167236,-0.1305820300371654,0.7278165690280748,-0.009448514540355082,0.004204438985225967,-0.00013802853261707403,-0.01577786475675384,-0.21999414443666732,0.6065206172641132,-0.012404535954828362,0.0012620532912371843,-0.0016396248163523535,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6142266267038015,-0.2197775252492017,-0.023729945998322878,0.20546141736833187,0.15740254497805042,-0.24047089920969958,0.721557885649919,0.7278165690280748,0.7452878316482419,0.7452878316482419,0.8780399999997103,0,0,-0.00010739284652253189,9.999978209241362e-05
+45929,1791455261150482277,10239539000000,1791455261147336784,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760679654705125,-0.004794940863955496,0.08968886809061424,0.9999999932209226,1.7076609853209508e-05,-4.297372194935017e-05,5.3503904931848544e-05,0.6761,-0.0048,0.08965783240537413,1.0,0.0,0.0,0.0,-0.054816069890705366,-0.12931100548018096,0.7382045409169804,-0.009452621411335864,0.004290837553603928,-0.00014579421811505128,-0.02108700499629196,-0.21872311987968288,0.6169085891530188,-0.012408642825809144,0.0013484518596151452,-0.0016473905018503307,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6607694022464935,-0.1956747800181388,-0.05386246411765029,0.20617376596338366,0.18224400240140526,-0.2232258305774545,0.721557885649919,0.7382045409169804,0.7754203497675692,0.7754203497675692,0.9425399999996554,0,0,-0.00012277024873522257,9.99976032797278e-05
+46049,1791455262150467508,10240539000000,1791455262147337004,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760692676466988,-0.004794678519731983,0.08956707277382683,0.999999981861224,0.0001516842073243763,-4.147555761383107e-05,5.4700049959343846e-05,0.6761,-0.0048,0.08952908206481065,1.0,0.0,0.0,0.0,-0.05696905804454221,-0.13093263569679137,0.7577339694291302,-0.00947821241358697,0.005079787778468972,-0.00014958036379482398,-0.023239993150128813,-0.22034475009629328,0.6364380176651686,-0.01243423382806025,0.0021374020844801894,-0.0016511766475301034,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.68784930572361,-0.056777010535344556,-0.07251304051343611,0.16213055926638892,0.1957636835202028,-0.15651189796010861,0.721557885649919,0.7577339694291302,0.7940709261633551,0.7940709261633551,1.0025399999996045,0,0,-0.00013673022275920298,9.13224732209727e-05
+46169,1791455263150428409,10241539000000,1791455263143337032,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760746280456139,-0.004799493635455642,0.0894319737540863,0.999999987508862,0.00011159158366697706,-3.644282262193772e-05,5.142352777989661e-05,0.6761,-0.0048,0.08938572657787555,1.0,0.0,0.0,0.0,-0.0578852848695939,-0.11857265031652897,0.7613999656925959,-0.008594971963493054,0.005062503344294467,-0.00014109350237506571,-0.0241562199751805,-0.2079847647160309,0.6401040139286344,-0.011550993377966334,0.0021201176503056842,-0.0016426897861103451,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6422651130160276,-0.2536275072050913,-0.04444421016349322,0.24244405052075774,0.1539357499336715,-0.2535290548167654,0.721557885649919,0.7613999656925959,0.7660020958134122,0.7660020958134122,1.0625399999995535,0,0,-0.0001505105230823186,-9.144400100880574e-05
+46272,1791455264008474366,10242397000000,1791455264007336641,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760746171177318,-0.00480447016258251,0.0892973944519869,0.9999999891519359,9.086459365600272e-05,-3.855677355158392e-05,5.827515181976328e-05,0.6761,-0.0048,0.0892522316225613,1.0,0.0,0.0,0.0,-0.06371859591417157,-0.13122826396627124,0.7676602663166125,-0.009882903195445878,0.00508517709543708,-0.0001670175217865506,-0.02998953101975817,-0.22064037836577316,0.646364314552651,-0.012838924609919158,0.0021427914014482976,-0.00166861380552183,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6998869078776816,-0.22997983496037327,-0.14714046671229164,0.25111386192720037,0.22765006152757047,-0.22447549532361058,0.721557885649919,0.7676602663166125,0.8686983523622106,0.8686983523622106,1.1140199999995097,0,0,-0.0001612620253762812,7.720161595970438e-05
+46373,1791455264850459363,10243239000000,1791455264847337204,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.676073643534476,-0.004807407723483333,0.08915200524456138,0.999999991101014,6.489484154419324e-05,-4.035585244182517e-05,5.831724498433872e-05,0.6761,-0.0048,0.089111032076292,1.0,0.0,0.0,0.0,-0.05721152700301616,-0.14169989245603654,0.7874328331457059,-0.010504898002026706,0.005092884615008734,-0.00018513710335502434,-0.02348246210860276,-0.23111200685553845,0.6661368813817443,-0.013460919416499986,0.002150498921019951,-0.0016867333870903038,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6803553201342527,-0.31177129410294796,-0.08969589815581469,0.2799205765855425,0.1834128783907907,-0.276160630325798,0.721557885649919,0.7874328331457059,0.8112537838057337,0.8112537838057337,1.1645399999994668,0,0,-0.00017509780318311486,-9.999999025923074e-05
+46466,1791455265625446166,10244014000000,1791455265623336668,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.67607375850734,-0.004812067961118908,0.08901172418300299,0.9999999916634623,5.28090785698874e-05,-4.1266803589298485e-05,6.02012618466647e-05,0.6761,-0.0048,0.08897280854332465,1.0,0.0,0.0,0.0,-0.054384885265532375,-0.13831561753762195,0.7975154553618236,-0.010489875107898818,0.004489515303356041,-0.00019820066315326163,-0.020655820371118974,-0.22772773193712387,0.676219503597862,-0.013445896522372098,0.001547129609367258,-0.001699796946888541,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6832301516495124,-0.23675398450108837,-0.16831785988708908,0.26236707791246944,0.22909161963231509,-0.22829439535780838,0.721557885649919,0.7975154553618236,0.8898757455370081,0.8898757455370081,1.2110399999994272,0,0,-0.00018381809413078732,-6.505258417910937e-05
+46564,1791455266441480465,10244830000000,1791455266439337013,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760673315166752,-0.004808838616516692,0.08884698114049468,0.9999999908685472,5.1469752264799015e-05,-5.3606364031985784e-05,6.46760574730589e-05,0.6761,-0.0048,0.08881533923106445,1.0,0.0,0.0,0.0,-0.0468247867642316,-0.14265043478508926,0.7974955933645608,-0.010505792817446982,0.005040992838988279,-0.00019279548329337423,-0.013095721869818198,-0.23206254918459118,0.6761996416005992,-0.013461814231920262,0.002098607144999496,-0.0016943917670286537,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6756534702694814,-0.25252938060706814,-0.14860969912564434,0.2779222769209515,0.21210329076197895,-0.23462473247479473,0.721557885649919,0.7974955933645608,0.8701675847755633,0.8701675847755633,1.2599999999993856,0,0,-0.00020114040685389879,-9.998960967395049e-05
+46656,1791455267208377122,10245597000000,1791455267207336831,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760643530338779,-0.004807121192644018,0.08868168202896885,0.9999999901113825,5.512272895921293e-05,-5.898702334932879e-05,6.857197030150671e-05,0.6761,-0.0048,0.08865479260957965,1.0,0.0,0.0,0.0,-0.04725058159260729,-0.14169908598519018,0.8095049307377028,-0.010481631107893314,0.004074941411087152,-0.00021759766301833396,-0.013521516698193887,-0.2311112003846921,0.6882089789737412,-0.013437652522366594,0.0011325557170983687,-0.0017191939467536134,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6568784649786152,-0.2449355522592435,-0.2677054529849959,0.2851467902733418,0.27599071866286196,-0.22723844179935804,0.721557885649919,0.8095049307377028,0.9892633386349148,0.9892633386349148,1.3060199999993465,0,0,-0.00021708870883288688,9.845443490886225e-05
+46745,1791455267950474928,10246339000000,1791455267947337190,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760662444246002,-0.004809135642062325,0.0885184134005847,0.9999999802703248,0.0001497088689144117,-5.618210701617094e-05,7.302766333560318e-05,0.6761,-0.0048,0.08848829348005255,1.0,0.0,0.0,0.0,-0.05975768742994013,-0.14182230467727794,0.8175182545943946,-0.010510639721424209,0.005086411954153865,-0.0002094937079740269,-0.026028622535526732,-0.23123441907677986,0.6962223028304331,-0.013466661135897489,0.0021440262601650825,-0.0017110899917093063,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7009963424861154,-0.21123166373349886,-0.13646751338133847,0.2709463927151666,0.20210880134539516,-0.2261895139132628,0.721557885649919,0.8175182545943946,0.8580253990312574,0.8580253990312574,1.3505399999993086,0,0,-0.0002329202843751307,-9.999999025923074e-05
+46820,1791455268575373136,10246964000000,1791455268575336929,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760619920239228,-0.004816224357244286,0.0883620394135718,0.9999999845281757,0.00011150433104653564,-6.347520713562563e-05,7.696879079010008e-05,0.6761,-0.0048,0.08833714764570852,1.0,0.0,0.0,0.0,-0.05671170850245679,-0.14771522295362324,0.8197322818758105,-0.010512129402315466,0.005086533356893696,-0.00021116788005212856,-0.02298264360804339,-0.23712733735312516,0.6984363301118489,-0.013468150816788746,0.002144147662904913,-0.001712764163787408,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.647104434434531,-0.2531101321323261,-0.19653551833101085,0.3074045303511541,0.22028146685307481,-0.22922391460493047,0.721557885649919,0.8197322818758105,0.9180934039809299,0.9180934039809299,1.3880399999992767,0,0,-0.0002501101673366409,-9.999696490148863e-05
+46898,1791455269225431422,10247614000000,1791455269223336472,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760653342989494,-0.004819651114159966,0.08819802913405586,0.9999999874991191,8.330651688468092e-05,-5.8028104601705404e-05,7.834149205172711e-05,0.6761,-0.0048,0.08816825545267344,1.0,0.0,0.0,0.0,-0.06564062758939104,-0.14117159172919475,0.8375340888663403,-0.010538243732815367,0.005959887657945062,-0.00021321553433630643,-0.03191156269497765,-0.23058370612869666,0.7162381371023787,-0.013494265147288647,0.003017501963956279,-0.0017148118180715858,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6954884575514698,-0.2726147653496735,-0.22604983710106555,0.3255746817710796,0.24783049444146274,-0.2438014951990587,0.721557885649919,0.8375340888663403,0.9476077227509845,0.9476077227509845,1.4270399999992436,0,0,-0.00026818297118732924,-9.999999025923074e-05
+46970,1791455269825493018,10248214000000,1791455269823337042,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760612332421881,-0.00482129536129543,0.08802266923266519,0.9999999883671583,5.968392505720413e-05,-6.692379267157234e-05,8.1655266834168e-05,0.6761,-0.0048,0.08800261636542535,1.0,0.0,0.0,0.0,-0.06343028561055637,-0.15271641468198738,0.8572560371934604,-0.011539108952679795,0.005097464983250274,-0.000253805494880806,-0.029701220716142968,-0.2421285290814893,0.7359600854294989,-0.014495130367153075,0.002155079289261491,-0.0017554017786160854,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6884238325203694,-0.247510770746991,-0.2614872565287922,0.3295881936289751,0.2685195095385365,-0.22365688916716103,0.721557885649919,0.8572560371934604,0.9830451421787112,0.9830451421787112,1.463039999999213,0,0,-0.0002838822618853145,-4.156214956552021e-05
+47040,1791455270408435179,10248797000000,1791455270403336913,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760579215032924,-0.0048279713418501145,0.08784244499275662,0.9999999880401098,4.234188236000959e-05,-7.615552538925805e-05,8.814842880567028e-05,0.6761,-0.0048,0.087831613387634,1.0,0.0,0.0,0.0,-0.059945601328490805,-0.15277767085065694,0.8674072925117357,-0.01154112601999488,0.0050953496472605254,-0.00026151266650410016,-0.0262165364340774,-0.24218978525015886,0.7461113407477741,-0.01449714743446816,0.002152963953271743,-0.0017631089502393796,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6971328612291959,-0.3469042604514196,-0.26523818170905833,0.36798182723394973,0.2710769831149937,-0.28960572966907583,0.721557885649919,0.8674072925117357,0.9867960673589773,0.9867960673589773,1.4980199999991832,0,0,-0.0002996241684025388,-4.1561847045851155e-05
+47112,1791455271008442539,10249397000000,1791455271007336794,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760589671325671,-0.004824911259116275,0.08766351826469539,0.9999999824839707,0.00011549349985836584,-7.402623209423704e-05,8.750023518679814e-05,0.6761,-0.0048,0.08764497075425791,1.0,0.0,0.0,0.0,-0.07471033547444364,-0.15228404524230932,0.8669086515896403,-0.011568411751178558,0.006108115840181975,-0.00024727553712957707,-0.040981270580030246,-0.24169615964181124,0.7456126998256787,-0.014524433165651838,0.003165730146193193,-0.0017488718208648565,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6356800557949925,-0.281126061250464,-0.25182918623359374,0.37624711615291623,0.2450284567103627,-0.232907314977254,0.721557885649919,0.8669086515896403,0.9733870718835127,0.9733870718835127,1.5340199999991526,0,0,-0.00032253272580082113,-9.999999025923074e-05
+47174,1791455271525487274,10249914000000,1791455271523337059,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760566618567266,-0.0048282733516211975,0.08749578813854798,0.9999999839947656,9.979410079011826e-05,-7.604692003106896e-05,8.781421538396196e-05,0.6761,-0.0048,0.0874738877029632,1.0,0.0,0.0,0.0,-0.07421868031791623,-0.15265719683719645,0.8672104995874828,-0.01152374186506648,0.005885491748809821,-0.0002507398106651995,-0.04048961542350282,-0.24206931123669836,0.7459145478235212,-0.01447976327953976,0.002943106054821039,-0.001752336094400479,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6714141050390886,-0.3182323117871778,-0.164324241844819,0.3971049411948137,0.19573772428533576,-0.2637080941725336,0.721557885649919,0.8672104995874828,0.8858821274947379,0.8858821274947379,1.5650399999991262,0,0,-0.0003390684933893536,-9.999999025923074e-05
+47237,1791455272050437712,10250439000000,1791455272047336643,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760547780365641,-0.004833664589091538,0.08731535226477066,0.999999986155359,7.144494922172318e-05,-7.695126717091129e-05,9.00348155396156e-05,0.6761,-0.0048,0.08729049125890347,1.0,0.0,0.0,0.0,-0.07500699876012842,-0.1520160226327422,0.8772392798205678,-0.01157030801592039,0.006106604553601501,-0.00025564460399324276,-0.04127793386571503,-0.2414281370322441,0.7559433280566062,-0.01452632943039367,0.003164218859612718,-0.0017572408877285222,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6231938139578699,-0.20256420161950567,-0.26833989113434104,0.36930165356914607,0.24932904514239135,-0.19144522799864708,0.721557885649919,0.8772392798205678,0.98989777678426,0.98989777678426,1.5965399999990995,0,0,-0.00035945960604383384,-4.571442308151294e-05
+47297,1791455272550405413,10250939000000,1791455272547336555,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760560711797774,-0.004832639533042877,0.08713423086585304,0.9999999870326816,5.293096221327899e-05,-7.613899915195702e-05,9.369454184115593e-05,0.6761,-0.0048,0.08710544472805508,1.0,0.0,0.0,0.0,-0.07557123240877023,-0.1494299469522202,0.8819654600199514,-0.010568341780331211,0.006084184340284697,0.0004012306374709309,-0.04184216751435682,-0.23884206135172212,0.7606695082559898,-0.013524363194804491,0.0031417986462959147,-0.0011003656462643485,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6537081674461319,-0.23219565570064005,-0.3009195867100257,0.39302940804889724,0.27371683721483414,-0.20945358827204413,0.721557885649919,0.8819654600199514,1.0224774723599448,1.0224774723599448,1.626539999999074,0,0,-0.0003795095829719778,9.998976232961638e-05
+47354,1791455273025433621,10251414000000,1791455273023337097,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760574554980741,-0.004834839158841862,0.08695247560655765,0.9999999854801715,7.229502708852139e-05,-7.289404420072149e-05,9.971162825306716e-05,0.6761,-0.0048,0.08692103205659689,1.0,0.0,0.0,0.0,-0.08508673644529628,-0.1481544583710891,0.9009960720574258,-0.010581385359095112,0.007095527118646261,-0.0002488309055642176,-0.05135767155088288,-0.237566572770591,0.7797001202934642,-0.013537406773568392,0.004153141424657478,-0.001750427189299497,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6606591006806068,-0.2647457816001176,-0.2128923538423423,0.41851114968783465,0.2205292495412618,-0.2240360120159934,0.721557885649919,0.9009960720574258,0.9344502394922612,0.9344502394922612,1.6550399999990497,0,0,-0.00039812050704332434,-9.99981445134523e-05
+47405,1791455273450438708,10251839000000,1791455273447337479,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760565756507748,-0.004834429879104054,0.08678379245562295,0.9999999844542842,8.558835179750463e-05,-7.28043703733574e-05,9.954121473269166e-05,0.6761,-0.0048,0.08674864655871548,1.0,0.0,0.0,0.0,-0.08508792897600123,-0.14373614633264192,0.8976220541938414,-0.010581110211065324,0.007096235590824381,-0.00024610053319261914,-0.05135886408158784,-0.23314826073214384,0.7763261024298799,-0.013537131625538604,0.004153849896835598,-0.0017476968169278986,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7530710273826756,-0.27071514683061293,-0.2236866106839835,0.425501127717473,0.2506758721018855,-0.23442398436087727,0.721557885649919,0.8976220541938414,0.9452444963339024,0.9452444963339024,1.680539999999028,0,0,-0.00041350984744256545,-9.999999025923074e-05
+47456,1791455273875383473,10252264000000,1791455273875336094,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760520097805258,-0.0048381921719245725,0.08660180302682116,0.9999999844614764,7.155810562989813e-05,-7.863744741910583e-05,0.00010590326072181895,0.6761,-0.0048,0.08657100231726787,1.0,0.0,0.0,0.0,-0.07563381747786925,-0.14032626776022336,0.9077267008246614,-0.010555955965697673,0.006080765877565591,-0.00026883151206883674,-0.04190475258345585,-0.22973838215972528,0.7864307490606999,-0.013511977380170953,0.003138380183576808,-0.0017704277958041162,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.717845040487957,-0.30541969088158344,-0.15282679936764038,0.455705617823828,0.1937977566387088,-0.25369763542808743,0.721557885649919,0.9077267008246614,0.8743846850175594,0.8743846850175594,1.7060399999990064,0,0,-0.00042122662349405724,-9.999851921372311e-05
+47513,1791455274350480205,10252739000000,1791455274347336426,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760553350506953,-0.004832607662094659,0.08640641411809026,0.9999999856238876,6.44150641719033e-05,-7.30932659379827e-05,0.00010345609252452624,0.6761,-0.0048,0.08636746186180054,1.0,0.0,0.0,0.0,-0.07207739586405934,-0.13400655272889303,0.90813157611857,-0.009534791213691088,0.006061278901143764,-0.00025720950782783295,-0.03834833096964594,-0.22341866712839495,0.7868356243546084,-0.012490812628164368,0.0031188932071549804,-0.0017588057915631124,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7328524185428895,-0.25340607715595087,-0.17527622587051334,0.445366322419836,0.20550735089633482,-0.22179317149138705,0.721557885649919,0.90813157611857,0.8968341115204324,0.8968341115204324,1.7345399999989821,0,0,-0.0004354674831799895,-9.997716129828688e-05
+47561,1791455274750454065,10253139000000,1791455274743337442,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.67605243809804,-0.0048372400704608225,0.08623052279643452,0.9999999849047424,7.242971298072641e-05,-7.70715068050629e-05,0.0001022120296423704,0.6761,-0.0048,0.08619135011198953,1.0,0.0,0.0,0.0,-0.06689433007956938,-0.12567148604521725,0.898137300920118,-0.009531625811058705,0.006062555319045572,-0.0002484946136893083,-0.03316526518515597,-0.21508360044471916,0.7768413491561564,-0.012487647225531985,0.0031201696250567888,-0.0017500908974245877,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7805974090426258,-0.2505881132146943,-0.26406874633517974,0.4635516563061538,0.2759243743829911,-0.21329285940912993,0.721557885649919,0.898137300920118,0.9856266319850987,0.9856266319850987,1.7585399999989617,0,0,-0.00044579484477089,-9.999999025923074e-05
+47613,1791455275183386694,10253572000000,1791455275179337497,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760540767406182,-0.004842777948819305,0.08603964235435582,0.9999999836784866,8.70957818503075e-05,-7.304185670105831e-05,0.00010566505064677711,0.6761,-0.0048,0.08599515097455092,1.0,0.0,0.0,0.0,-0.07669036271969981,-0.12288927183637463,0.8984915677991384,-0.008511600709265224,0.0060439183994149895,-0.00023846296726775184,-0.04296129782528641,-0.21230138623587655,0.7771956160351768,-0.011467622123738504,0.003101532705426207,-0.0017400592510030313,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7728192231123404,-0.310356759266004,-0.19633566833301389,0.4855728812696477,0.22654057419210077,-0.25211137211681295,0.721557885649919,0.8984915677991384,0.9178935539829328,0.9178935539829328,1.7845199999989396,0,0,-0.000458522598149906,-9.99626173766643e-05
+47659,1791455275566379751,10253955000000,1791455275563336772,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760503698261889,-0.00484814039743733,0.08585894196936672,0.9999999848900388,6.489052310511261e-05,-7.569121782875768e-05,0.00010827209252159218,0.6761,-0.0048,0.08581813019585285,1.0,0.0,0.0,0.0,-0.05918705375272257,-0.1251790205974882,0.9117750703768333,-0.00953365258994718,0.006059841348127364,-0.0002570662831880748,-0.02545798885830917,-0.21459113499699012,0.7904791186128717,-0.01248967400442046,0.0031174556541385804,-0.0017586625669233542,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8210467711610286,-0.24730775148211243,-0.32254907013854184,0.46848685441404214,0.3195583864592259,-0.2149482410960883,0.721557885649919,0.9117750703768333,1.0441069557884608,1.0441069557884608,1.80749999999892,0,0,-0.00046691206271179544,8.415968896636201e-05
+47705,1791455275950482222,10254339000000,1791455275947336899,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760481044185834,-0.00484695017199154,0.0856752673880176,0.9999999849749902,5.596682503029002e-05,-8.02403598444364e-05,0.00010918829090024537,0.6761,-0.0048,0.0856368639581773,1.0,0.0,0.0,0.0,-0.06668349852960069,-0.12493058846275112,0.9145736118447644,-0.009491054052383109,0.006058077912824122,-0.0002616369914597034,-0.03295443363518729,-0.21434270286225304,0.7932776600808028,-0.012447075466856389,0.00311569221883534,-0.0017632332751949828,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8425701324745708,-0.27106271782467894,-0.24416031270585198,0.4876703698805587,0.2720162084126365,-0.22473484472519797,0.721557885649919,0.9145736118447644,0.965718198355771,0.965718198355771,1.8305399999989005,0,0,-0.0004762102814401522,-9.999999025923074e-05
+47753,1791455276350437864,10254739000000,1791455276343337080,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760477774996606,-0.004847882916435949,0.08548394005464217,0.9999999845147983,6.552010495244983e-05,-8.037987337591956e-05,0.00010797897621329156,0.6761,-0.0048,0.08544592596563076,1.0,0.0,0.0,0.0,-0.061634586110652645,-0.11941372611387713,0.9185967985705361,-0.008514345960662419,0.006038537181540727,-0.00025093524570641147,-0.02790552121623924,-0.20882584051337905,0.7973008468065745,-0.011470367375135699,0.003096151487551944,-0.0017525315294416909,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.844983630057318,-0.18794484643764128,-0.3442607824552409,0.47160729205952095,0.33350671605728516,-0.1648398415616009,0.721557885649919,0.9185967985705361,1.0658186681051598,1.0658186681051598,1.85453999999888,0,0,-0.0004804246695785678,6.703683027987068e-05
+47801,1791455276750538488,10255139000000,1791455276743337136,DOWN_FORCE_DETACH,7,0.035,0.03500164672732353,0.6760467984593092,-0.004849211878989663,0.0852943038650544,0.9999999835605325,7.288320581996251e-05,-8.199117564670943e-05,0.0001108480249750668,0.6761,-0.0048,0.08525241059649576,1.0,0.0,0.0,0.0,-0.06748468097301294,-0.12169053990431525,0.9187078495034751,-0.008514584075256276,0.006038613255497939,-0.0002536231580983221,-0.033755616078599546,-0.21110265430381717,0.7974118977395135,-0.011470605489729556,0.0030962275615091556,-0.0017552194418336015,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8977698476411865,-0.31026878997673807,-0.284633792737878,0.5116876370957957,0.3044527440033375,-0.24378458521402424,0.721557885649919,0.9187078495034751,1.0061916783877969,1.0061916783877969,1.8785399999988597,0,0,-0.00048825717227227026,-9.513865670130456e-05
+47848,1791455277141454919,10255530000000,1791455277139337285,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760505434794531,-0.004851969187432909,0.0851112177473232,0.9999999850331945,6.636211116680777e-05,-7.2267457671362e-05,0.00010839723200856892,0.6761,-0.0048,0.08506016163661237,1.0,0.0,0.0,0.0,-0.07662495319692253,-0.11646571738753278,0.918721690193987,-0.008517860944048933,0.006037309693506052,9.06828009218897e-05,-0.04289588830250913,-0.2058778317870347,0.7974257384300254,-0.011473882358522213,0.0030949239995172696,-0.0014109134828133897,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.908862272874917,-0.25490964274397354,-0.28943550153890235,0.489901480498363,0.3082341696046952,-0.20863503335941452,0.721557885649919,0.918721690193987,1.0109933871888213,1.0109933871888213,1.9019999999988397,0,0,-0.0004953358176920927,-9.999996250365512e-05
+47893,1791455277516459635,10255905000000,1791455277515337178,DOWN_FORCE_DETACH,7,0.035,0.03500230237841606,0.6760470708777612,-0.004848252604352769,0.08492428879679881,0.9999999845462252,6.512926564611977e-05,-7.75739889779412e-05,0.0001099584865097334,0.6761,-0.0048,0.08487380959296571,1.0,0.0,0.0,0.0,-0.0765385802448281,-0.12252296420554115,0.9085358306173021,-0.008513530633698288,0.006041575109905632,-0.0002465508392666862,-0.042809515350414704,-0.21193507860504307,0.7872398788533406,-0.011469552048171568,0.003099189415916849,-0.0017481471230019656,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.952371387094097,-0.25276586500708814,-0.27262457394392314,0.497606012003509,0.3037191591277481,-0.20392012973116322,0.721557885649919,0.9085358306173021,0.9941824595938421,0.9941824595938421,1.9244999999988206,0,0,-0.0004997179563995521,-9.994463176366537e-05
+47937,1791455277882485264,10256271000000,1791455277879337266,DOWN_SETTLE,7,0.035,0.03500164672732353,0.6760438900369766,-0.004856530075379907,0.08473918206210322,0.9999999846760295,5.578686760330146e-05,-8.001195147415095e-05,0.00011214596930455599,0.6761,-0.0048,0.0846916139163982,1.0,0.0,0.0,0.0,-0.06747454694234221,-0.11218482938446717,0.9289059282144363,-0.008521968360142263,0.006032449091389615,-0.0002679884810890072,-0.033745482047928814,-0.20159694378396908,0.8076099764504747,-0.011477989774615543,0.003090063397400833,-0.0017695847648242866,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0305278362604682,-0.2550925755788565,-0.3978536943506864,0.5046436386746359,0.4023453531337181,-0.20331565436533888,0.721557885649919,0.9289059282144363,1.1194115800006053,1.1194115800006053,1.933439999998813,0,0,-0.000490402329124369,9.999999025923074e-05
+47984,1791455278274491427,10256663000000,1791455278267337053,DOWN_SETTLE,7,0.035,0.03500164672732353,0.6760428931130469,-0.004855058273298116,0.08455383688343858,0.9999999838835305,6.900985753002956e-05,-8.079544488794353e-05,0.00011129033612603347,0.6761,-0.0048,0.08450320800263114,1.0,0.0,0.0,0.0,-0.07664101715592217,-0.1230389096527228,0.9110866868027454,-0.008522017755398533,0.006036457354851102,0.0006964857054083396,-0.04291195226150876,-0.2124510240522247,0.7897907350387838,-0.011478039169871813,0.0030940716608623187,-0.0008051105783269398,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9935474271194955,-0.2608309606584378,-0.36432393327090784,0.5116334766677987,0.3661113718519162,-0.2013354508853864,0.721557885649919,0.9110866868027454,1.0858818189208268,1.0858818189208268,1.933439999998813,0,0,-0.00047080233294275055,9.999999025923074e-05
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+48379,1791455281565419536,10259954000000,1791455281559337014,DOWN_SETTLE,7,0.035,0.03500164672732353,0.6760313063776607,-0.0048774992757961,0.08327716423519316,0.999999985112012,2.831357856911961e-05,-9.455788313306331e-05,0.00010712603903805444,0.6761,-0.0048,0.08322448222215094,1.0,0.0,0.0,0.0,-0.07638090664314445,-0.1254484592029286,0.8582095179576014,-0.008907105679559315,0.006060080542713684,-0.0002104295324583407,-0.042651841748731045,-0.21486057360243052,0.7369135661936398,-0.011863127094032595,0.0031176948487249014,-0.0017120258161936201,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3278819315774646,-0.34400384914776994,-0.4836939997688139,0.5382950783327494,0.5070701820215151,-0.2369350911303522,0.721557885649919,0.8582095179576014,1.2052518854187328,1.2052518854187328,1.933439999998813,0,0,-0.0003062523649996222,9.999999025923074e-05
+48448,1791455282140454208,10260529000000,1791455282139336781,DOWN_SETTLE,7,0.035,0.03500230237841606,0.6760277329409249,-0.004883264592415984,0.08310515521601246,0.9999999847738412,1.906626410140207e-05,-9.677218895118207e-05,0.00011030323104199666,0.6761,-0.0048,0.08305663836066308,1.0,0.0,0.0,0.0,-0.06675747845881608,-0.11860563418517278,0.8379373592707419,-0.0095202081025441,0.006075258667096808,-0.00019984326650613325,-0.033028413564402684,-0.2080177485846747,0.7166414075067803,-0.01247622951701738,0.003132872973108026,-0.0017014395502414127,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.313902657375045,-0.33214088246582996,-0.3941538105549834,0.5372053519439554,0.4444913359669045,-0.2246420201711115,0.721557885649919,0.8379373592707419,1.1157116962049023,1.1157116962049023,1.933439999998813,0,0,-0.0002775023706005645,9.999999025923074e-05
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+48607,1791455283465403528,10261854000000,1791455283459336485,DOWN_SETTLE,7,0.035,0.03500230237841606,0.6760031562475531,-0.004883558676255321,0.08275661647607802,0.9999999819644795,1.1831994177116873e-05,-0.00012881465185359887,0.00010383012391823207,0.6761,-0.0048,0.08273280521106031,1.0,0.0,0.0,0.0,-0.04774805727322129,-0.14101342390435748,0.8141409249085901,-0.009469443163273403,0.004067556120007542,-0.0002138732152136085,-0.014018992378807885,-0.2304255383038594,0.6928449731446286,-0.012425464577746683,0.001125170426018759,-0.001715469498948888,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3724779209926548,-0.36549775156346737,-0.4999505329669487,0.5473501642695952,0.5255131277869886,-0.242525939036474,0.721557885649919,0.8141409249085901,1.2215084186168677,1.2215084186168677,1.933439999998813,0,0,-0.00021125238350708375,9.999999025923074e-05
+48703,1791455284265490934,10262654000000,1791455284263337102,DOWN_SETTLE,7,0.035,0.03500164672732353,0.6760119524425812,-0.004883527311262233,0.08261023205050627,0.9999999829775275,1.1834187318021597e-05,-0.00011940654732559647,0.00010530829882888078,0.6761,-0.0048,0.0825797833011337,1.0,0.0,0.0,0.0,-0.06713865967584054,-0.11369177397682959,0.7663776638145089,-0.00848468618301202,0.00607115898835529,-0.0001305587327813094,-0.03340959478142714,-0.2031038883763315,0.6450817120505473,-0.0114407075974853,0.0031287732943665074,-0.0016321550165165888,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4783980103431817,-0.2508458650571626,-0.46799955803636883,0.5090002898658702,0.5190654125320263,-0.16576824895225287,0.721557885649919,0.7663776638145089,1.189557443686288,1.189557443686288,1.933439999998813,0,0,-0.00017125239129969915,9.999999025923074e-05
+48820,1791455285240493816,10263629000000,1791455285239336734,DOWN_SETTLE,7,0.035,0.03500230237841606,0.6760021789353252,-0.00489072284458313,0.0824543208461959,0.9999999787270863,2.3521791857674752e-05,-0.00013688319121493833,0.00012123699351430623,0.6761,-0.0048,0.08243655346498184,1.0,0.0,0.0,0.0,-0.0570584697042987,-0.13152265206649716,0.737665467091071,-0.009474482013537991,0.005084163215898519,-0.00013338107773081128,-0.023329404809885303,-0.22093476646599908,0.6163695153271094,-0.012430503428011271,0.0021417775219097364,-0.0016349773614660907,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.5055254300627168,-0.2703348711169849,-0.41743393742863155,0.5134975327136273,0.49459097988593864,-0.17433048076243834,0.721557885649919,0.737665467091071,1.1389918230785505,1.1389918230785505,1.933439999998813,0,0,-0.00012250240079694918,9.999999025923074e-05
+48944,1791455286274453979,10264663000000,1791455286271337091,DOWN_SETTLE,7,0.035,0.03500164672732353,0.6759962821439706,-0.00488974453125964,0.08234058349875202,0.9999999754738633,4.055791914553108e-05,-0.00014701430574538615,0.00013128970422691206,0.6761,-0.0048,0.08233658902734556,1.0,0.0,0.0,0.0,-0.05696564890129639,-0.1329852707327795,0.6975281209408611,-0.009467060728174688,0.005092932782591355,-0.00010094543089176201,-0.023236584006882992,-0.2223973851322814,0.5762321691768996,-0.012423082142647968,0.0021505470886025724,-0.0016025417146270414,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4091572938328774,-0.2862192784482662,-0.4463512911170555,0.5136897333665752,0.4838241954577002,-0.18504640350085186,0.721557885649919,0.6975281209408611,1.1679091767669745,1.1679091767669745,1.933439999998813,0,0,-7.080241086890459e-05,9.999999025923074e-05
+49088,1791455287474494869,10265863000000,1791455287467337279,DOWN_SETTLE,7,0.035,0.03500230237841606,0.676001043544302,-0.004873638422282634,0.08228089837824024,0.9999999809004981,1.1633957371504056e-05,-0.00014193024746495566,9.675910149116626e-05,0.6761,-0.0048,0.08228759612728367,1.0,0.0,0.0,0.0,-0.04840226808154584,-0.10985053860565513,0.6281822880218739,-0.007384018016311052,0.004055325191278713,-3.655071785707673e-05,-0.014673203187132437,-0.19926265300515705,0.5068863362579124,-0.010340039430784332,0.0011129394972899298,-0.0015381470015923561,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.488468549079538,-0.2013179209146607,-0.42557674951027535,0.5031656803891055,0.4860888022203637,-0.1330197219200862,0.721557885649919,0.6281822880218739,1.1471346351601943,1.1471346351601943,1.933439999998813,0,0,-1.0802422557827702e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a12b0fb65de1f50b0830b7e7dd24a3aaddde4a04
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..091ec2228082c377554fb616e6fe57547674157d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.250000000e+00,DOWN_FORCE_DETACH,1791455250309349339,6.003803001e-05,-2.063393360e-05,-3.539330461e-04,5.876623421e-05,-2.033805915e-05,-3.359723428e-04,5.992631201e-05,-1.991060289e-05,-3.334692194e-04,7.015979095e-01,-1.908297227e-05,8.403870081e-01,7.015966377e-01,-1.878709783e-05,8.404049688e-01,7.017856693e-01,-1.801563711e-05,8.294471653e-01
+6,4.033333333e+00,DOWN_FORCE_DETACH,1791455251510629043,6.413519613e-05,-2.764675641e-05,-4.404737764e-04,6.196143761e-05,-2.654403523e-05,-4.233303838e-04,6.312432953e-05,-2.603823688e-05,-4.208486307e-04,7.016020067e-01,-2.609579509e-05,8.403004674e-01,7.015998329e-01,-2.499307391e-05,8.403176108e-01,7.017888673e-01,-2.414327110e-05,8.293597859e-01
+7,4.866666667e+00,DOWN_FORCE_DETACH,1791455252812884494,6.279152796e-05,-3.765545875e-05,-5.049186909e-04,6.196918526e-05,-3.519186468e-05,-4.861903342e-04,6.295749449e-05,-3.461771007e-05,-4.840323160e-04,7.016006630e-01,-3.610449743e-05,8.402360225e-01,7.015998407e-01,-3.364090336e-05,8.402547509e-01,7.017887005e-01,-3.272274430e-05,8.292966022e-01
+8,5.466666667e+00,DOWN_FORCE_DETACH,1791455253711745741,6.955497092e-05,1.618348575e-05,-5.565906409e-04,6.923179091e-05,1.617105934e-05,-5.562926663e-04,7.010519622e-05,1.619161671e-05,-5.539870658e-04,7.016074265e-01,1.773444707e-05,8.401843505e-01,7.016071033e-01,1.772202066e-05,8.401846485e-01,7.017958482e-01,1.808658248e-05,8.292266475e-01
+9,6.100000000e+00,DOWN_FORCE_DETACH,1791455254646799537,6.842713048e-05,-9.130278374e-06,-6.156211738e-04,6.735310108e-05,-1.523999454e-05,-6.051471857e-04,6.806639798e-05,-1.490768169e-05,-6.030052017e-04,7.016062986e-01,-7.579317053e-06,8.401253200e-01,7.016052246e-01,-1.368903322e-05,8.401357940e-01,7.017938094e-01,-1.301271592e-05,8.291776293e-01
+10,6.850000000e+00,DOWN_FORCE_DETACH,1791455255776749488,6.989709446e-05,-2.233075504e-05,-7.026967985e-04,6.964195861e-05,-1.203686750e-05,-6.915546684e-04,7.016957767e-05,-1.174043202e-05,-6.892745850e-04,7.016077686e-01,-2.077979371e-05,8.400382444e-01,7.016075134e-01,-1.048590618e-05,8.400493865e-01,7.017959126e-01,-9.845466241e-06,8.290913600e-01
+11,7.516666667e+00,DOWN_FORCE_DETACH,1791455256777506118,7.064368789e-05,-2.816846963e-05,-7.638796284e-04,7.072426001e-05,-2.109233232e-05,-7.549468189e-04,7.111618819e-05,-2.074052098e-05,-7.526540501e-04,7.016085152e-01,-2.661750831e-05,8.399770616e-01,7.016085957e-01,-1.954137100e-05,8.399859944e-01,7.017968592e-01,-1.884555520e-05,8.290279805e-01
+12,8.266666667e+00,DOWN_FORCE_DETACH,1791455257907306210,7.032622841e-05,-3.153933044e-05,-8.417856273e-04,6.961857461e-05,-2.893444338e-05,-8.374344701e-04,6.980799547e-05,-2.852232403e-05,-8.350001823e-04,7.016081977e-01,-2.998836911e-05,8.398991556e-01,7.016074901e-01,-2.738348206e-05,8.399035067e-01,7.017955510e-01,-2.662735826e-05,8.289456344e-01
+13,9.016666667e+00,DOWN_FORCE_DETACH,1791455259026377793,6.999301829e-05,-2.951563418e-05,-9.379386960e-04,6.894240993e-05,-4.083180868e-05,-9.243325540e-04,6.887504565e-05,-4.031932522e-05,-9.215290224e-04,7.016078645e-01,-2.796467286e-05,8.398030025e-01,7.016068139e-01,-3.928084736e-05,8.398166086e-01,7.017946180e-01,-3.842435944e-05,8.288591055e-01
+14,9.716666667e+00,DOWN_FORCE_DETACH,1791455260077228480,7.234330404e-05,-3.469886967e-05,-1.039985612e-03,7.010737498e-05,-3.523343987e-05,-1.031022433e-03,6.975744353e-05,-3.477909600e-05,-1.027774811e-03,7.016102148e-01,-3.314790835e-05,8.397009556e-01,7.016079789e-01,-3.368247855e-05,8.397099188e-01,7.017955004e-01,-3.288413022e-05,8.287528597e-01
+15,1.043333333e+01,DOWN_FORCE_DETACH,1791455261147350148,7.274848783e-05,-3.941021606e-05,-1.160546872e-03,7.194523000e-05,-4.110494673e-05,-1.158702838e-03,7.130930748e-05,-4.056392864e-05,-1.155061058e-03,7.016106200e-01,-3.785925474e-05,8.395803943e-01,7.016098167e-01,-3.955398541e-05,8.395822383e-01,7.017970523e-01,-3.866896286e-05,8.286255735e-01
+16,1.110000000e+01,DOWN_FORCE_DETACH,1791455262146823133,7.519014682e-05,-4.017698797e-05,-1.282020113e-03,7.447938794e-05,-4.113161976e-05,-1.273854352e-03,7.352815209e-05,-4.053087833e-05,-1.270207893e-03,7.016130616e-01,-3.862602665e-05,8.394589211e-01,7.016123509e-01,-3.958065844e-05,8.394670868e-01,7.017992711e-01,-3.863591255e-05,8.285104267e-01
+17,1.176666667e+01,DOWN_FORCE_DETACH,1791455263148120555,8.044918166e-05,-4.839393104e-05,-1.416736663e-03,7.929501454e-05,-4.736198604e-05,-1.418814843e-03,7.793059074e-05,-4.670341372e-05,-1.415048352e-03,7.016183207e-01,-4.684296972e-05,8.393242045e-01,7.016171665e-01,-4.581102471e-05,8.393221263e-01,7.018036736e-01,-4.480844794e-05,8.283655862e-01
+18,1.233333333e+01,DOWN_FORCE_DETACH,1791455264008033074,8.058450063e-05,-4.975002849e-05,-1.552238387e-03,8.020597938e-05,-4.679712516e-05,-1.547512680e-03,7.839862318e-05,-4.616689867e-05,-1.543454991e-03,7.016184560e-01,-4.819906717e-05,8.391887028e-01,7.016180775e-01,-4.524616384e-05,8.391934285e-01,7.018041416e-01,-4.427193290e-05,8.282371796e-01
+19,1.290000000e+01,DOWN_FORCE_DETACH,1791455264847779448,7.915430309e-05,-5.563168021e-05,-1.697236866e-03,8.019637710e-05,-4.988593657e-05,-1.683966395e-03,7.798811770e-05,-4.924841700e-05,-1.679584446e-03,7.016170258e-01,-5.408071889e-05,8.390437043e-01,7.016180679e-01,-4.833497525e-05,8.390569748e-01,7.018037311e-01,-4.735345123e-05,8.281010501e-01
+20,1.341666667e+01,DOWN_FORCE_DETACH,1791455265627728827,7.752728503e-05,-5.746371903e-05,-1.839731850e-03,7.660315949e-05,-5.395293965e-05,-1.838746567e-03,7.387435266e-05,-5.323309032e-05,-1.833722386e-03,7.016153988e-01,-5.591275771e-05,8.389012093e-01,7.016144746e-01,-5.240197833e-05,8.389021946e-01,7.017996173e-01,-5.133812454e-05,8.279469122e-01
+21,1.396666667e+01,DOWN_FORCE_DETACH,1791455266445025983,7.308147933e-05,-5.551511378e-05,-2.003423119e-03,7.498494035e-05,-5.684056919e-05,-1.998406845e-03,7.172102132e-05,-5.596976403e-05,-1.992989005e-03,7.016109530e-01,-5.396415246e-05,8.387375181e-01,7.016128564e-01,-5.528960787e-05,8.387425343e-01,7.017974640e-01,-5.407479825e-05,8.277876455e-01
+22,1.446666667e+01,DOWN_FORCE_DETACH,1791455267207119109,6.980821601e-05,-5.775868618e-05,-2.168869252e-03,7.052887207e-05,-5.868358648e-05,-2.161479699e-03,6.659926953e-05,-5.773839457e-05,-2.155641665e-03,7.016076797e-01,-5.620772486e-05,8.385720719e-01,7.016084004e-01,-5.713262516e-05,8.385794615e-01,7.017923423e-01,-5.584342880e-05,8.276249929e-01
+23,1.496666667e+01,DOWN_FORCE_DETACH,1791455267946314290,6.971550344e-05,-5.403710986e-05,-2.331784848e-03,7.031621206e-05,-5.888240076e-05,-2.324412004e-03,6.562311873e-05,-5.800520534e-05,-2.318330777e-03,7.016075870e-01,-5.248614854e-05,8.384091563e-01,7.016081877e-01,-5.733143944e-05,8.384165292e-01,7.017913661e-01,-5.611023956e-05,8.274623038e-01
+24,1.538333333e+01,DOWN_FORCE_DETACH,1791455268576878024,6.970032961e-05,-6.340276484e-05,-2.484321162e-03,6.946233270e-05,-6.323150949e-05,-2.484067475e-03,6.398189541e-05,-6.235997075e-05,-2.477599027e-03,7.016075718e-01,-6.185180352e-05,8.382566200e-01,7.016073338e-01,-6.168054817e-05,8.382568737e-01,7.017897249e-01,-6.046500497e-05,8.273030355e-01
+25,1.581666667e+01,DOWN_FORCE_DETACH,1791455269227185937,7.022343550e-05,-6.386501851e-05,-2.656878748e-03,6.871353854e-05,-6.350144329e-05,-2.650998555e-03,6.247267339e-05,-6.270407167e-05,-2.644091032e-03,7.016080949e-01,-6.231405718e-05,8.380840624e-01,7.016065850e-01,-6.195048197e-05,8.380899426e-01,7.017882157e-01,-6.080910589e-05,8.271365435e-01
+26,1.621666667e+01,DOWN_FORCE_DETACH,1791455269827226472,6.635550615e-05,-7.090001859e-05,-2.826672351e-03,6.630863176e-05,-7.084556896e-05,-2.826583458e-03,5.927789768e-05,-7.007948534e-05,-2.819098110e-03,7.016042270e-01,-6.934905726e-05,8.379142688e-01,7.016041801e-01,-6.929460764e-05,8.379143577e-01,7.017850209e-01,-6.818451957e-05,8.269615364e-01
+27,1.660000000e+01,DOWN_FORCE_DETACH,1791455270407204568,6.368223370e-05,-7.332927127e-05,-3.007149272e-03,6.183613780e-05,-7.102719872e-05,-3.000686270e-03,5.406858975e-05,-7.023589014e-05,-2.992843708e-03,7.016015537e-01,-7.177830995e-05,8.377337919e-01,7.015997076e-01,-6.947623740e-05,8.377402549e-01,7.017798116e-01,-6.834092436e-05,8.267877908e-01
+28,1.700000000e+01,DOWN_FORCE_DETACH,1791455271007422815,6.381300873e-05,-7.329351063e-05,-3.186906356e-03,6.378773776e-05,-7.322217076e-05,-3.186686502e-03,5.532204744e-05,-7.240562969e-05,-3.178692993e-03,7.016016845e-01,-7.174254931e-05,8.375540348e-01,7.016016592e-01,-7.167120944e-05,8.375542547e-01,7.017810650e-01,-7.051066391e-05,8.266019416e-01
+29,1.735000000e+01,DOWN_FORCE_DETACH,1791455271528434273,6.132826237e-05,-7.771872079e-05,-3.356555440e-03,6.027711298e-05,-7.577820750e-05,-3.352970433e-03,5.114370487e-05,-7.499081130e-05,-3.344762680e-03,7.015991997e-01,-7.616775947e-05,8.373843857e-01,7.015981486e-01,-7.422724618e-05,8.373879708e-01,7.017768867e-01,-7.309584553e-05,8.264358719e-01
+30,1.770000000e+01,DOWN_FORCE_DETACH,1791455272047195947,6.043615886e-05,-7.533610388e-05,-3.533194067e-03,5.916224237e-05,-7.262552754e-05,-3.522106148e-03,4.949031432e-05,-7.179790070e-05,-3.513714754e-03,7.015983076e-01,-7.378514256e-05,8.372077471e-01,7.015970337e-01,-7.107456622e-05,8.372188350e-01,7.017752333e-01,-6.990293492e-05,8.262669198e-01
+31,1.803333333e+01,DOWN_FORCE_DETACH,1791455272548276898,6.387863216e-05,-7.807711492e-05,-3.710750747e-03,6.221146069e-05,-8.071760119e-05,-3.707681979e-03,5.202055755e-05,-7.971645611e-05,-3.698791705e-03,7.016017501e-01,-7.652615360e-05,8.370301904e-01,7.016000829e-01,-7.916663987e-05,8.370332592e-01,7.017777636e-01,-7.782149033e-05,8.260818428e-01
+32,1.835000000e+01,DOWN_FORCE_DETACH,1791455273026902637,6.204223092e-05,-8.152105540e-05,-3.897747323e-03,6.209348612e-05,-8.356946218e-05,-3.889693801e-03,5.128249897e-05,-8.242974930e-05,-3.880561755e-03,7.015999137e-01,-7.997009408e-05,8.368431939e-01,7.015999650e-01,-8.201850086e-05,8.368512474e-01,7.017770255e-01,-8.053478352e-05,8.259000728e-01
+33,1.863333333e+01,DOWN_FORCE_DETACH,1791455273447329103,6.196106035e-05,-8.458838791e-05,-4.065736415e-03,6.094373154e-05,-8.637054408e-05,-4.048987623e-03,4.948492734e-05,-8.524215203e-05,-4.039669171e-03,7.015998325e-01,-8.303742659e-05,8.366752048e-01,7.015988152e-01,-8.481958276e-05,8.366919536e-01,7.017752279e-01,-8.334718626e-05,8.257409654e-01
+34,1.891666667e+01,DOWN_FORCE_DETACH,1791455273878042718,5.850610213e-05,-8.772863623e-05,-4.251056987e-03,5.815269190e-05,-8.748576026e-05,-4.250928337e-03,4.585576902e-05,-8.644832191e-05,-4.240948955e-03,7.015963776e-01,-8.617767491e-05,8.364898842e-01,7.015960242e-01,-8.593479894e-05,8.364900129e-01,7.017715988e-01,-8.455335613e-05,8.255396856e-01
+35,1.923333333e+01,DOWN_FORCE_DETACH,1791455274347723475,6.086206716e-05,-8.297248259e-05,-4.442086136e-03,6.177690036e-05,-8.376118828e-05,-4.432147388e-03,4.878120006e-05,-8.287237404e-05,-4.422052484e-03,7.015987335e-01,-8.142152127e-05,8.362988551e-01,7.015996484e-01,-8.221022696e-05,8.363087938e-01,7.017745242e-01,-8.097740826e-05,8.253585821e-01
+36,1.950000000e+01,DOWN_FORCE_DETACH,1791455274748458531,5.819525210e-05,-8.503314000e-05,-4.617012576e-03,5.808562626e-05,-8.708503700e-05,-4.616915507e-03,4.438148445e-05,-8.615597501e-05,-4.606425852e-03,7.015960667e-01,-8.348217868e-05,8.361239286e-01,7.015959571e-01,-8.553407568e-05,8.361240257e-01,7.017701245e-01,-8.426100923e-05,8.251742087e-01
+37,1.978333333e+01,DOWN_FORCE_DETACH,1791455275180749855,6.033965993e-05,-8.628911855e-05,-4.809261139e-03,6.011322817e-05,-8.620530495e-05,-4.809112244e-03,4.573749267e-05,-8.524829113e-05,-4.798459827e-03,7.015982111e-01,-8.473815723e-05,8.359316800e-01,7.015979847e-01,-8.465434362e-05,8.359318289e-01,7.017714805e-01,-8.335332535e-05,8.249821747e-01
+38,2.003333333e+01,DOWN_FORCE_DETACH,1791455275566144027,5.573839588e-05,-9.240818996e-05,-4.989522347e-03,5.889586907e-05,-8.949204921e-05,-4.976276044e-03,4.390751095e-05,-8.858128458e-05,-4.965624485e-03,7.015936099e-01,-9.085722864e-05,8.357514188e-01,7.015967674e-01,-8.794108788e-05,8.357646651e-01,7.017696505e-01,-8.668631880e-05,8.248150101e-01
+39,2.030000000e+01,DOWN_FORCE_DETACH,1791455275947696717,5.341596435e-05,-9.399355665e-05,-5.177968237e-03,5.405152265e-05,-9.446305106e-05,-5.165102799e-03,3.844055818e-05,-9.343708663e-05,-5.154219441e-03,7.015912874e-01,-9.244259533e-05,8.355629730e-01,7.015919230e-01,-9.291208974e-05,8.355758384e-01,7.017641836e-01,-9.154212086e-05,8.246264151e-01
+40,2.056666667e+01,DOWN_FORCE_DETACH,1791455276348011747,5.300483346e-05,-9.611418424e-05,-5.365200266e-03,5.273388251e-05,-9.619084428e-05,-5.365124349e-03,3.644848510e-05,-9.502482220e-05,-5.353869821e-03,7.015908763e-01,-9.456322292e-05,8.353757409e-01,7.015906054e-01,-9.463988296e-05,8.353758168e-01,7.017621915e-01,-9.312985643e-05,8.244267647e-01
+41,2.083333333e+01,DOWN_FORCE_DETACH,1791455276747134177,5.312026732e-05,-9.789490177e-05,-5.551609417e-03,5.356529847e-05,-9.677097862e-05,-5.535915168e-03,3.672283788e-05,-9.550784689e-05,-5.524922071e-03,7.015909917e-01,-9.634394045e-05,8.351893318e-01,7.015914368e-01,-9.522001730e-05,8.352050260e-01,7.017624658e-01,-9.361288112e-05,8.242557125e-01
+42,2.110000000e+01,DOWN_FORCE_DETACH,1791455277143140989,5.330071287e-05,-9.913591751e-05,-5.743729509e-03,5.625856703e-05,-9.424064803e-05,-5.727092124e-03,3.862776880e-05,-9.304998578e-05,-5.715938001e-03,7.015911722e-01,-9.758495619e-05,8.349972117e-01,7.015941300e-01,-9.268968671e-05,8.350138491e-01,7.017643708e-01,-9.115502001e-05,8.240646965e-01
+43,2.135000000e+01,DOWN_FORCE_DETACH,1791455277512779297,5.245510469e-05,-9.498843626e-05,-5.926562722e-03,5.218919039e-05,-9.531633849e-05,-5.926288231e-03,3.380344302e-05,-9.427471254e-05,-5.914766680e-03,7.015903266e-01,-9.343747494e-05,8.348143785e-01,7.015900607e-01,-9.376537717e-05,8.348146530e-01,7.017595464e-01,-9.237974677e-05,8.238658679e-01
+44,2.160000000e+01,DOWN_SETTLE,1791455277883035391,4.727974466e-05,-1.044707275e-04,-6.110688364e-03,4.768350698e-05,-1.003750094e-04,-6.092985886e-03,2.854919275e-05,-9.931854030e-05,-6.081624682e-03,7.015851512e-01,-1.029197662e-04,8.346302528e-01,7.015855550e-01,-9.882404809e-05,8.346479553e-01,7.017542922e-01,-9.742357453e-05,8.236990099e-01
+45,2.185000000e+01,DOWN_SETTLE,1791455278271011848,4.933686397e-05,-1.019349084e-04,-6.298883401e-03,4.925720271e-05,-1.021057109e-04,-6.298417979e-03,2.943413434e-05,-1.009838012e-04,-6.286621453e-03,7.015872083e-01,-1.003839470e-04,8.344420578e-01,7.015871287e-01,-1.005547495e-04,8.344425232e-01,7.017551771e-01,-9.908883543e-05,8.234940131e-01
+46,2.211666667e+01,DOWN_SETTLE,1791455278663082933,4.830845253e-05,-1.074601898e-04,-6.473690752e-03,4.751953670e-05,-1.087756915e-04,-6.454368405e-03,2.708023652e-05,-1.076466126e-04,-6.443141139e-03,7.015861799e-01,-1.059092284e-04,8.342672504e-01,7.015853910e-01,-1.072247302e-04,8.342865728e-01,7.017528232e-01,-1.057516468e-04,8.233374934e-01
+47,2.241666667e+01,DOWN_SETTLE,1791455279113546396,4.573030871e-05,-1.136118290e-04,-6.670447308e-03,4.535744342e-05,-1.134833881e-04,-6.670490313e-03,2.423766974e-05,-1.122582101e-04,-6.659244306e-03,7.015836018e-01,-1.120608677e-04,8.340704939e-01,7.015832289e-01,-1.119324268e-04,8.340704509e-01,7.017499807e-01,-1.103632444e-04,8.231213902e-01
+48,2.270000000e+01,DOWN_SETTLE,1791455279543172988,4.182945271e-05,-1.142996816e-04,-6.851009501e-03,4.175632805e-05,-1.143657215e-04,-6.850657673e-03,2.008564025e-05,-1.129867555e-04,-6.839519569e-03,7.015797009e-01,-1.127487203e-04,8.338899317e-01,7.015796278e-01,-1.128147601e-04,8.338902835e-01,7.017458286e-01,-1.110917897e-04,8.229411150e-01
+49,2.301666667e+01,DOWN_SETTLE,1791455280012383044,4.147481754e-05,-1.192427659e-04,-7.031228433e-03,4.138965492e-05,-1.192747580e-04,-7.031109889e-03,1.909399336e-05,-1.177716583e-04,-7.020308568e-03,7.015793463e-01,-1.176918045e-04,8.337097128e-01,7.015792611e-01,-1.177237967e-04,8.337098313e-01,7.017448370e-01,-1.158766925e-04,8.227603260e-01
+50,2.335000000e+01,DOWN_SETTLE,1791455280512721224,3.944989238e-05,-1.207887910e-04,-7.218159198e-03,3.942829987e-05,-1.210517944e-04,-7.218068229e-03,1.633473995e-05,-1.196256591e-04,-7.207577647e-03,7.015773214e-01,-1.192378297e-04,8.335227820e-01,7.015772998e-01,-1.195008331e-04,8.335228730e-01,7.017420777e-01,-1.177306933e-04,8.225730569e-01
+51,2.368333333e+01,DOWN_SETTLE,1791455281012649285,3.481559952e-05,-1.239475490e-04,-7.398604229e-03,3.448510105e-05,-1.239737528e-04,-7.398836134e-03,1.062952545e-05,-1.227212589e-04,-7.388560446e-03,7.015726871e-01,-1.223965877e-04,8.333423370e-01,7.015723566e-01,-1.224227915e-04,8.333421051e-01,7.017363725e-01,-1.208262931e-04,8.223920741e-01
+52,2.405000000e+01,DOWN_SETTLE,1791455281563106528,3.423585344e-05,-1.240198348e-04,-7.576768671e-03,3.445527107e-05,-1.262459959e-04,-7.569445731e-03,9.844711648e-06,-1.250101913e-04,-7.559698608e-03,7.015721073e-01,-1.224688735e-04,8.331641725e-01,7.015723268e-01,-1.246950345e-04,8.331714955e-01,7.017355877e-01,-1.231152255e-04,8.222209359e-01
+53,2.443333333e+01,DOWN_SETTLE,1791455282143094868,3.371243054e-05,-1.285937107e-04,-7.746726626e-03,3.308543658e-05,-1.269768990e-04,-7.739523413e-03,7.811491990e-06,-1.257016247e-04,-7.730280214e-03,7.015715839e-01,-1.270427494e-04,8.329942146e-01,7.015709569e-01,-1.254259377e-04,8.330014178e-01,7.017335545e-01,-1.238066589e-04,8.220503543e-01
+54,2.486666667e+01,DOWN_SETTLE,1791455282784340006,1.718466309e-05,-1.369573705e-04,-7.927128364e-03,1.727947126e-05,-1.369093386e-04,-7.926654556e-03,-8.864516656e-06,-1.355603060e-04,-7.917915706e-03,7.015550561e-01,-1.354064092e-04,8.328138128e-01,7.015551510e-01,-1.353583772e-04,8.328142866e-01,7.017168785e-01,-1.336653402e-04,8.218627188e-01
+55,2.531666667e+01,DOWN_SETTLE,1791455283462989319,6.665829250e-06,-1.333717712e-04,-8.097467043e-03,7.011228375e-06,-1.303375904e-04,-8.086451233e-03,-1.977594660e-05,-1.289642958e-04,-8.078366500e-03,7.015445373e-01,-1.318208099e-04,8.326434741e-01,7.015448827e-01,-1.287866291e-04,8.326544900e-01,7.017059670e-01,-1.270693300e-04,8.217022680e-01
+56,2.585000000e+01,DOWN_SETTLE,1791455284263028940,1.800020373e-05,-1.342732199e-04,-8.241114649e-03,1.682026343e-05,-1.379774618e-04,-8.222014206e-03,-1.032738746e-05,-1.364117088e-04,-8.215083315e-03,7.015558717e-01,-1.327222585e-04,8.324998265e-01,7.015546917e-01,-1.364265004e-04,8.325189270e-01,7.017154156e-01,-1.345167430e-04,8.215655512e-01
+57,2.650000000e+01,DOWN_SETTLE,1791455285243375281,7.030187602e-06,-1.356913460e-04,-8.397374417e-03,8.173304599e-06,-1.363281620e-04,-8.379656450e-03,-1.981079421e-05,-1.349061203e-04,-8.373745065e-03,7.015449017e-01,-1.341403847e-04,8.323435668e-01,7.015460448e-01,-1.347772006e-04,8.323612847e-01,7.017059322e-01,-1.330111545e-04,8.214068895e-01
+58,2.718333333e+01,DOWN_SETTLE,1791455286273329372,2.433326328e-06,-1.366480901e-04,-8.508378081e-03,3.086680348e-07,-1.341169060e-04,-8.508194694e-03,-2.838722239e-05,-1.328645093e-04,-8.503085817e-03,7.015403048e-01,-1.350971288e-04,8.322325631e-01,7.015381801e-01,-1.325659447e-04,8.322327465e-01,7.016973558e-01,-1.309695435e-04,8.212775487e-01
+59,2.800000000e+01,DOWN_SETTLE,1791455287481809335,1.168538832e-06,-1.157768402e-04,-8.575216421e-03,3.758002933e-06,-1.157376270e-04,-8.569422550e-03,-2.533703411e-05,-1.146700740e-04,-8.565867915e-03,7.015390400e-01,-1.142258789e-04,8.321657248e-01,7.015416295e-01,-1.141866657e-04,8.321715186e-01,7.017004060e-01,-1.127751082e-04,8.212147666e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2a1a3eed4b74ebc0d46a045ad8cd49ca0a53a387
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-2.6648e-03,4.6546e-03,2.4531e+00,-3.7064e-02,3.6592e-02,-9.4584e-06,4.3544e-04,7.8169e-05,2.1458e-06,-5.3272e-06,2.8726e-05,3.2999e-07,4.4241e-04,2.9217e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.9483e-04,2.5530e-02,8.0532e-03,2.4560e+00,-3.7317e-02,3.8609e-02,7.8351e-05,2.8630e-02,3.4768e-03,2.9197e-03,-2.5849e-04,2.0454e-03,8.8140e-05,2.8988e-02,2.0636e-03
+2,1.4500e+00,DOWN_FORCE_DETACH,3.8628e-04,3.8632e-02,8.7777e-03,2.4902e+00,-3.7357e-02,3.9467e-02,1.0371e-04,4.1733e-02,4.2014e-03,3.7150e-02,-2.9893e-04,2.9038e-03,1.1350e-04,5.6030e-02,2.9214e-03
+3,2.1333e+00,DOWN_FORCE_DETACH,5.8170e-04,4.4177e-02,1.6488e-02,2.5181e+00,-3.7869e-02,3.9838e-02,1.2776e-04,4.7277e-02,1.1912e-02,6.4980e-02,-8.1105e-04,3.2741e-03,1.3754e-04,8.1237e-02,3.3759e-03
+4,2.5500e+00,DOWN_FORCE_DETACH,7.8040e-04,3.9578e-02,2.1644e-02,2.5401e+00,-3.8212e-02,3.9517e-02,1.4362e-04,4.2679e-02,1.7068e-02,8.7024e-02,-1.1535e-03,2.9531e-03,1.5340e-04,9.8417e-02,3.1740e-03
+5,3.2500e+00,DOWN_FORCE_DETACH,9.7238e-04,3.3410e-02,2.4075e-02,2.5555e+00,-3.8364e-02,3.9073e-02,1.6351e-04,3.6510e-02,1.9498e-02,1.0247e-01,-1.3053e-03,2.5090e-03,1.7329e-04,1.1051e-01,2.8335e-03
+6,4.0333e+00,DOWN_FORCE_DETACH,1.1642e-03,4.0308e-02,2.9280e-02,2.5628e+00,-3.8704e-02,3.9511e-02,1.6937e-04,4.3408e-02,2.4703e-02,1.0970e-01,-1.6457e-03,2.9475e-03,1.7916e-04,1.2053e-01,3.3806e-03
+7,4.8667e+00,DOWN_FORCE_DETACH,1.3570e-03,4.4828e-02,3.2367e-02,2.5521e+00,-3.8927e-02,3.9833e-02,1.5030e-04,4.7928e-02,2.7791e-02,9.9044e-02,-1.8683e-03,3.2695e-03,1.6009e-04,1.1349e-01,3.7691e-03
+8,5.4667e+00,DOWN_FORCE_DETACH,1.5391e-03,4.6676e-02,3.2422e-02,2.5434e+00,-3.8954e-02,3.9975e-02,1.2583e-04,4.9777e-02,2.7846e-02,9.0299e-02,-1.8960e-03,3.4110e-03,1.3562e-04,1.0680e-01,3.9049e-03
+9,6.1000e+00,DOWN_FORCE_DETACH,1.7463e-03,4.6119e-02,1.9262e-02,2.5426e+00,-3.8099e-02,3.9944e-02,9.0570e-05,4.9220e-02,1.4686e-02,8.9556e-02,-1.0408e-03,3.3807e-03,1.0036e-04,1.0324e-01,3.5387e-03
+10,6.8500e+00,DOWN_FORCE_DETACH,1.9424e-03,4.8249e-02,1.8145e-02,2.5492e+00,-3.8040e-02,4.0083e-02,5.8576e-05,5.1350e-02,1.3569e-02,9.6083e-02,-9.8125e-04,3.5195e-03,6.8364e-05,1.0979e-01,3.6544e-03
+11,7.5167e+00,DOWN_FORCE_DETACH,2.1351e-03,5.0560e-02,2.2575e-02,2.5495e+00,-3.8354e-02,4.0243e-02,4.5544e-05,5.3661e-02,1.7999e-02,9.6394e-02,-1.2959e-03,3.6796e-03,5.5332e-05,1.1178e-01,3.9016e-03
+12,8.2667e+00,DOWN_FORCE_DETACH,2.3320e-03,5.4806e-02,2.5217e-02,2.5520e+00,-3.8552e-02,4.0537e-02,4.5796e-05,5.7906e-02,2.0641e-02,9.8962e-02,-1.4933e-03,3.9732e-03,5.5584e-05,1.1650e-01,4.2449e-03
+13,9.0167e+00,DOWN_FORCE_DETACH,2.5254e-03,5.9782e-02,2.9341e-02,2.5671e+00,-3.8830e-02,4.0875e-02,5.9518e-05,6.2882e-02,2.4765e-02,1.1401e-01,-1.7720e-03,4.3117e-03,6.9307e-05,1.3254e-01,4.6622e-03
+14,9.7167e+00,DOWN_FORCE_DETACH,2.7189e-03,6.2810e-02,2.9513e-02,2.5854e+00,-3.8821e-02,4.1076e-02,7.9799e-05,6.5910e-02,2.4937e-02,1.3236e-01,-1.7626e-03,4.5124e-03,8.9588e-05,1.4995e-01,4.8453e-03
+15,1.0433e+01,DOWN_FORCE_DETACH,2.9128e-03,6.5958e-02,3.3067e-02,2.6001e+00,-3.9008e-02,4.1279e-02,1.0734e-04,6.9058e-02,2.8491e-02,1.4699e-01,-1.9501e-03,4.7159e-03,1.1713e-04,1.6488e-01,5.1045e-03
+16,1.1100e+01,DOWN_FORCE_DETACH,3.1040e-03,6.8157e-02,3.5678e-02,2.6058e+00,-3.9136e-02,4.1421e-02,1.3454e-04,7.1257e-02,3.1102e-02,1.5270e-01,-2.0778e-03,4.8574e-03,1.4433e-04,1.7135e-01,5.2851e-03
+17,1.1767e+01,DOWN_FORCE_DETACH,3.2973e-03,6.8610e-02,3.6939e-02,2.6104e+00,-3.9221e-02,4.1452e-02,1.6173e-04,7.1711e-02,3.2363e-02,1.5736e-01,-2.1625e-03,4.8883e-03,1.7152e-04,1.7593e-01,5.3480e-03
+18,1.2333e+01,DOWN_FORCE_DETACH,3.4935e-03,6.8455e-02,3.4354e-02,2.6154e+00,-3.9097e-02,4.1444e-02,1.8090e-04,7.1556e-02,2.9777e-02,1.6231e-01,-2.0387e-03,4.8806e-03,1.9069e-04,1.7986e-01,5.2927e-03
+19,1.2900e+01,DOWN_FORCE_DETACH,3.6922e-03,7.1902e-02,3.6136e-02,2.6339e+00,-3.9250e-02,4.1669e-02,1.9835e-04,7.5002e-02,3.1559e-02,1.8086e-01,-2.1917e-03,5.1053e-03,2.0814e-04,1.9832e-01,5.5597e-03
+20,1.3417e+01,DOWN_FORCE_DETACH,3.8809e-03,7.6909e-02,4.0507e-02,2.6548e+00,-3.9545e-02,4.1988e-02,2.1910e-04,8.0009e-02,3.5931e-02,2.0172e-01,-2.4871e-03,5.4243e-03,2.2889e-04,2.1996e-01,5.9717e-03
+21,1.3967e+01,DOWN_FORCE_DETACH,4.0775e-03,8.3586e-02,4.5941e-02,2.6750e+00,-3.9891e-02,4.2412e-02,2.4596e-04,8.6686e-02,4.1364e-02,2.2192e-01,-2.8325e-03,5.8481e-03,2.5575e-04,2.4182e-01,6.5030e-03
+22,1.4467e+01,DOWN_FORCE_DETACH,4.2691e-03,8.5823e-02,5.0399e-02,2.6903e+00,-4.0165e-02,4.2549e-02,2.6336e-04,8.8924e-02,4.5823e-02,2.3722e-01,-3.1062e-03,5.9859e-03,2.7315e-04,2.5745e-01,6.7493e-03
+23,1.4967e+01,DOWN_FORCE_DETACH,4.4689e-03,8.1820e-02,5.0948e-02,2.7044e+00,-4.0184e-02,4.2270e-02,2.5934e-04,8.4920e-02,4.6372e-02,2.5130e-01,-3.1258e-03,5.7069e-03,2.6913e-04,2.6929e-01,6.5124e-03
+24,1.5383e+01,DOWN_FORCE_DETACH,4.6582e-03,7.6551e-02,5.0056e-02,2.7152e+00,-4.0116e-02,4.1894e-02,2.3721e-04,7.9651e-02,4.5480e-02,2.6215e-01,-3.0574e-03,5.3301e-03,2.4700e-04,2.7774e-01,6.1497e-03
+25,1.5817e+01,DOWN_FORCE_DETACH,4.8539e-03,6.8918e-02,4.7724e-02,2.7332e+00,-3.9964e-02,4.1344e-02,2.0146e-04,7.2018e-02,4.3147e-02,2.8015e-01,-2.9061e-03,4.7805e-03,2.1125e-04,2.9246e-01,5.5985e-03
+26,1.6217e+01,DOWN_FORCE_DETACH,5.0474e-03,6.5237e-02,4.7036e-02,2.7534e+00,-3.9907e-02,4.1053e-02,1.6528e-04,6.8338e-02,4.2459e-02,3.0036e-01,-2.8487e-03,4.4890e-03,1.7506e-04,3.1095e-01,5.3195e-03
+27,1.6600e+01,DOWN_FORCE_DETACH,5.2442e-03,6.4085e-02,5.0702e-02,2.7737e+00,-4.0105e-02,4.0928e-02,1.3201e-04,6.7185e-02,4.6126e-02,3.2059e-01,-3.0464e-03,4.3643e-03,1.4180e-04,3.3079e-01,5.3243e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3481ce06e7cc385a75b353d5c37711858f777cfa
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a28b464750a8a39cf760c259a84565bba956e90216fc92a5d1a54118a648e0ac
+size 2795520
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b4d3b9b0e43cd89d9dc9d51a0d27ea9797f14e9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4487684e18134618d495a2ba5852add89e6f37b0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fc9d25de0a0576db0cdcb011ab996a6d9a30c71
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..044a04c14ca9c761f855cc199abae04986149ac9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,5.166666667e-01,UP_FORCE_RAMP,1791455234521459518,3.383756302e-06,-4.472379254e-06,6.653141987e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.885435038e-07,5.326418387e-08,4.457016023e-08,7.015412552e-01,-2.921417933e-06,8.407475943e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261315e-01,1.948229959e-06,8.297806791e-01
+7,6.000000000e-01,UP_FORCE_RAMP,1791455234640469062,1.993212841e-06,1.536024329e-06,7.140995590e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.406018232e-07,6.026175313e-08,5.006937032e-08,7.015398647e-01,3.086985650e-06,8.407480822e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261836e-01,1.955227528e-06,8.297806846e-01
+8,6.833333333e-01,UP_FORCE_RAMP,1791455234772109049,1.609552783e-06,-2.758896510e-06,8.075592315e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.904625071e-07,6.713396404e-08,5.517718493e-08,7.015394810e-01,-1.207935189e-06,8.407490168e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262335e-01,1.962099739e-06,8.297806897e-01
+9,7.666666667e-01,UP_FORCE_RAMP,1791455234902398057,2.354384798e-08,-1.610766129e-06,1.008841096e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.381156614e-07,7.347769852e-08,6.003137365e-08,7.015378950e-01,-5.980480821e-08,8.407510296e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262811e-01,1.968443473e-06,8.297806946e-01
+10,8.500000000e-01,UP_FORCE_RAMP,1791455235021352618,4.005062424e-07,1.010901788e-06,1.512507214e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.836361727e-07,7.969063621e-08,6.454704293e-08,7.015382720e-01,2.561863109e-06,8.407560663e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263266e-01,1.974656411e-06,8.297806991e-01
+11,9.500000000e-01,UP_FORCE_RAMP,1791455235171696870,-1.008047963e-06,3.579510480e-07,2.046600279e-05,1.245137056e-06,7.922491139e-07,2.099910882e-05,1.996160985e-06,9.132860689e-07,2.072875286e-05,7.015368634e-01,1.908912369e-06,8.407614072e-01,7.015391166e-01,2.343210435e-06,8.407619403e-01,7.017277392e-01,2.808251844e-06,8.298013633e-01
+12,1.050000000e+00,UP_FORCE_RAMP,1791455235321908370,4.699405103e-07,2.424014333e-07,3.069590634e-05,1.245137056e-06,7.922491139e-07,2.099910882e-05,2.047493392e-06,9.202207802e-07,2.075873522e-05,7.015383414e-01,1.793362754e-06,8.407716371e-01,7.015391166e-01,2.343210435e-06,8.407619403e-01,7.017277905e-01,2.815186555e-06,8.298013933e-01
+13,1.150000000e+00,UP_FORCE_RAMP,1791455235471700340,-1.472440782e-06,6.743506181e-07,3.954393113e-05,1.245137056e-06,7.922491139e-07,2.099910882e-05,2.095675822e-06,9.269402991e-07,2.078095558e-05,7.015363990e-01,2.225311939e-06,8.407804851e-01,7.015391166e-01,2.343210435e-06,8.407619403e-01,7.017278387e-01,2.821906074e-06,8.298014155e-01
+14,1.250000000e+00,UP_FORCE_RAMP,1791455235622403869,-3.182224195e-06,1.753665481e-06,4.623651716e-05,-2.454202753e-06,2.957128226e-06,4.096149271e-05,-1.546427024e-06,3.051112277e-06,4.051739425e-05,7.015346893e-01,3.304626802e-06,8.407871777e-01,7.015354173e-01,4.508089547e-06,8.407819027e-01,7.017241966e-01,4.946078051e-06,8.298211519e-01
+15,1.316666667e+00,UP_FORCE_RAMP,1791455235722713065,8.759537130e-07,5.707474112e-06,5.784571448e-05,-2.454202753e-06,2.957128226e-06,4.096149271e-05,-1.520617843e-06,3.055443292e-06,4.054406530e-05,7.015387474e-01,7.258435433e-06,8.407987869e-01,7.015354173e-01,4.508089547e-06,8.407819027e-01,7.017242224e-01,4.950409067e-06,8.298211786e-01
+16,1.366666667e+00,UP_FORCE_RAMP,1791455235816728694,-3.608964817e-06,4.802997368e-07,5.701903337e-05,1.700437385e-06,6.167571624e-07,6.060279924e-05,2.758593936e-06,7.230341643e-07,5.995981239e-05,7.015342625e-01,2.031261058e-06,8.407979602e-01,7.015395719e-01,2.167718483e-06,8.408015440e-01,7.017285016e-01,2.617999939e-06,8.298405944e-01
+17,1.416666667e+00,UP_FORCE_RAMP,1791455235881506350,-3.342512905e-06,2.968350118e-06,6.130701991e-05,1.700437385e-06,6.167571624e-07,6.060279924e-05,2.780929163e-06,7.244477128e-07,5.999235137e-05,7.015345290e-01,4.519311439e-06,8.408022482e-01,7.015395719e-01,2.167718483e-06,8.408015440e-01,7.017285239e-01,2.619413487e-06,8.298406269e-01
+18,1.483333333e+00,UP_FORCE_RAMP,1791455235973905174,-5.436387653e-07,7.888471444e-06,6.956917461e-05,1.700437385e-06,6.167571624e-07,6.060279924e-05,2.808973372e-06,7.277222253e-07,6.002782365e-05,7.015373278e-01,9.439432765e-06,8.408105104e-01,7.015395719e-01,2.167718483e-06,8.408015440e-01,7.017285520e-01,2.622688000e-06,8.298406624e-01
+19,1.566666667e+00,UP_FORCE_RAMP,1791455236103156964,-3.258324169e-06,4.530262481e-06,7.415627655e-05,1.700437385e-06,6.167571624e-07,6.060279924e-05,2.841729810e-06,7.320528024e-07,6.006740040e-05,7.015346132e-01,6.081223802e-06,8.408150975e-01,7.015395719e-01,2.167718483e-06,8.408015440e-01,7.017285847e-01,2.627018577e-06,8.298407019e-01
+20,1.616666667e+00,UP_FORCE_RAMP,1791455236173414362,-1.685104260e-06,7.604337049e-06,7.944865601e-05,-5.686900770e-07,3.988549914e-07,8.051170221e-05,6.028740362e-07,5.335847092e-07,7.968270184e-05,7.015361864e-01,9.155298370e-06,8.408203898e-01,7.015373028e-01,1.949816312e-06,8.408214529e-01,7.017263459e-01,2.428550484e-06,8.298603172e-01
+21,1.683333333e+00,UP_FORCE_RAMP,1791455236276389202,-1.077540941e-06,2.316046653e-06,8.710325802e-05,-5.686900770e-07,3.988549914e-07,8.051170221e-05,6.246329162e-07,5.363357977e-07,7.972874306e-05,7.015367939e-01,3.867007974e-06,8.408280444e-01,7.015373028e-01,1.949816312e-06,8.408214529e-01,7.017263676e-01,2.431301572e-06,8.298603633e-01
+22,1.750000000e+00,UP_FORCE_RAMP,1791455236372667393,-2.451946059e-06,2.716712162e-06,9.219774965e-05,-5.686900770e-07,3.988549914e-07,8.051170221e-05,6.461019987e-07,5.395257066e-07,7.976864702e-05,7.015354195e-01,4.267673483e-06,8.408331389e-01,7.015373028e-01,1.949816312e-06,8.408214529e-01,7.017263891e-01,2.434491481e-06,8.298604032e-01
+23,1.800000000e+00,UP_FORCE_RAMP,1791455236442675747,2.811065083e-06,5.811302381e-06,1.033443486e-04,2.850111359e-06,5.800051102e-06,1.033107206e-04,4.230020200e-06,5.887885451e-06,1.022622334e-04,7.015406825e-01,7.362263702e-06,8.408442855e-01,7.015407216e-01,7.351012423e-06,8.408442519e-01,7.017299730e-01,7.782851226e-06,8.298828968e-01
+24,1.866666667e+00,UP_FORCE_RAMP,1791455236543941983,3.425518173e-06,6.403880743e-06,1.143591848e-04,2.850111359e-06,5.800051102e-06,1.033107206e-04,4.255476016e-06,5.897262569e-06,1.023306238e-04,7.015412970e-01,7.954842064e-06,8.408553004e-01,7.015407216e-01,7.351012423e-06,8.408442519e-01,7.017299985e-01,7.792228343e-06,8.298829652e-01
+25,1.933333333e+00,UP_FORCE_RAMP,1791455236644201440,3.621588292e-06,9.457707507e-06,1.222745919e-04,2.850111359e-06,5.800051102e-06,1.033107206e-04,4.278318030e-06,5.901840473e-06,1.023809524e-04,7.015414931e-01,1.100866883e-05,8.408632158e-01,7.015407216e-01,7.351012423e-06,8.408442519e-01,7.017300213e-01,7.796806247e-06,8.298830155e-01
+26,2.000000000e+00,UP_FORCE_RAMP,1791455236745441036,5.398367608e-06,6.249498396e-06,1.314497196e-04,3.123045818e-06,4.685259976e-06,1.252601553e-04,4.677210339e-06,4.783529491e-06,1.240022244e-04,7.015432698e-01,7.800459717e-06,8.408723909e-01,7.015409945e-01,6.236221297e-06,8.408662013e-01,7.017304202e-01,6.678495265e-06,8.299046368e-01
+27,2.050000000e+00,UP_FORCE_RAMP,1791455236823403490,5.924015900e-06,8.393532746e-06,1.394480255e-04,3.123045818e-06,4.685259976e-06,1.252601553e-04,4.692799654e-06,4.785596613e-06,1.240487734e-04,7.015437955e-01,9.944494067e-06,8.408803892e-01,7.015409945e-01,6.236221297e-06,8.408662013e-01,7.017304358e-01,6.680562387e-06,8.299046833e-01
+28,2.116666667e+00,UP_FORCE_RAMP,1791455236923940390,3.198520283e-06,6.574239368e-06,1.401196541e-04,3.123045818e-06,4.685259976e-06,1.252601553e-04,4.712627809e-06,4.788798839e-06,1.241049008e-04,7.015410700e-01,8.125200689e-06,8.408810608e-01,7.015409945e-01,6.236221297e-06,8.408662013e-01,7.017304556e-01,6.683764614e-06,8.299047394e-01
+29,2.200000000e+00,UP_FORCE_RAMP,1791455237071159284,5.596011410e-06,7.804813589e-06,1.518303649e-04,5.185839555e-06,1.046814862e-05,1.461439262e-04,6.860043638e-06,1.052538562e-05,1.448080320e-04,7.015434675e-01,9.355774910e-06,8.408927716e-01,7.015430573e-01,1.201910994e-05,8.408870851e-01,7.017326030e-01,1.242035139e-05,8.299254426e-01
+30,2.283333333e+00,UP_FORCE_RAMP,1791455237204448621,4.507998296e-06,1.008625164e-05,1.560584126e-04,5.185839555e-06,1.046814862e-05,1.461439262e-04,6.884604461e-06,1.053167929e-05,1.448895681e-04,7.015423795e-01,1.163721297e-05,8.408969996e-01,7.015430573e-01,1.201910994e-05,8.408870851e-01,7.017326276e-01,1.242664507e-05,8.299255241e-01
+31,2.366666667e+00,UP_FORCE_RAMP,1791455237362012340,6.284232778e-06,1.030231929e-05,1.648328253e-04,5.185839555e-06,1.046814862e-05,1.461439262e-04,6.907203012e-06,1.053611595e-05,1.449630768e-04,7.015441557e-01,1.185328061e-05,8.409057740e-01,7.015430573e-01,1.201910994e-05,8.408870851e-01,7.017326502e-01,1.243108172e-05,8.299255976e-01
+32,2.450000000e+00,UP_FORCE_RAMP,1791455237516343976,4.173237877e-06,1.224715619e-05,1.702748767e-04,2.978249503e-06,1.417652569e-05,1.656962668e-04,4.788093874e-06,1.419893968e-05,1.643023400e-04,7.015420447e-01,1.379811751e-05,8.409112161e-01,7.015408497e-01,1.572748701e-05,8.409066375e-01,7.017305311e-01,1.609390546e-05,8.299449369e-01
+33,2.533333333e+00,UP_FORCE_RAMP,1791455237656210034,2.488838330e-06,1.086025867e-05,1.721764715e-04,2.978249503e-06,1.417652569e-05,1.656962668e-04,4.805320977e-06,1.420418852e-05,1.643880949e-04,7.015403603e-01,1.241121999e-05,8.409131177e-01,7.015408497e-01,1.572748701e-05,8.409066375e-01,7.017305483e-01,1.609915430e-05,8.299450226e-01
+34,2.616666667e+00,UP_FORCE_RAMP,1791455237776016460,1.141799730e-07,1.407457100e-05,1.760301478e-04,2.978249503e-06,1.417652569e-05,1.656962668e-04,4.822061194e-06,1.420806036e-05,1.644641645e-04,7.015379857e-01,1.562553232e-05,8.409169713e-01,7.015408497e-01,1.572748701e-05,8.409066375e-01,7.017305651e-01,1.610302614e-05,8.299450987e-01
+35,2.666666667e+00,UP_FORCE_RAMP,1791455237848287733,2.732065615e-06,1.228082372e-05,1.814467034e-04,2.978249503e-06,1.417652569e-05,1.656962668e-04,4.831637945e-06,1.420998315e-05,1.645072039e-04,7.015406035e-01,1.383178504e-05,8.409223879e-01,7.015408497e-01,1.572748701e-05,8.409066375e-01,7.017305746e-01,1.610494892e-05,8.299451417e-01
+36,2.783333333e+00,UP_FORCE_RAMP,1791455238023924811,1.820585158e-06,1.074028607e-05,1.849594509e-04,2.978249503e-06,1.417652569e-05,1.656962668e-04,4.852349266e-06,1.421418323e-05,1.646017432e-04,7.015396921e-01,1.229124739e-05,8.409259006e-01,7.015408497e-01,1.572748701e-05,8.409066375e-01,7.017305953e-01,1.610914900e-05,8.299452363e-01
+37,2.866666667e+00,UP_FORCE_RAMP,1791455238143947404,2.150993941e-06,1.263094383e-05,1.916635418e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.852354172e-06,1.426031652e-05,1.890387442e-04,7.015400225e-01,1.418190515e-05,8.409326047e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017315953e-01,1.615528229e-05,8.299696733e-01
+38,2.966666667e+00,UP_FORCE_RAMP,1791455238302433763,3.762949761e-07,1.274140926e-05,1.929246710e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.869299838e-06,1.426393050e-05,1.891346626e-04,7.015382478e-01,1.429237058e-05,8.409338659e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017316123e-01,1.615889627e-05,8.299697692e-01
+39,3.066666667e+00,UP_FORCE_RAMP,1791455238442952837,4.390442089e-07,1.252043836e-05,1.952525496e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.884348374e-06,1.426708784e-05,1.892203799e-04,7.015383105e-01,1.407139968e-05,8.409361937e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017316273e-01,1.616205361e-05,8.299698549e-01
+40,3.183333333e+00,UP_FORCE_RAMP,1791455238623182668,-2.453725304e-07,1.383200466e-05,1.989568550e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.899941770e-06,1.427032471e-05,1.893120101e-04,7.015376261e-01,1.538296598e-05,8.409398980e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017316429e-01,1.616529049e-05,8.299699466e-01
+41,3.300000000e+00,UP_FORCE_RAMP,1791455238802440647,4.661080318e-07,1.343438167e-05,2.047744052e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.913806618e-06,1.427322788e-05,1.893960057e-04,7.015383376e-01,1.498534299e-05,8.409457156e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017316568e-01,1.616819365e-05,8.299700306e-01
+42,3.366666667e+00,UP_FORCE_RAMP,1791455238902954503,1.320291421e-06,1.267095918e-05,2.099901079e-04,3.883947565e-06,1.423841213e-05,1.904508490e-04,5.921014857e-06,1.427470994e-05,1.894407909e-04,7.015391918e-01,1.422192050e-05,8.409509313e-01,7.015417554e-01,1.578937345e-05,8.409313920e-01,7.017316640e-01,1.616967572e-05,8.299700753e-01
+43,3.433333333e+00,UP_FORCE_RAMP,1791455239003071109,2.304170577e-08,1.377482121e-05,2.107373962e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.304242391e-06,1.398604970e-05,2.094065183e-04,7.015378945e-01,1.532578253e-05,8.409516786e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280472e-01,1.588101548e-05,8.299900411e-01
+44,3.483333333e+00,UP_FORCE_HOLD,1791455239074193564,-5.344530103e-06,1.004844725e-05,2.035728657e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.302953276e-06,1.398591134e-05,2.094624341e-04,7.015325270e-01,1.159940858e-05,8.409445141e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280459e-01,1.588087711e-05,8.299900970e-01
+45,3.533333333e+00,UP_FORCE_HOLD,1791455239143879037,1.929713067e-06,1.765702363e-05,2.152405500e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.305148906e-06,1.398701332e-05,2.095038636e-04,7.015398012e-01,1.920798495e-05,8.409561817e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280481e-01,1.588197909e-05,8.299901384e-01
+46,3.566666667e+00,UP_FORCE_HOLD,1791455239202424411,-2.048625364e-06,1.284708481e-05,2.122721401e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.306804295e-06,1.398769700e-05,2.095293708e-04,7.015358229e-01,1.439804614e-05,8.409532133e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280498e-01,1.588266278e-05,8.299901639e-01
+47,3.683333333e+00,UP_FORCE_HOLD,1791455239372667802,-1.800087745e-06,1.295836459e-05,2.164356501e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.312353730e-06,1.398981248e-05,2.096112795e-04,7.015360714e-01,1.450932591e-05,8.409573768e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280553e-01,1.588477825e-05,8.299902458e-01
+48,3.750000000e+00,UP_FORCE_HOLD,1791455239489860201,-1.074273348e-06,1.056292529e-05,2.192863207e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.315113133e-06,1.399078430e-05,2.096544766e-04,7.015367972e-01,1.211388661e-05,8.409602275e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280581e-01,1.588575008e-05,8.299902890e-01
+49,3.850000000e+00,UP_FORCE_HOLD,1791455239671255645,-2.482544059e-06,1.449759896e-05,2.205246998e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.318722265e-06,1.399218956e-05,2.097149941e-04,7.015353889e-01,1.604856028e-05,8.409614659e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280617e-01,1.588715534e-05,8.299903495e-01
+50,3.966666667e+00,UP_FORCE_HOLD,1791455239844664730,-3.816038925e-06,1.209742618e-05,2.234805416e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.322189197e-06,1.399360304e-05,2.097799383e-04,7.015340554e-01,1.364838750e-05,8.409644217e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280652e-01,1.588856882e-05,8.299904145e-01
+51,4.033333333e+00,UP_FORCE_HOLD,1791455239943594627,-3.016330322e-06,1.072697701e-05,2.269127745e-04,2.383083332e-07,1.392285333e-05,2.107111328e-04,2.323837358e-06,1.399431416e-05,2.098145337e-04,7.015348552e-01,1.227793834e-05,8.409678540e-01,7.015381098e-01,1.547381465e-05,8.409516523e-01,7.017280668e-01,1.588927994e-05,8.299904491e-01
+52,4.116666667e+00,UP_FORCE_HOLD,1791455240072658444,-3.358181914e-06,1.368184858e-05,2.289916660e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.989112684e-07,1.405053226e-05,2.292745052e-04,7.015345133e-01,1.523280990e-05,8.409699329e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263419e-01,1.594549804e-05,8.300099091e-01
+53,4.200000000e+00,UP_FORCE_HOLD,1791455240202421291,-3.970783645e-06,1.497931484e-05,2.316436349e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.984305854e-07,1.405154043e-05,2.293329889e-04,7.015339007e-01,1.653027616e-05,8.409725848e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263414e-01,1.594650620e-05,8.300099675e-01
+54,4.300000000e+00,UP_FORCE_HOLD,1791455240342435521,-7.256882582e-06,1.544668897e-05,2.284339260e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.983027559e-07,1.405252250e-05,2.293921870e-04,7.015306146e-01,1.699765029e-05,8.409693751e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263413e-01,1.594748828e-05,8.300100267e-01
+55,4.366666667e+00,UP_FORCE_HOLD,1791455240441317918,-2.868288699e-06,1.501715641e-05,2.380215680e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.979936164e-07,1.405303365e-05,2.294284696e-04,7.015350032e-01,1.656811773e-05,8.409789628e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263410e-01,1.594799942e-05,8.300100630e-01
+56,4.433333333e+00,UP_SETTLE,1791455240542598729,-8.445184205e-06,1.055536311e-05,2.316157167e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.975191846e-07,1.405347251e-05,2.294627607e-04,7.015294263e-01,1.210632443e-05,8.409725569e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263405e-01,1.594843828e-05,8.300100973e-01
+57,4.500000000e+00,UP_SETTLE,1791455240640969281,-8.239822051e-06,1.542228872e-05,2.348575853e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.969024575e-07,1.405385546e-05,2.294952565e-04,7.015296317e-01,1.697325004e-05,8.409757988e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263399e-01,1.594882123e-05,8.300101298e-01
+58,4.533333333e+00,UP_SETTLE,1791455240702416939,-1.604246112e-05,1.158741014e-05,2.272213450e-04,-1.560472527e-06,1.397696042e-05,2.303845847e-04,5.965443283e-07,1.405402709e-05,2.295108726e-04,7.015218290e-01,1.313837146e-05,8.409681625e-01,7.015363110e-01,1.552792174e-05,8.409713258e-01,7.017263395e-01,1.594899286e-05,8.300101454e-01
+59,4.550000000e+00,UP_SETTLE,1791455240722672956,-3.952925406e-05,8.171752960e-06,2.153660808e-04,-3.919328430e-05,8.108173679e-06,2.152342933e-04,-3.762960876e-05,8.306075672e-06,2.145661868e-04,7.014983422e-01,9.722714281e-06,8.409563073e-01,7.014986782e-01,9.659135000e-06,8.409561755e-01,7.016881134e-01,1.020104145e-05,8.299952007e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e662109bdbd4627dacb16fcfae5a40b4d11edb8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-2.6648e-03,4.6546e-03,2.4531e+00,-3.7064e-02,3.6592e-02,-9.4584e-06,4.3544e-04,7.8169e-05,2.1458e-06,-5.3272e-06,2.8726e-05,3.2999e-07,4.4241e-04,2.9217e-05
+1,8.3333e-02,UP_FORCE_RAMP,1.8528e-05,-4.4441e-04,5.0119e-03,2.4531e+00,-3.7088e-02,3.6739e-02,-7.6287e-06,2.6559e-03,4.3549e-04,6.1512e-05,-2.9840e-05,1.7558e-04,2.1597e-06,2.6920e-03,1.7811e-04
+2,1.6667e-01,UP_FORCE_RAMP,3.6013e-05,1.8293e-03,5.3248e-03,2.4533e+00,-3.7110e-02,3.6890e-02,-5.5044e-06,4.9296e-03,7.4845e-04,1.8930e-04,-5.1502e-05,3.2667e-04,4.2840e-06,4.9897e-03,3.3073e-04
+3,3.0000e-01,UP_FORCE_RAMP,5.7747e-05,5.4978e-03,5.7621e-03,2.4536e+00,-3.7140e-02,3.7136e-02,-1.5321e-06,8.5981e-03,1.1857e-03,4.8375e-04,-8.2046e-05,5.7193e-04,8.2563e-06,8.6930e-03,5.7785e-04
+4,3.8333e-01,UP_FORCE_RAMP,7.3619e-05,7.7759e-03,6.0075e-03,2.4538e+00,-3.7158e-02,3.7289e-02,1.2814e-06,1.0876e-02,1.4311e-03,7.0214e-04,-9.9290e-05,7.2516e-04,1.1070e-05,1.0992e-02,7.3201e-04
+5,4.6667e-01,UP_FORCE_RAMP,9.5057e-05,1.0025e-02,6.2326e-03,2.4540e+00,-3.7174e-02,3.7441e-02,4.3298e-06,1.3125e-02,1.6562e-03,9.3603e-04,-1.1518e-04,8.7709e-04,1.4118e-05,1.3262e-02,8.8474e-04
+6,5.1667e-01,UP_FORCE_RAMP,1.1689e-04,1.1358e-02,6.3613e-03,2.4542e+00,-3.7183e-02,3.7531e-02,6.2662e-06,1.4458e-02,1.7849e-03,1.0798e-03,-1.2429e-04,9.6748e-04,1.6055e-05,1.4608e-02,9.7557e-04
+7,6.0000e-01,UP_FORCE_RAMP,1.3679e-04,1.3544e-02,6.5667e-03,2.4544e+00,-3.7197e-02,3.7680e-02,9.6604e-06,1.6645e-02,1.9904e-03,1.3206e-03,-1.3884e-04,1.1162e-03,1.9449e-05,1.6815e-02,1.1250e-03
+8,6.8333e-01,UP_FORCE_RAMP,1.5471e-04,1.5681e-02,6.7627e-03,2.4546e+00,-3.7211e-02,3.7826e-02,1.3251e-05,1.8782e-02,2.1863e-03,1.5600e-03,-1.5272e-04,1.2623e-03,2.3039e-05,1.8973e-02,1.2717e-03
+9,7.6667e-01,UP_FORCE_RAMP,1.7159e-04,2.5523e-02,8.0526e-03,2.4560e+00,-3.7317e-02,3.8609e-02,7.8370e-05,2.8623e-02,3.4762e-03,2.9180e-03,-2.5845e-04,2.0450e-03,8.8158e-05,2.8980e-02,2.0632e-03
+10,8.5000e-01,UP_FORCE_RAMP,1.9111e-04,2.6324e-02,8.0849e-03,2.4559e+00,-3.7319e-02,3.8661e-02,7.9513e-05,2.9424e-02,3.5086e-03,2.8527e-03,-2.6027e-04,2.0972e-03,8.9302e-05,2.9770e-02,2.1152e-03
+11,9.5000e-01,UP_FORCE_RAMP,2.1085e-04,2.7518e-02,8.0431e-03,2.4544e+00,-3.7315e-02,3.8738e-02,8.1379e-05,3.0619e-02,3.4667e-03,1.3635e-03,-2.5687e-04,2.1744e-03,9.1168e-05,3.0844e-02,2.1915e-03
+12,1.0500e+00,UP_FORCE_RAMP,2.3083e-04,2.8619e-02,7.9820e-03,2.4513e+00,-3.7311e-02,3.8811e-02,8.3409e-05,3.1720e-02,3.4056e-03,-1.7703e-03,-2.5248e-04,2.2472e-03,9.3197e-05,3.1951e-02,2.2632e-03
+13,1.1500e+00,UP_FORCE_RAMP,2.5163e-04,2.9976e-02,7.9963e-03,2.4494e+00,-3.7311e-02,3.8901e-02,8.5653e-05,3.3076e-02,3.4199e-03,-3.6266e-03,-2.5302e-04,2.3372e-03,9.5441e-05,3.3450e-02,2.3528e-03
+14,1.2500e+00,UP_FORCE_RAMP,2.6725e-04,3.6814e-02,6.6253e-03,2.4319e+00,-3.7219e-02,3.9361e-02,9.6252e-05,3.9914e-02,2.0489e-03,-2.1142e-02,-1.6053e-04,2.7969e-03,1.0604e-04,4.5214e-02,2.8035e-03
+15,1.3167e+00,UP_FORCE_RAMP,2.8639e-04,3.6889e-02,6.7883e-03,2.4330e+00,-3.7229e-02,3.9371e-02,9.8515e-05,3.9989e-02,2.2119e-03,-2.0036e-02,-1.7045e-04,2.8072e-03,1.0830e-04,4.4783e-02,2.8145e-03
+16,1.3667e+00,UP_FORCE_RAMP,3.0833e-04,3.7011e-02,7.0761e-03,2.4331e+00,-3.7248e-02,3.9382e-02,1.0036e-04,4.0111e-02,2.4997e-03,-1.9945e-02,-1.8931e-04,2.8186e-03,1.1015e-04,4.4866e-02,2.8271e-03
+17,1.4167e+00,UP_FORCE_RAMP,3.2593e-04,3.6699e-02,7.4298e-03,2.4310e+00,-3.7271e-02,3.9365e-02,1.0225e-04,3.9799e-02,2.8535e-03,-2.2051e-02,-2.1216e-04,2.8017e-03,1.1204e-04,4.5589e-02,2.8119e-03
+18,1.4833e+00,UP_FORCE_RAMP,3.4124e-04,3.6944e-02,7.7228e-03,2.4295e+00,-3.7289e-02,3.9387e-02,1.0486e-04,4.0045e-02,3.1464e-03,-2.3582e-02,-2.3097e-04,2.8230e-03,1.1465e-04,4.6579e-02,2.8347e-03
+19,1.5667e+00,UP_FORCE_RAMP,3.6225e-04,3.7725e-02,7.9645e-03,2.4289e+00,-3.7305e-02,3.9443e-02,1.0819e-04,4.0825e-02,3.3881e-03,-2.4152e-02,-2.4679e-04,2.8798e-03,1.1797e-04,4.7555e-02,2.8928e-03
+20,1.6167e+00,UP_FORCE_RAMP,3.8212e-04,3.8598e-02,8.0858e-03,2.4271e+00,-3.7313e-02,3.9505e-02,1.1031e-04,4.1698e-02,3.5094e-03,-2.5950e-02,-2.5499e-04,2.9416e-03,1.2009e-04,4.9239e-02,2.9550e-03
+21,1.6833e+00,UP_FORCE_RAMP,4.0370e-04,3.9792e-02,8.1930e-03,2.4242e+00,-3.7321e-02,3.9589e-02,1.1325e-04,4.2892e-02,3.6166e-03,-2.8883e-02,-2.6239e-04,3.0252e-03,1.2304e-04,5.1836e-02,3.0391e-03
+22,1.7500e+00,UP_FORCE_RAMP,4.1977e-04,4.0846e-02,8.2845e-03,2.4229e+00,-3.7327e-02,3.9663e-02,1.1608e-04,4.3946e-02,3.7081e-03,-3.0131e-02,-2.6888e-04,3.0995e-03,1.2586e-04,5.3412e-02,3.1137e-03
+23,1.8000e+00,UP_FORCE_RAMP,4.3923e-04,4.1597e-02,8.3474e-03,2.4227e+00,-3.7332e-02,3.9716e-02,1.1816e-04,4.4697e-02,3.7710e-03,-3.0401e-02,-2.7344e-04,3.1526e-03,1.2795e-04,5.4187e-02,3.1670e-03
+24,1.8667e+00,UP_FORCE_RAMP,4.5973e-04,4.1629e-02,7.1591e-03,2.4187e+00,-3.7253e-02,3.9723e-02,1.2067e-04,4.4730e-02,2.5827e-03,-3.4418e-02,-1.9440e-04,3.1593e-03,1.3046e-04,5.6498e-02,3.1680e-03
+25,1.9333e+00,UP_FORCE_RAMP,4.8040e-04,4.1971e-02,6.7609e-03,2.4170e+00,-3.7227e-02,3.9750e-02,1.2247e-04,4.5071e-02,2.1845e-03,-3.6117e-02,-1.6860e-04,3.1860e-03,1.3226e-04,5.7798e-02,3.1932e-03
+26,2.0000e+00,UP_FORCE_RAMP,4.9898e-04,4.2401e-02,6.6451e-03,2.4139e+00,-3.7220e-02,3.9782e-02,1.2434e-04,4.5501e-02,2.0687e-03,-3.9131e-02,-1.6137e-04,3.2186e-03,1.3412e-04,6.0049e-02,3.2254e-03
+27,2.0500e+00,UP_FORCE_RAMP,5.1695e-04,4.2748e-02,6.5967e-03,2.4121e+00,-3.7216e-02,3.9808e-02,1.2555e-04,4.5848e-02,2.0204e-03,-4.0966e-02,-1.5812e-04,3.2443e-03,1.3534e-04,6.1517e-02,3.2509e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..89cebb180cd59c13808c366bfd150dfae67c8b1e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:d530d0eda95d58503315d98d20e5292d3542bf32768e1e8ee2d17ab217b06b1d
+size 2457600
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..58ef2d8738f99bcb62c691562899cf56796c97a4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d2986d11ed501ab25d2535a5ba95bf118a5bd5b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+52105,1791455312547420132,10290936000000,1791455312547336825,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760664703039252,-0.004750116833900434,0.09041156494545122,0.9999999885142075,0.00011122708323060594,-4.0586235367438654e-05,1.9893283828841524e-05,0.6761,-0.0048,0.09040379925482682,1.0,0.0,0.0,0.0,0.006248157588433091,-0.22981035900271707,0.6237146974208337,-0.018160988073172336,0.0006169333108993671,-0.00020255367306125653,0.03997722248284649,-0.319222473402219,0.5024187456568722,-0.021117009487645614,-0.0023254523830894156,-0.001704149956796536,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.2670742832971236,-0.2507456134469133,0.3705543570488031,0.138410055658435,-0.13231557897140198,-0.2559195659749668,0.721557885649919,0.6237146974208337,0.3510035286011159,0.3510035286011159,0.4345200000000268,0,0,-3.776669505880926e-05,-6.459532494862969e-05
+52249,1791455313747443176,10292136000000,1791455313743336812,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760664063976055,-0.004756798564305587,0.09036339061773256,0.9999999883786969,0.00011086414485481066,-3.9898474037891754e-05,2.8332377765754082e-05,0.6761,-0.0048,0.09035111177562039,1.0,0.0,0.0,0.0,-0.0053091978999616415,-0.21724035021800953,0.6445092336559323,-0.01751536471591703,0.0012060358042154577,-0.00020684980626270682,0.02841986699445176,-0.30665246461751144,0.5232132818919707,-0.020471386130390307,-0.001736349889773325,-0.0017084460899979862,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.3735393456893432,-0.1590775459536448,0.25826444340535504,0.12164948035091509,-0.03477633245415808,-0.19392835186550347,0.721557885649919,0.6445092336559323,0.4632934422445639,0.4632934422445639,0.5065200000000262,0,0,-4.9976345038700625e-05,8.369179935042154e-05
+52399,1791455314997479764,10293386000000,1791455314995336753,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760765461607563,-0.004755682685973493,0.09030726866947907,0.9999999881713928,0.00011390171622645413,-2.726506178162645e-05,3.718997279499404e-05,0.6761,-0.0048,0.09028117153818904,1.0,0.0,0.0,0.0,-0.01603929385647951,-0.19274249598179471,0.6751821885807348,-0.015515609205293322,0.002173588394981759,-0.00019428452001031397,0.017689771037933892,-0.28215461038129663,0.5538862368167732,-0.018471630619766602,-0.0007687972990070241,-0.0016958808037455934,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.33918268618457054,-0.1984464994221257,0.3147294337656648,0.13502677154210316,-0.08841350405495706,-0.22108998533187674,0.721557885649919,0.6751821885807348,0.40682845188425415,0.40682845188425415,0.5815199999999624,0,0,-6.484044996343664e-05,-9.855155166794134e-05
+52527,1791455316064478962,10294453000000,1791455316059336954,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.676075751412696,-0.004759541645585125,0.09023503665588774,0.9999999873002298,0.0001166825320475229,-3.004113988113635e-05,4.82195115823654e-05,0.6761,-0.0048,0.0902131025692908,1.0,0.0,0.0,0.0,-0.025683097912464068,-0.18590986921039054,0.7258673322456151,-0.014495088769196049,0.0021437784761766917,-0.0002247758264529126,0.008045966981949332,-0.27532198360989246,0.6045713804816535,-0.01745111018366933,-0.0007986072178120913,-0.001726372110188192,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.440699320075496,-0.23624949398894235,0.15054435111125372,0.15135701139984384,0.03976306368113574,-0.24362745592506557,0.721557885649919,0.7258673322456151,0.5710135345386652,0.5710135345386652,0.645539999999908,0,0,-6.170863354052069e-05,9.99981445134523e-05
+52605,1791455316714518992,10295103000000,1791455316711337081,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760767023674286,-0.004755569693944298,0.09019728192098607,0.9999999875083018,0.00011540871784985881,-2.8437216895092265e-05,4.7941768273770835e-05,0.6761,-0.0048,0.09017256286509553,1.0,0.0,0.0,0.0,-0.028215273785049642,-0.1736510668437669,0.7272430889179341,-0.013565501185504326,0.0033881053710784737,-0.0002179176404824225,0.005513791109363759,-0.26306318124326883,0.6059471371539725,-0.016521522599977606,0.000445719677089691,-0.001719513924217702,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.37298604360865045,-0.2694532369549171,0.19686514053403403,0.17380704995985424,-0.009879048131722865,-0.2626583704167018,0.721557885649919,0.7272430889179341,0.5246927451158849,0.5246927451158849,0.6845399999998748,0,0,-6.437991933591481e-05,-9.99890823180138e-05
+52731,1791455317764495405,10296153000000,1791455317759336887,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760762878317753,-0.004766699891641431,0.09013159895102259,0.9999999913825045,8.222940540630666e-05,-2.5955836158951833e-05,3.524875515839687e-05,0.6761,-0.0048,0.09010008546652035,1.0,0.0,0.0,0.0,-0.008109071945971186,-0.15220236244376006,0.7566303166458757,-0.013477403004916044,0.002115793736683005,-0.00023595426660945936,0.025619992948442215,-0.24161447684326198,0.6353343648819141,-0.016433424419389324,-0.0008265919573057779,-0.0017375505503447388,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4951532949336659,-0.20298056002694667,0.05982375382785811,0.1608863618210246,0.10596480887283553,-0.22061738056611613,0.721557885649919,0.7566303166458757,0.6617341318220609,0.6617341318220609,0.7475399999998212,0,0,-7.343132757822867e-05,8.341089904740357e-05
+52861,1791455318847443931,10297236000000,1791455318843337177,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760780046224315,-0.004763532797140422,0.09005404351018789,0.9999999909629189,8.364565019259081e-05,-2.649539648140217e-05,4.2643002534457044e-05,0.6761,-0.0048,0.09001566104825061,1.0,0.0,0.0,0.0,-0.026168350941671296,-0.16090541555740306,0.7864536534016402,-0.01350003108156189,0.003119227903803045,-0.00024653286132218593,0.007560713952742106,-0.250317529956905,0.6651577016376786,-0.01645605249603517,0.00017684220981426232,-0.0017481291450574653,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5012445868342518,-0.18066940137501108,0.06203294922761541,0.1508105527447965,0.0989066673561519,-0.20931111510172914,0.721557885649919,0.7864536534016402,0.6595249364223036,0.6595249364223036,0.812519999999766,0,0,-8.370351651662412e-05,-3.185321037347251e-05
+52999,1791455319997519657,10298386000000,1791455319995336651,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.676086159661258,-0.004765764299748746,0.08996500326220606,0.9999999949181213,3.451713722630811e-05,-1.1673213503684816e-05,1.6701049046064825e-05,0.6761,-0.0048,0.08991208465078979,1.0,0.0,0.0,0.0,-0.035064449083117115,-0.15157089103437313,0.7894178667109856,-0.011471381383771536,0.0030850285403102237,-0.00022636936535108134,-0.0013353841887037172,-0.24098300543387505,0.668121914947024,-0.014427402798244816,0.00014264284632144091,-0.0017279656490863608,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5444867161536348,-0.15138829713793658,0.07908635374121707,0.16003843298855674,0.09191770971938286,-0.19139706810964363,0.721557885649919,0.7894178667109856,0.6424715319087019,0.6424715319087019,0.8815199999997073,0,0,-9.767880301411592e-05,-9.98054653075286e-05
+53130,1791455321089519733,10299478000000,1791455321087337608,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760884438406206,-0.004769842795584089,0.0898550934331313,0.9999999948265875,2.9491712823071348e-05,-1.1090733425527185e-05,2.8229840694467634e-05,0.6761,-0.0048,0.08980201754384161,1.0,0.0,0.0,0.0,-0.029397687528479786,-0.1374724229718405,0.8273274003618192,-0.011503824766049435,0.004087043383948698,-0.00024121412001479607,0.004331377365933612,-0.22688453737134243,0.7060314485978576,-0.014459846180522715,0.0011446576899599153,-0.0017428104037500755,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5421709021803366,-0.23162670028906673,-0.08987628187707118,0.1845603603033347,0.19580778438452823,-0.24581861212426365,0.721557885649919,0.8273274003618192,0.8114341675269902,0.8114341675269902,0.9470399999996516,0,0,-0.00010403345307855171,7.78166517597711e-05
+53245,1791455322047430446,10300436000000,1791455322047346999,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.676089144968241,-0.004770988670070727,0.0897530509457393,0.9999999949073377,2.0266231181453838e-05,-9.975737174161556e-06,3.343581302144288e-05,0.6761,-0.0048,0.08969460415739575,1.0,0.0,0.0,0.0,-0.046389050232042185,-0.153862416252815,0.8272449308001503,-0.011506224021529772,0.0040904251634416786,-0.00024320573850712159,-0.012659985337628783,-0.2432745306523169,0.7059489790361887,-0.014462245436003052,0.0011480394694528956,-0.001744802022242401,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6229952278172016,-0.24197174683084552,-0.042052962369646084,0.20054155670447696,0.17644892274623328,-0.24967967087900012,0.721557885649919,0.8272449308001503,0.763610848019565,0.763610848019565,1.0045199999996028,0,0,-0.00011944626336221476,-8.570264917041043e-05
+53368,1791455323072523102,10301461000000,1791455323067337071,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760873861056187,-0.004782612535417124,0.08962718748938343,0.999999994583019,1.0361606651347524e-05,-1.5473340745915512e-05,4.393221100291378e-05,0.6761,-0.0048,0.08956519770373782,1.0,0.0,0.0,0.0,-0.04694552302406032,-0.14345562476650775,0.8373500470819875,-0.011534321424631835,0.005100678431581882,-0.00023565947170759794,-0.013216458129646919,-0.23286773916600967,0.7160540953180259,-0.014490342839105115,0.0021582927375930995,-0.0017372557554428774,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6275641468356135,-0.1835159782070594,-0.047540528280916775,0.1936863365325425,0.17318123336325525,-0.20701260753943088,0.721557885649919,0.8373500470819875,0.7690984139308358,0.7690984139308358,1.0660199999995505,0,0,-0.00013338507312141002,-9.999858860266215e-05
+53481,1791455324014499072,10302403000000,1791455324011336919,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760923759943639,-0.004779813713863024,0.08950050256845772,0.9999999859687058,0.00013378791225493152,-9.300379031607139e-06,3.898397242140263e-05,0.6761,-0.0048,0.08943365112864567,1.0,0.0,0.0,0.0,-0.04775005994860889,-0.1527299110140571,0.857255570491341,-0.011539454631435013,0.005097163317690225,-0.00025190387399220645,-0.014020995054195488,-0.24214202541355903,0.7359596187273795,-0.014495476045908293,0.0021547776237014426,-0.0017535001577274859,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6817454835379687,-0.22689180842791803,-0.11200711960546338,0.21124589096902044,0.22411244373598124,-0.24764257882651697,0.721557885649919,0.857255570491341,0.8335650052553824,0.8335650052553824,1.1225399999995025,0,0,-0.00014855242187336438,-9.759474758753157e-05
+53592,1791455324939431794,10303328000000,1791455324939337237,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760880536532347,-0.004784990994814131,0.08935100334490478,0.999999989007674,0.00010538717979943958,-1.867234778646359e-05,4.4411732576921846e-05,0.6761,-0.0048,0.08929020917073915,1.0,0.0,0.0,0.0,-0.04651022792428032,-0.155089127134227,0.8669139911478239,-0.012562175072537434,0.005113331093125358,-0.00027107151212397615,-0.01278116302986692,-0.24450124153372893,0.7456180393838623,-0.015518196487010714,0.002170945399136575,-0.0017726677958592556,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6616917009003603,-0.28866367189198705,-0.15117440191700846,0.24970035867091872,0.23684420581729168,-0.2643174607901985,0.721557885649919,0.8669139911478239,0.8727322875669274,0.8727322875669274,1.1780399999994553,0,0,-0.00015996205476462156,-9.907815820409666e-05
+53701,1791455325847425054,10304236000000,1791455325847336658,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760877800507881,-0.004787717761710098,0.08920383505614964,0.9999999912814167,8.034016792007767e-05,-1.7840878344886345e-05,4.590415661672233e-05,0.6761,-0.0048,0.08914131194919321,1.0,0.0,0.0,0.0,-0.05567869232526261,-0.15517204793322506,0.8669317693068432,-0.012560973797102923,0.0051140309554322996,-0.0002721961003175691,-0.021949627430849213,-0.24458416233272698,0.7456358175428817,-0.015516995211576203,0.0021716452614435164,-0.0017737923840528485,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6540394555382634,-0.3011295449559503,-0.213276070866658,0.2528362751733229,0.2675569257788398,-0.2722564591289015,0.721557885649919,0.8669317693068432,0.934833956516577,0.934833956516577,1.232519999999409,0,0,-0.00016820412387516382,-9.998593206018142e-05
+53799,1791455326664464459,10305053000000,1791455326659336638,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.676085403275468,-0.004789932837841014,0.08905328132064923,0.999999992826849,5.614146515554031e-05,-2.360750608351779e-05,4.560688414400925e-05,0.6761,-0.0048,0.08899830778776778,1.0,0.0,0.0,0.0,-0.04335163966366866,-0.16447939369799142,0.8869892844758915,-0.012538931350461031,0.004107863723868755,-0.0003025218925263027,-0.009622574769255259,-0.25389150809749333,0.76569333271193,-0.015494952764934311,0.0011654780298799722,-0.001804118176261582,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6788728959559354,-0.2606528111275487,-0.2664430542275004,0.2591072039061487,0.2999984713409463,-0.23864494037426415,0.721557885649919,0.8869892844758915,0.9880009398774194,0.9880009398774194,1.2815399999993673,0,0,-0.00018164815814377197,5.580527344043688e-05
+53893,1791455327447427733,10305836000000,1791455327443336928,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760800956630776,-0.004792180046825904,0.08889492424799668,0.9999999923534993,5.4269877162658675e-05,-3.401032640537728e-05,5.132196226707679e-05,0.6761,-0.0048,0.0888494264560566,1.0,0.0,0.0,0.0,-0.049406800373586954,-0.1716714857367062,0.896954044485243,-0.012939580520750537,0.005094600705738457,-0.0003081765209246557,-0.01567773547917355,-0.2610836001362081,0.7756580927212814,-0.015895601935223817,0.0021522150117496744,-0.0018097728046599351,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6637865467896877,-0.25002375442417474,-0.22400599055630815,0.2629740537486422,0.26691618460368993,-0.23057676678324718,0.721557885649919,0.896954044485243,0.9455638762062271,0.9455638762062271,1.3285199999993274,0,0,-0.00020027504812478026,-9.999999025923074e-05
+53986,1791455328222467871,10306611000000,1791455328219337057,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760738033687573,-0.004791367559322543,0.08873111337215131,0.9999999915596005,5.72295285867456e-05,-4.230011983020723e-05,5.708891655789441e-05,0.6761,-0.0048,0.08868762473798084,1.0,0.0,0.0,0.0,-0.05017838167925778,-0.16450565956015167,0.8869724195295113,-0.012566208868268114,0.00510895277711778,-0.00028775187893940904,-0.016449316784844382,-0.2539177739596536,0.7656764677655498,-0.015522230282741394,0.0021665670831289975,-0.0017893481626746885,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6141377009051949,-0.2789921920417399,-0.14512649684106974,0.27631625082118727,0.19584118713388082,-0.2504365542629937,0.721557885649919,0.8869724195295113,0.8666843824909887,0.8666843824909887,1.3750199999992878,0,0,-0.00021808382192764342,-9.99865981939962e-05
+54070,1791455328922521922,10307311000000,1791455328919337326,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760733119963158,-0.004793945325493702,0.08857072399416978,0.9999999905246595,6.840416895335003e-05,-4.470343110830626e-05,6.0959153508914534e-05,0.6761,-0.0048,0.08853084038233282,1.0,0.0,0.0,0.0,-0.05390849161819298,-0.1639420237246611,0.8974277630783482,-0.012568018910337393,0.005108247400694746,-0.00029632647266406974,-0.020179426723779578,-0.253354138124163,0.7761318113143866,-0.015524040324810673,0.002165861706705964,-0.0017979227563993492,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6681597799337686,-0.2603949271209202,-0.35549418238535463,0.2893546364691591,0.33846879769288873,-0.2309030047710171,0.721557885649919,0.8974277630783482,1.0770520680352735,1.0770520680352735,1.417019999999252,0,0,-0.000230079250933242,9.823585975088917e-05
+54150,1791455329589455635,10307978000000,1791455329587337400,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760750233475513,-0.004797552858442117,0.08841494836877592,0.9999999845466166,0.00012831969530683186,-4.217239090284796e-05,6.407164725012431e-05,0.6761,-0.0048,0.08837094396763301,1.0,0.0,0.0,0.0,-0.05575293485518643,-0.1537675192382499,0.9071620683771088,-0.012568369687893632,0.0051052877243005215,-0.0003046785343580353,-0.022023869960773032,-0.24317963363775183,0.7858661166131472,-0.015524391102366912,0.0021629020303117388,-0.0018062748180933147,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6746180937523206,-0.19097003044206495,-0.3184064151075916,0.26359489003619024,0.3168043332046298,-0.20304144271563843,0.721557885649919,0.9071620683771088,1.0399643007575106,1.0399643007575106,1.457039999999218,0,0,-0.0002510488756033472,8.115717760835413e-06
+54226,1791455330222427644,10308611000000,1791455330215337142,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760727305377678,-0.004794097295837831,0.08824780061432849,0.9999999875734011,9.972317025299105e-05,-4.6736872690636255e-05,6.455242768286863e-05,0.6761,-0.0048,0.08820777630419567,1.0,0.0,0.0,0.0,-0.04856092639857702,-0.15035768787399373,0.9274968160854897,-0.011602392832693828,0.0050827360278198576,-0.0003089826197820982,-0.01483186150416362,-0.23976980227349565,0.8062008643215282,-0.014558414247167108,0.002140350333831075,-0.0018105789035173776,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6750654911932568,-0.2419145060552349,-0.3219413170946565,0.2979881008860497,0.3158538341532263,-0.21993341803141925,0.721557885649919,0.9274968160854897,1.0434992027445755,1.0434992027445755,1.4950199999991858,0,0,-0.0002664914263501784,-4.465709093522986e-05
+54294,1791455330789499043,10309178000000,1791455330787337747,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760726227490748,-0.004802613358088078,0.08809127744494505,0.9999999896133368,7.107653485888789e-05,-4.8329073990801446e-05,6.948825505681568e-05,0.6761,-0.0048,0.08805217669699578,1.0,0.0,0.0,0.0,-0.05613209445391774,-0.15522753522233407,0.931080864303632,-0.012574907963076873,0.005100088011460966,-0.0003240747572865971,-0.022403029559504337,-0.244639649621836,0.8097849125396704,-0.015530929377550153,0.002157702317472183,-0.0018256710410218765,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6431732985684123,-0.2860870053044805,-0.27223375267320976,0.32229013364036757,0.2718627421418672,-0.2470845862579023,0.721557885649919,0.931080864303632,0.9937916383231287,0.9937916383231287,1.5290399999991569,0,0,-0.0002810330635663868,-9.999997638144293e-05
+54363,1791455331364527327,10309753000000,1791455331363336832,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760692033822339,-0.004805994212293086,0.08792116608190588,0.999999990073816,5.230858020753674e-05,-5.4416228432321306e-05,7.48192416936135e-05,0.6761,-0.0048,0.08788579302599778,1.0,0.0,0.0,0.0,-0.06533861850193629,-0.15798006371196377,0.9271039709682886,-0.012601214519755806,0.00611487598593353,-0.00010933803497142577,-0.03160955360752288,-0.2473921781114657,0.805808019204327,-0.015557235934229086,0.0031724902919447475,-0.0016109343187067052,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5915900282449826,-0.368510155887941,-0.29500586967487313,0.3558833241516891,0.27005449271374427,-0.3039855152873741,0.721557885649919,0.9271039709682886,1.0165637553247922,1.0165637553247922,1.5635399999991275,0,0,-0.0002992388834041889,-9.905800765619972e-05
+54429,1791455331914494224,10310303000000,1791455331911337000,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760699524858499,-0.004800531456055393,0.08775008312292482,0.9999999888828567,6.603547433541497e-05,-5.705152743626343e-05,7.785621565215098e-05,0.6761,-0.0048,0.0877186755375557,1.0,0.0,0.0,0.0,-0.064863333934894,-0.1747424746718496,0.9562223725813503,-0.013626580627887673,0.0061284596790515036,-0.0003415177712682779,-0.031134269040480604,-0.26415458907135153,0.8349264208173888,-0.016582602042360953,0.0031860739850627213,-0.0018431140550035573,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6959808111266584,-0.3768255995682794,-0.36361882194565964,0.3774065627705902,0.34163904361031056,-0.30112734384440754,0.721557885649919,0.9562223725813503,1.0851767075955787,1.0851767075955787,1.5965399999990995,0,0,-0.0003106083272727471,3.828638212762252e-05
+54502,1791455332522534735,10310911000000,1791455332519337055,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760674552175292,-0.00480691304572986,0.08755720607487459,0.999999984211985,0.0001156774896654705,-5.885347407343319e-05,7.857404830759571e-05,0.6761,-0.0048,0.0875225300172567,1.0,0.0,0.0,0.0,-0.07460729981645306,-0.17206411623105805,0.9473424379280572,-0.012606028066716986,0.0061117863128182385,-0.00025941560639759797,-0.04087823492203965,-0.26147623063055997,0.8260464861640956,-0.015562049481190266,0.0031694006188294557,-0.0017610118901328774,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6353400522932295,-0.34328545028184615,-0.24087579641622026,0.3801974489564158,0.2433050746439539,-0.2804302054333375,0.721557885649919,0.9473424379280572,0.9624336820661392,0.9624336820661392,1.6330199999990684,0,0,-0.00033414726768462986,-9.997616209756472e-05
+54565,1791455333048488451,10311436000000,1791455333043336746,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760646279769529,-0.004808669739979892,0.08738084568159954,0.9999999858786576,9.511495253850277e-05,-6.317919313208587e-05,8.152965426135294e-05,0.6761,-0.0048,0.08734138154114561,1.0,0.0,0.0,0.0,-0.07468540266020547,-0.17160419555624296,0.9668816450390242,-0.012609716451281311,0.006107464393490297,-0.0003397208895538405,-0.04095633776579207,-0.2610163099557449,0.8455856932750626,-0.015565737865754591,0.003165078699501514,-0.00184131717328912,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6516435350201115,-0.24929431899714605,-0.33655189640306665,0.36147023230608816,0.3092544055713646,-0.22219938725046975,0.721557885649919,0.9668816450390242,1.0581097820529857,1.0581097820529857,1.6645199999990417,0,0,-0.00035534755307295294,-4.3817750842950434e-05
+54618,1791455333489532265,10311878000000,1791455333487336976,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760672197054162,-0.004815622654960824,0.08722767699227212,0.9999999883858307,6.641104112421297e-05,-5.831726678966555e-05,8.282434885410425e-05,0.6761,-0.0048,0.0871812651332167,1.0,0.0,0.0,0.0,-0.07491903935183725,-0.1579997420185915,0.9692873795067083,-0.012636062876567837,0.007119624074059536,-0.00032564955830414284,-0.04118997445742385,-0.2474118564180934,0.8479914277427467,-0.015592084291041117,0.004177238380070753,-0.0018272458420394223,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6221737211484957,-0.1806545571910166,-0.3396949884398261,0.3580095029197087,0.2996209283448208,-0.17621946862509114,0.721557885649919,0.9692873795067083,1.0612528740897451,1.0612528740897451,1.691039999999019,0,0,-0.00036919570144642455,-8.764216261757389e-05
+54675,1791455333964497715,10312353000000,1791455333963336957,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760638912882408,-0.004818061006833094,0.08704584864789254,0.9999999877610216,6.684621763205274e-05,-6.158730987957528e-05,8.751804077028375e-05,0.6761,-0.0048,0.08700201651121951,1.0,0.0,0.0,0.0,-0.0847127307509474,-0.1582433953784305,0.9874835710447524,-0.011702597485902203,0.007097602424126839,-0.0002913397951379887,-0.050983665856534,-0.2476555097779324,0.8661876192807908,-0.014658618900375482,0.0041552167301380566,-0.0017929360788732681,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6346232216244284,-0.2652439182541364,-0.2295753385084481,0.39377097919224413,0.2283642474540078,-0.22901911618259452,0.721557885649919,0.9874835710447524,0.9511332241583671,0.9511332241583671,1.7195399999989949,0,0,-0.0003846580928876505,-9.99837671252834e-05
+54734,1791455334455459903,10312844000000,1791455334455336672,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760661413963464,-0.004818930424602967,0.08685669328802487,0.9999999857773186,9.124222677390764e-05,-5.874087903846716e-05,9.006992844906968e-05,0.6761,-0.0048,0.08680874780585691,1.0,0.0,0.0,0.0,-0.08445109460526184,-0.1608375746608986,0.9870635705670097,-0.012667140768591326,0.008127526729734814,-0.0003256368414350304,-0.05072202971084845,-0.2502496890604005,0.8657676188030481,-0.015623162183064606,0.005185141035746031,-0.0018272331251703098,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6879124581607272,-0.2968690023273878,-0.27795263442338775,0.4138961146387946,0.27263121240652577,-0.24775201108255127,0.721557885649919,0.9870635705670097,0.9995105200733068,0.9995105200733068,1.7489999999989698,0,0,-0.0004020241398769705,-9.999596570076647e-05
+54785,1791455334880469826,10313269000000,1791455334875336946,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760634398214649,-0.00482101693986619,0.08667997934995966,0.999999985844288,8.198725175157202e-05,-6.364031220687729e-05,9.477494172676475e-05,0.6761,-0.0048,0.0866351646178575,1.0,0.0,0.0,0.0,-0.08473518800108878,-0.16845899662957314,0.9876917097634216,-0.011846719142830085,0.007101696665000187,-0.00033100709022416594,-0.05100612310667538,-0.25787111102907506,0.86639575799946,-0.014802740557303365,0.004159310971011404,-0.0018326033739594454,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6710231703436372,-0.3181890944884752,-0.35022497140848907,0.43684195653161834,0.3127761061141334,-0.26114134518530746,0.721557885649919,0.9876917097634216,1.071782857058408,1.071782857058408,1.7744999999989481,0,0,-0.00041536256354844664,-6.331032541290291e-05
+54842,1791455335355432948,10313744000000,1791455335355336497,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760616702767258,-0.004827498664906121,0.08648046454424071,0.9999999865819095,6.582698367461178e-05,-6.498138829464402e-05,9.860665709844781e-05,0.6761,-0.0048,0.08643495381353232,1.0,0.0,0.0,0.0,-0.0973581693081508,-0.1609269557227186,0.9970820334201871,-0.01266926994464331,0.008125331128237646,-0.00033704901141217705,-0.0636291044137374,-0.2503390701222205,0.8757860816562255,-0.01562529135911659,0.005182945434248862,-0.0018386452951474565,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7205750859234197,-0.21964463404155019,-0.3548201261301506,0.41514855646262777,0.32815319805694954,-0.19914424778261386,0.721557885649919,0.9970820334201871,1.0763780117800696,1.0763780117800696,1.802999999998924,0,0,-0.00042662155255310106,-8.929814806902243e-05
+54893,1791455335780532598,10314169000000,1791455335779336773,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760642065385156,-0.0048249971127597375,0.08630790743419123,0.9999999880860397,5.926643973756424e-05,-5.905247081970816e-05,9.09454761907148e-05,0.6761,-0.0048,0.0862511816728508,1.0,0.0,0.0,0.0,-0.0848576924500733,-0.15802597166330612,0.9962208966841339,-0.01162156141813447,0.007094921021837002,-0.000337671625618368,-0.0511286275556599,-0.24743808606280804,0.8749249449201724,-0.01457758283260775,0.00415253532784822,-0.0018392679093536474,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7264036095447167,-0.25362432031869375,-0.33655797398327114,0.44790520441741405,0.31083392609105887,-0.21442067212849003,0.721557885649919,0.9962208966841339,1.05811585963319,1.05811585963319,1.8283199999989024,0,0,-0.00043655008399453985,-9.966831113062397e-05
+54942,1791455336189538534,10314578000000,1791455336187337013,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760634809588252,-0.004834006911838303,0.0861290287815377,0.9999999846970525,9.48979869980965e-05,-6.008924155860001e-05,9.712061614006268e-05,0.6761,-0.0048,0.0860705127791295,1.0,0.0,0.0,0.0,-0.09838676258607132,-0.15745590823987501,0.9978512020228647,-0.011632755424996382,0.0073146956604865304,0.0004636375595139966,-0.06465769769165791,-0.24686802263937693,0.8765552502589031,-0.014588776839469662,0.004372309966497748,-0.0010379587242212828,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.717785273256235,-0.1894452145976588,-0.36742616768930836,0.4360406688782303,0.3271497629480115,-0.1687362786399118,0.721557885649919,0.9978512020228647,1.0889840533392272,1.0889840533392272,1.8528599999988815,0,0,-0.00044626317939197433,-9.582975665634592e-05
+54992,1791455336605532569,10314994000000,1791455336599336585,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760614251593261,-0.004830362509223249,0.08594137890353251,0.9999999861337914,8.050225437167388e-05,-6.02552145624236e-05,9.520492490787767e-05,0.6761,-0.0048,0.08588293679028916,1.0,0.0,0.0,0.0,-0.08477758274098168,-0.15758627266808853,0.9975421283727585,-0.011621430788495918,0.007094590979722265,-0.00033831549835425115,-0.051048517846568275,-0.24699838706759045,0.8762461766087969,-0.014577452202969198,0.004152205285733482,-0.0018399117820895306,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8042620996970797,-0.34962342134231933,-0.3458310355727266,0.4871040312595723,0.3344252569337656,-0.27938529759014874,0.721557885649919,0.9975421283727585,1.0673889212226455,1.0673889212226455,1.8778199999988603,0,0,-0.00045663076947008294,-9.99878471948989e-05
+55040,1791455337005511019,10315394000000,1791455336999336315,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760559428154963,-0.0048310478116544,0.08574965777200888,0.9999999859891037,6.791066705201563e-05,-6.726457835935813e-05,0.00010162812008547745,0.6761,-0.0048,0.08569857949102594,1.0,0.0,0.0,0.0,-0.07732896190283178,-0.13448653408499184,1.008023196708754,-0.010600800350198596,0.007071675554930846,-0.00033081121114203406,-0.04359989700841838,-0.22389864848449376,0.8867272449447925,-0.013556821764671876,0.004129289860942064,-0.0018324074948773135,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8222012889216844,-0.2727070411839852,-0.4264961822884901,0.4732795077603811,0.39008204626737325,-0.22568223882942612,0.721557885649919,1.008023196708754,1.148054067938409,1.148054067938409,1.9018199999988399,0,0,-0.00046473721596465713,7.51447890287082e-05
+55088,1791455337405535855,10315794000000,1791455337403336348,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760589265319712,-0.004831506684835285,0.08556848442620654,0.999999986271466,6.797500458473245e-05,-6.290834178499884e-05,0.00010159661119521093,0.6761,-0.0048,0.08551171172502829,1.0,0.0,0.0,0.0,-0.0754097215060037,-0.14450240285024385,1.0080620972201937,-0.01057455512182675,0.006059200441224592,-0.0003498643723365037,-0.0416806566115903,-0.23391451724974577,0.8867661454562322,-0.01353057653630003,0.003116814747235809,-0.0018514606560717831,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8082985893920762,-0.2615685126965467,-0.41538449881147355,0.48215098076592317,0.3736592677016407,-0.21478585318776117,0.721557885649919,1.0080620972201937,1.1369423844613924,1.1369423844613924,1.9258199999988195,0,0,-0.0004706602241457695,-2.6932779562491727e-05
+55133,1791455337780441657,10316169000000,1791455337779336333,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.676057742542001,-0.004831186058559411,0.08539057985016184,0.9999999848940371,8.202222330303177e-05,-6.520900649059276e-05,0.00010331955522441171,0.6761,-0.0048,0.08533403960414604,1.0,0.0,0.0,0.0,-0.06805007670746432,-0.13182097057053946,1.0093072013811897,-0.009635958320429504,0.006040086915249349,-0.0003384269051344745,-0.034321011813050924,-0.22123308497004138,0.8880112496172281,-0.012591979734902784,0.0030977012212605654,-0.001840023188869754,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8803385585568457,-0.1901133711728175,-0.4301582912835476,0.4649922769634858,0.4016873402594002,-0.16685095420204818,0.721557885649919,1.0093072013811897,1.1517161769334665,1.1517161769334665,1.9483199999988003,0,0,-0.00047628863699743256,-1.690562466432038e-05
+55181,1791455338180534260,10316569000000,1791455338175337319,DOWN_FORCE_DETACH,8,0.0345,0.034501925110816956,0.6760575573253833,-0.0048328630936482625,0.08520402407685213,0.999999985810647,7.906687478610697e-05,-6.076415486989002e-05,9.938670535509202e-05,0.6761,-0.0048,0.085141995329422,1.0,0.0,0.0,0.0,-0.07257222363174479,-0.1390784193468961,1.0120494767742325,-0.010574706701143735,0.006057783177930695,-0.00035467103009161256,-0.03884315873733139,-0.22849053374639802,0.890753525010271,-0.013530728115617015,0.003115397483941913,-0.001856267313826892,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8905345551878338,-0.30322393646219076,-0.4167388175306425,0.5036258467319373,0.3901979154524845,-0.23757468570231638,0.721557885649919,1.0120494767742325,1.1382967031805615,1.1382967031805615,1.97231999999878,0,0,-0.0004832409111019383,-9.378492013401569e-05
+55229,1791455338580476267,10316969000000,1791455338579336829,DOWN_FORCE_DETACH,8,0.0345,0.034502580761909485,0.6760583285754559,-0.004838752229885811,0.08501442316090875,0.9999999860030372,7.20762428672194e-05,-6.009228255392417e-05,0.00010310539637496715,0.6761,-0.0048,0.08494774695124113,1.0,0.0,0.0,0.0,-0.07249781251305948,-0.14409884686944804,1.0178639394161724,-0.010572341335584295,0.00605699920870955,-0.0003576278955927791,-0.03876874761864608,-0.23351096126894996,0.8965679876522109,-0.013528362750057575,0.003114613514720767,-0.0018592241793280585,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8949563093899158,-0.23799253539372764,-0.49627400030386526,0.4947159572374292,0.4411518064458898,-0.19085656227131598,0.721557885649919,1.0178639394161724,1.2178318859537842,1.2178318859537842,1.9963199999987595,0,0,-0.0004880929533226678,9.403805098363022e-05
+55275,1791455338964505344,10317353000000,1791455338963337001,DOWN_SETTLE,8,0.0345,0.034502580761909485,0.6760552093341625,-0.004836756402216644,0.08482877820299636,0.9999999860576185,6.919199712213177e-05,-6.151358018845906e-05,0.00010371197740808647,0.6761,-0.0048,0.08475963191527747,1.0,0.0,0.0,0.0,-0.08485755897317501,-0.135665880296087,1.0019809415710883,-0.010582454720579355,0.0070326579254023,-0.00033007387138258215,-0.051128494078761605,-0.22507799469558892,0.8806849898071268,-0.013538476135052635,0.0040902722314135175,-0.0018316701551178616,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9319537368858143,-0.28317235003100394,-0.4505016189762643,0.5148707571537382,0.4138125588487002,-0.21801727091806355,0.721557885649919,1.0019809415710883,1.1720595046261832,1.1720595046261832,2.010839999998747,0,0,-0.0004848885401711759,9.999999025923074e-05
+55318,1791455339322516199,10317711000000,1791455339315336980,DOWN_SETTLE,8,0.0345,0.034502580761909485,0.6760531757155558,-0.004840538938358489,0.08465349644010095,0.9999999862570578,6.480842124787917e-05,-6.534926337794275e-05,0.00010226480864171448,0.6761,-0.0048,0.08458923696727023,1.0,0.0,0.0,0.0,-0.0773222829641268,-0.1251167583972678,1.0025261461455928,-0.009812197463175246,0.007052632381845223,0.0003244840418615482,-0.0435932180697134,-0.21452887279676972,0.8812301943816313,-0.012768218877648526,0.00411024668785644,-0.0011771122418737312,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.019719924614689,-0.2697863150171002,-0.5811715429809865,0.515715408353325,0.5172874320560612,-0.20351092691646014,0.721557885649919,1.0025261461455928,1.3027294286309055,1.3027294286309055,2.010839999998747,0,0,-0.0004669885436583713,9.999999025923074e-05
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+56156,1791455346306542612,10324695000000,1791455346303336606,DOWN_SETTLE,8,0.0345,0.034502580761909485,0.6760063979775068,-0.0048769964940036424,0.08257330267462516,0.9999999820394815,1.7690035782423596e-05,-0.0001257447616991061,0.00010601518160309708,0.6761,-0.0048,0.08254702054076703,1.0,0.0,0.0,0.0,-0.06584705258124374,-0.16704005146464518,0.8166409992327289,-0.012580683434295631,0.006139332101702498,-0.00021710547370053733,-0.03211798768683034,-0.2564521658641471,0.6953450474687674,-0.015536704848768911,0.0031969464077137148,-0.0017187017574358168,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.4401963807153397,-0.356342508195645,-0.49678661687706493,0.5432954928294254,0.5351709136255829,-0.23183995354591425,0.721557885649919,0.8166409992327289,1.218344502526984,1.218344502526984,2.010839999998747,0,0,-0.00011778861168790377,9.999999025923074e-05
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+56414,1791455348456539030,10326845000000,1791455348451337121,DOWN_SETTLE,8,0.0345,0.034501925110816956,0.6759929761111747,-0.004873455145780587,0.08240448040960856,0.9999999758958029,4.852211654017004e-05,-0.00015093826887273276,0.00012047614343833569,0.6761,-0.0048,0.08240928375311421,1.0,0.0,0.0,0.0,-0.06504745740117138,-0.1714099225805082,0.6962898353639781,-0.012532932317118871,0.0052344584726157035,-0.0001342626226587451,-0.031318392506757976,-0.2608220369800101,0.5749938836000166,-0.015488953731592151,0.002292072778626921,-0.0016358589063940245,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.425379552075991,-0.2665440971537491,-0.4099876032114154,0.5011527548296605,0.4729188513359305,-0.17096740763550636,0.721557885649919,0.6962898353639781,1.1315454888613343,1.1315454888613343,2.010839999998747,0,0,-1.0288632630557676e-05,9.999999025923074e-05
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1cbdfbefc8c42a67f8e522786daadee7b7ffc21a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6338dfa1b355b0a6bcef789bb6ffad2a548148a4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.966666667e+00,DOWN_FORCE_DETACH,1791455311279232987,1.841274380e-05,-4.469890862e-05,-4.377166303e-04,1.802397949e-05,-4.432471389e-05,-4.349310163e-04,1.837073438e-05,-4.363884761e-05,-4.320533646e-04,7.015562842e-01,-4.314794729e-05,8.403032246e-01,7.015558955e-01,-4.277375257e-05,8.403060102e-01,7.017440917e-01,-4.175105448e-05,8.293486095e-01
+6,4.800000000e+00,DOWN_FORCE_DETACH,1791455312548387346,1.783355996e-05,-4.807225070e-05,-4.852840498e-04,1.774106392e-05,-4.106377111e-05,-4.770976280e-04,1.792276665e-05,-4.044540434e-05,-4.748128699e-04,7.015557050e-01,-4.652128938e-05,8.402556571e-01,7.015556125e-01,-3.951280978e-05,8.402638436e-01,7.017436437e-01,-3.855761121e-05,8.293058500e-01
+7,5.600000000e+00,DOWN_FORCE_DETACH,1791455313747302210,2.037565378e-05,-4.935566453e-05,-5.293096892e-04,1.842857150e-05,-4.867519642e-05,-5.177687443e-04,1.838003472e-05,-4.800039311e-05,-5.158588709e-04,7.015582471e-01,-4.780470321e-05,8.402116315e-01,7.015563001e-01,-4.712423510e-05,8.402231724e-01,7.017441010e-01,-4.611259998e-05,8.292648040e-01
+8,6.433333333e+00,DOWN_FORCE_DETACH,1791455314997131457,2.529770465e-05,-5.674142335e-05,-5.891119415e-04,2.692291703e-05,-4.771484096e-05,-5.811845268e-04,2.680117881e-05,-4.708949515e-05,-5.792826618e-04,7.015631692e-01,-5.519046203e-05,8.401518292e-01,7.015647944e-01,-4.616387963e-05,8.401597567e-01,7.017525221e-01,-4.520170202e-05,8.292013803e-01
+9,7.150000000e+00,DOWN_FORCE_DETACH,1791455316067816682,2.940075057e-05,-5.611561593e-05,-6.580569064e-04,2.933733350e-05,-5.887835766e-05,-6.417676574e-04,2.897981885e-05,-5.817194067e-05,-6.398371545e-04,7.015672722e-01,-5.456465461e-05,8.400828843e-01,7.015672088e-01,-5.732739634e-05,8.400991735e-01,7.017547007e-01,-5.628414754e-05,8.291408258e-01
+10,7.583333333e+00,DOWN_FORCE_DETACH,1791455316718142496,2.822212191e-05,-5.540610608e-05,-6.985754916e-04,2.936258465e-05,-6.396866141e-05,-6.820246583e-04,2.889910623e-05,-6.326148157e-05,-6.800209441e-04,7.015660936e-01,-5.385514476e-05,8.400423657e-01,7.015672341e-01,-6.241770009e-05,8.400589165e-01,7.017546200e-01,-6.137368844e-05,8.291006420e-01
+11,8.283333333e+00,DOWN_FORCE_DETACH,1791455317767884212,3.025411854e-05,-6.246112011e-05,-7.626107683e-04,2.815338451e-05,-6.321985570e-05,-7.439370486e-04,2.754164858e-05,-6.250866455e-05,-7.419024116e-04,7.015681256e-01,-6.091015879e-05,8.399783304e-01,7.015660249e-01,-6.166889438e-05,8.399970041e-01,7.017532626e-01,-6.062087142e-05,8.290387605e-01
+12,9.000000000e+00,DOWN_FORCE_DETACH,1791455318847445915,2.682716441e-05,-6.202029230e-05,-8.456418192e-04,2.704748292e-05,-6.059841755e-05,-8.282124877e-04,2.608791294e-05,-5.988572133e-05,-8.257704070e-04,7.015646986e-01,-6.046933098e-05,8.398952994e-01,7.015649190e-01,-5.904745623e-05,8.399127287e-01,7.017518088e-01,-5.799792820e-05,8.289548925e-01
+13,9.733333333e+00,DOWN_FORCE_DETACH,1791455319999814320,3.582284812e-05,-6.109488072e-05,-9.368148149e-04,3.560246967e-05,-6.122772494e-05,-9.371338418e-04,3.455325433e-05,-6.054624234e-05,-9.339487630e-04,7.015736943e-01,-5.954391940e-05,8.398041264e-01,7.015734740e-01,-5.967676362e-05,8.398038073e-01,7.017602742e-01,-5.865844921e-05,8.288467141e-01
+14,1.045000000e+01,DOWN_FORCE_DETACH,1791455321090145884,3.816160191e-05,-6.302769919e-05,-1.043064048e-03,3.476644267e-05,-6.964265012e-05,-1.040553759e-03,3.342335970e-05,-6.887173653e-05,-1.036909210e-03,7.015760331e-01,-6.147673787e-05,8.396978771e-01,7.015726379e-01,-6.809168880e-05,8.397003874e-01,7.017591443e-01,-6.698394340e-05,8.287437537e-01
+15,1.108333333e+01,DOWN_FORCE_DETACH,1791455322048313351,4.117054548e-05,-6.633796666e-05,-1.141921505e-03,4.082839979e-05,-6.767518325e-05,-1.127240327e-03,3.941141310e-05,-6.693908115e-05,-1.123530660e-03,7.015790420e-01,-6.478700534e-05,8.395990197e-01,7.015786999e-01,-6.612422193e-05,8.396137009e-01,7.017651323e-01,-6.505128802e-05,8.286571323e-01
+16,1.176666667e+01,DOWN_FORCE_DETACH,1791455323069072088,4.386001006e-05,-7.380769592e-05,-1.264947033e-03,3.860506719e-05,-7.254727889e-05,-1.246767622e-03,3.686259340e-05,-7.172111964e-05,-1.242876587e-03,7.015817315e-01,-7.225673459e-05,8.394759942e-01,7.015764765e-01,-7.099631757e-05,8.394941736e-01,7.017625835e-01,-6.983332651e-05,8.285377863e-01
+17,1.240000000e+01,DOWN_FORCE_DETACH,1791455324018281831,4.440157161e-05,-7.516301046e-05,-1.394469882e-03,4.382333317e-05,-7.741402419e-05,-1.381408428e-03,4.172681441e-05,-7.647003429e-05,-1.377256702e-03,7.015822731e-01,-7.361204913e-05,8.393464713e-01,7.015816948e-01,-7.586306287e-05,8.393595328e-01,7.017674477e-01,-7.458224116e-05,8.284034062e-01
+18,1.300000000e+01,DOWN_FORCE_DETACH,1791455324937511828,3.876792071e-05,-7.865145193e-05,-1.542110304e-03,4.065374394e-05,-8.376864501e-05,-1.534516582e-03,3.800979122e-05,-8.277039206e-05,-1.529974454e-03,7.015766394e-01,-7.710049061e-05,8.391988309e-01,7.015785252e-01,-8.221768369e-05,8.392064246e-01,7.017637307e-01,-8.088259893e-05,8.282506885e-01
+19,1.358333333e+01,DOWN_FORCE_DETACH,1791455325848530669,4.073345039e-05,-8.557977268e-05,-1.688674811e-03,3.881317757e-05,-8.235766511e-05,-1.686664452e-03,3.556820260e-05,-8.141735941e-05,-1.681558638e-03,7.015786049e-01,-8.402881136e-05,8.390522664e-01,7.015766847e-01,-8.080670379e-05,8.390542767e-01,7.017612891e-01,-7.952956628e-05,8.280991043e-01
+20,1.413333333e+01,DOWN_FORCE_DETACH,1791455326666516469,3.631348995e-05,-8.667508401e-05,-1.844173441e-03,3.604815155e-05,-8.679967396e-05,-1.844182853e-03,3.233013954e-05,-8.576804509e-05,-1.838486469e-03,7.015741850e-01,-8.512412269e-05,8.388967677e-01,7.015739196e-01,-8.524871264e-05,8.388967583e-01,7.017580511e-01,-8.388025196e-05,8.279421764e-01
+21,1.465000000e+01,DOWN_FORCE_DETACH,1791455327447377778,3.163903555e-05,-8.924458442e-05,-1.999321777e-03,3.021898814e-05,-8.639273029e-05,-1.987402100e-03,2.601148892e-05,-8.528449638e-05,-1.981380802e-03,7.015695105e-01,-8.769362310e-05,8.387416194e-01,7.015680905e-01,-8.484176896e-05,8.387535391e-01,7.017517324e-01,-8.339670325e-05,8.277992821e-01
+22,1.516666667e+01,DOWN_FORCE_DETACH,1791455328221787633,2.770505655e-05,-9.020287525e-05,-2.161973733e-03,2.576694196e-05,-8.815694140e-05,-2.147491887e-03,2.088378109e-05,-8.695886550e-05,-2.141175397e-03,7.015655765e-01,-8.865191393e-05,8.385789675e-01,7.015636384e-01,-8.660598008e-05,8.385934493e-01,7.017466047e-01,-8.507107237e-05,8.276394875e-01
+23,1.563333333e+01,DOWN_FORCE_DETACH,1791455328923976310,2.656111906e-05,-8.911594214e-05,-2.325658571e-03,2.618927783e-05,-8.617129249e-05,-2.312090859e-03,2.060954774e-05,-8.496381815e-05,-2.305417998e-03,7.015644326e-01,-8.756498082e-05,8.384152826e-01,7.015640608e-01,-8.462033117e-05,8.384288503e-01,7.017463305e-01,-8.307602502e-05,8.274752449e-01
+24,1.608333333e+01,DOWN_FORCE_DETACH,1791455329588008415,2.807361458e-05,-8.917780050e-05,-2.477823599e-03,2.490996808e-05,-9.086326000e-05,-2.466617855e-03,1.850407984e-05,-8.970524005e-05,-2.459734149e-03,7.015659451e-01,-8.762683918e-05,8.382631176e-01,7.015627814e-01,-8.931229868e-05,8.382743233e-01,7.017442250e-01,-8.781744692e-05,8.273209288e-01
+25,1.650000000e+01,DOWN_FORCE_DETACH,1791455330218839146,2.446479244e-05,-9.319375420e-05,-2.648228730e-03,2.407479754e-05,-9.024198236e-05,-2.640705146e-03,1.682496270e-05,-8.918026722e-05,-2.633162477e-03,7.015623363e-01,-9.164279288e-05,8.380927125e-01,7.015619463e-01,-8.869102104e-05,8.381002360e-01,7.017425459e-01,-8.729247409e-05,8.271475004e-01
+26,1.688333333e+01,DOWN_FORCE_DETACH,1791455330789896062,2.371311363e-05,-9.540296883e-05,-2.803939917e-03,2.361558967e-05,-9.540163403e-05,-2.804173407e-03,1.566147766e-05,-9.439260271e-05,-2.796142079e-03,7.015615846e-01,-9.385200751e-05,8.379370013e-01,7.015614871e-01,-9.385067271e-05,8.379367678e-01,7.017413824e-01,-9.250480958e-05,8.269845208e-01
+27,1.726666667e+01,DOWN_FORCE_DETACH,1791455331368205994,2.351854657e-05,-9.800903623e-05,-2.976417933e-03,2.316465020e-05,-9.939528701e-05,-2.964481214e-03,1.453736668e-05,-9.837250272e-05,-2.956147858e-03,7.015613900e-01,-9.645807491e-05,8.377645233e-01,7.015610361e-01,-9.784432569e-05,8.377764600e-01,7.017402583e-01,-9.648470959e-05,8.268245151e-01
+28,1.763333333e+01,DOWN_FORCE_DETACH,1791455331917450654,2.091244948e-05,-9.910637762e-05,-3.146380353e-03,1.637592074e-05,-9.635238649e-05,-3.129468044e-03,7.032108775e-06,-9.534262360e-05,-3.120799259e-03,7.015587839e-01,-9.755541630e-05,8.375945608e-01,7.015542474e-01,-9.480142517e-05,8.376114731e-01,7.017327530e-01,-9.345483047e-05,8.266598637e-01
+29,1.803333333e+01,DOWN_FORCE_DETACH,1791455332518715147,2.146034363e-05,-1.019184239e-04,-3.335242698e-03,2.195713619e-05,-1.012070782e-04,-3.323144926e-03,1.195107802e-05,-1.001709118e-04,-3.314209354e-03,7.015593318e-01,-1.003674625e-04,8.374056985e-01,7.015598286e-01,-9.965611685e-05,8.374177963e-01,7.017376720e-01,-9.828311867e-05,8.264664536e-01
+30,1.838333333e+01,DOWN_FORCE_DETACH,1791455333047473557,1.647715338e-05,-1.056642656e-04,-3.515209831e-03,1.622324785e-05,-1.058427715e-04,-3.515140622e-03,5.480725124e-06,-1.046995857e-04,-3.505560622e-03,7.015543486e-01,-1.041133043e-04,8.372257314e-01,7.015540947e-01,-1.042918102e-04,8.372258006e-01,7.017312016e-01,-1.028117926e-04,8.262751023e-01
+31,1.868333333e+01,DOWN_FORCE_DETACH,1791455333488343213,2.217544487e-05,-1.064357773e-04,-3.663221716e-03,1.702098034e-05,-1.113273933e-04,-3.647768632e-03,5.845397042e-06,-1.101180899e-04,-3.638253451e-03,7.015600469e-01,-1.048848160e-04,8.370777195e-01,7.015548925e-01,-1.097764320e-04,8.370931726e-01,7.017315663e-01,-1.082302968e-04,8.261424095e-01
+32,1.900000000e+01,DOWN_FORCE_DETACH,1791455333967066335,1.933707619e-05,-1.148218949e-04,-3.850270083e-03,1.932244974e-05,-1.148004573e-04,-3.850463024e-03,7.581302918e-06,-1.134033454e-04,-3.840238092e-03,7.015572086e-01,-1.132709335e-04,8.368906711e-01,7.015571939e-01,-1.132494960e-04,8.368904782e-01,7.017333022e-01,-1.115155523e-04,8.259404248e-01
+33,1.933333333e+01,DOWN_FORCE_DETACH,1791455334453759717,1.790108829e-05,-1.142674357e-04,-4.038889568e-03,1.758531968e-05,-1.139270560e-04,-4.038742896e-03,5.140457063e-06,-1.124940221e-04,-4.028208233e-03,7.015557726e-01,-1.127164743e-04,8.367020516e-01,7.015554568e-01,-1.123760947e-04,8.367021983e-01,7.017308614e-01,-1.106062290e-04,8.257524547e-01
+34,1.961666667e+01,DOWN_FORCE_DETACH,1791455334883978132,1.764139563e-05,-1.182682965e-04,-4.211334787e-03,1.761737261e-05,-1.182846684e-04,-4.211031624e-03,4.483729493e-06,-1.169025367e-04,-4.200151129e-03,7.015555129e-01,-1.167173351e-04,8.365296064e-01,7.015554889e-01,-1.167337070e-04,8.365299096e-01,7.017302047e-01,-1.150147435e-04,8.255805118e-01
+35,1.993333333e+01,DOWN_FORCE_DETACH,1791455335354298157,1.572027065e-05,-1.239740598e-04,-4.407985064e-03,1.431842030e-05,-1.198019441e-04,-4.395439363e-03,3.805010210e-07,-1.185033251e-04,-4.384447448e-03,7.015535918e-01,-1.224230985e-04,8.363329561e-01,7.015521899e-01,-1.182509828e-04,8.363455018e-01,7.017261014e-01,-1.166155320e-04,8.253962155e-01
+36,2.021666667e+01,DOWN_FORCE_DETACH,1791455335784408818,1.633149793e-05,-1.231414281e-04,-4.588509254e-03,1.631332570e-05,-1.232272065e-04,-4.588233319e-03,1.650972321e-06,-1.220023984e-04,-4.576660792e-03,7.015542030e-01,-1.215904668e-04,8.361524319e-01,7.015541848e-01,-1.216762451e-04,8.361527079e-01,7.017273719e-01,-1.201146053e-04,8.252040021e-01
+37,2.048333333e+01,DOWN_FORCE_DETACH,1791455336192371337,1.390825687e-05,-1.273200037e-04,-4.767834665e-03,1.357336290e-05,-1.271678987e-04,-4.768164829e-03,-1.754008188e-06,-1.258806646e-04,-4.756286230e-03,7.015517797e-01,-1.257690424e-04,8.359731065e-01,7.015514448e-01,-1.256169374e-04,8.359727764e-01,7.017239669e-01,-1.239928715e-04,8.250243767e-01
+38,2.076666667e+01,DOWN_FORCE_DETACH,1791455336604066734,1.346381924e-05,-1.257814425e-04,-4.953644774e-03,1.341640582e-05,-1.257007290e-04,-4.953572759e-03,-2.611067050e-06,-1.244719912e-04,-4.941503806e-03,7.015513353e-01,-1.242304812e-04,8.357872964e-01,7.015512879e-01,-1.241497677e-04,8.357873684e-01,7.017231099e-01,-1.225841980e-04,8.248391591e-01
+39,2.103333333e+01,DOWN_FORCE_DETACH,1791455337008906197,1.072443798e-05,-1.260459746e-04,-5.142045674e-03,1.182914784e-05,-1.260654450e-04,-5.130635654e-03,-4.811734622e-06,-1.248214131e-04,-5.118550155e-03,7.015485959e-01,-1.244950133e-04,8.355988955e-01,7.015497006e-01,-1.245144837e-04,8.356103055e-01,7.017209092e-01,-1.229336199e-04,8.246621128e-01
+40,2.130000000e+01,DOWN_FORCE_DETACH,1791455337403831821,9.836813800e-06,-1.260355036e-04,-5.327238934e-03,9.882477251e-06,-1.260408398e-04,-5.326783632e-03,-7.308085527e-06,-1.246999400e-04,-5.314319043e-03,7.015477083e-01,-1.244845423e-04,8.354137023e-01,7.015477540e-01,-1.244898785e-04,8.354141576e-01,7.017184128e-01,-1.228121469e-04,8.244663439e-01
+41,2.155000000e+01,DOWN_FORCE_DETACH,1791455337783999477,8.769929316e-06,-1.265877661e-04,-5.505550714e-03,1.105254263e-05,-1.283856928e-04,-5.491131393e-03,-6.680401240e-06,-1.268618451e-04,-5.478720431e-03,7.015466414e-01,-1.250368048e-04,8.352353905e-01,7.015489240e-01,-1.268347314e-04,8.352498098e-01,7.017190405e-01,-1.249740520e-04,8.243019425e-01
+42,2.181666667e+01,DOWN_FORCE_DETACH,1791455338184215863,9.940499220e-06,-1.289155611e-04,-5.692906859e-03,9.997764990e-06,-1.271028264e-04,-5.682502924e-03,-8.469230410e-06,-1.255309885e-04,-5.669985019e-03,7.015478120e-01,-1.273645998e-04,8.350480343e-01,7.015478692e-01,-1.255518651e-04,8.350584383e-01,7.017172517e-01,-1.236431954e-04,8.241106779e-01
+43,2.208333333e+01,DOWN_FORCE_DETACH,1791455338584258129,9.827280331e-06,-1.317089126e-04,-5.882125441e-03,9.697506898e-06,-1.317614053e-04,-5.881921868e-03,-9.557304762e-06,-1.302282185e-04,-5.869144681e-03,7.015476988e-01,-1.301579513e-04,8.348588157e-01,7.015475690e-01,-1.302104439e-04,8.348590193e-01,7.017161636e-01,-1.283404254e-04,8.239115182e-01
+44,2.233333333e+01,DOWN_SETTLE,1791455338960598550,6.860378303e-06,-1.362663761e-04,-6.064896361e-03,6.757879787e-06,-1.363075732e-04,-6.064951177e-03,-1.328800798e-05,-1.349036156e-04,-6.052011607e-03,7.015447319e-01,-1.347154148e-04,8.346760448e-01,7.015446294e-01,-1.347566118e-04,8.346759900e-01,7.017124329e-01,-1.330158225e-04,8.237286513e-01
+45,2.256666667e+01,DOWN_SETTLE,1791455339320234866,5.291146064e-06,-1.344127751e-04,-6.243303825e-03,5.092365698e-06,-1.344341246e-04,-6.243204151e-03,-1.558373610e-05,-1.330939647e-04,-6.230069421e-03,7.015431626e-01,-1.328618138e-04,8.344976374e-01,7.015429638e-01,-1.328831632e-04,8.344977370e-01,7.017101372e-01,-1.312061716e-04,8.235505935e-01
+46,2.285000000e+01,DOWN_SETTLE,1791455339727076104,5.305667982e-06,-1.371368399e-04,-6.421452091e-03,4.312153155e-06,-1.367047660e-04,-6.404099354e-03,-1.698888286e-05,-1.353608798e-04,-6.391504523e-03,7.015431771e-01,-1.355858785e-04,8.343194891e-01,7.015421836e-01,-1.351538047e-04,8.343368418e-01,7.017087320e-01,-1.334730867e-04,8.233891584e-01
+47,2.311666667e+01,DOWN_SETTLE,1791455340122366356,3.736612907e-07,-1.432501789e-04,-6.598739167e-03,-9.983767337e-07,-1.432572822e-04,-6.601448438e-03,-2.309002625e-05,-1.418496615e-04,-6.588684100e-03,7.015382451e-01,-1.416992176e-04,8.341422020e-01,7.015368731e-01,-1.417063209e-04,8.341394927e-01,7.017026309e-01,-1.399618684e-04,8.231919788e-01
+48,2.341666667e+01,DOWN_SETTLE,1791455340584166823,-2.582491342e-07,-1.420622804e-04,-6.787978736e-03,-6.210946495e-07,-1.418662049e-04,-6.788338217e-03,-2.326360304e-05,-1.404222150e-04,-6.775778085e-03,7.015376132e-01,-1.405113191e-04,8.339529625e-01,7.015372504e-01,-1.403152436e-04,8.339526030e-01,7.017024573e-01,-1.385344219e-04,8.230048848e-01
+49,2.373333333e+01,DOWN_SETTLE,1791455341054190212,-2.084332109e-06,-1.432281779e-04,-6.969598173e-03,-2.081138823e-06,-1.500305183e-04,-6.956986667e-03,-2.520175013e-05,-1.483053572e-04,-6.944998432e-03,7.015357871e-01,-1.416772166e-04,8.337713430e-01,7.015357903e-01,-1.484795570e-04,8.337839545e-01,7.017005192e-01,-1.464175641e-04,8.228356645e-01
+50,2.405000000e+01,DOWN_SETTLE,1791455341528056798,-5.252673566e-06,-1.535969147e-04,-7.146136912e-03,-5.473051757e-06,-1.497883340e-04,-7.131308218e-03,-2.926950851e-05,-1.480196068e-04,-7.119651859e-03,7.015326188e-01,-1.520459534e-04,8.335948043e-01,7.015323984e-01,-1.482373727e-04,8.336096330e-01,7.016964514e-01,-1.461318136e-04,8.226610111e-01
+51,2.438333333e+01,DOWN_SETTLE,1791455342025339831,-1.074444386e-05,-1.530488761e-04,-7.318786685e-03,-1.158549134e-05,-1.519351230e-04,-7.314763467e-03,-3.616581257e-05,-1.502797454e-04,-7.303308088e-03,7.015271270e-01,-1.514979147e-04,8.334221545e-01,7.015262860e-01,-1.503841617e-04,8.334261777e-01,7.016895551e-01,-1.483919523e-04,8.224773548e-01
+52,2.473333333e+01,DOWN_SETTLE,1791455342566520805,-9.126015223e-06,-1.575760621e-04,-7.496365884e-03,-8.820448237e-06,-1.538346863e-04,-7.481067970e-03,-3.408784730e-05,-1.523437757e-04,-7.470107391e-03,7.015287455e-01,-1.560251008e-04,8.332445753e-01,7.015290510e-01,-1.522837250e-04,8.332598732e-01,7.016916331e-01,-1.504559826e-04,8.223105555e-01
+53,2.505000000e+01,DOWN_SETTLE,1791455343135068202,-1.322580271e-05,-1.610807582e-04,-7.664597751e-03,-1.268309770e-05,-1.582173801e-04,-7.648054243e-03,-3.870045221e-05,-1.567483421e-04,-7.637188104e-03,7.015246457e-01,-1.595297969e-04,8.330763434e-01,7.015251884e-01,-1.566664188e-04,8.330928869e-01,7.016870205e-01,-1.548605490e-04,8.221434748e-01
+54,2.541666667e+01,DOWN_SETTLE,1791455343804979603,-1.985542896e-05,-1.604850894e-04,-7.840071084e-03,-2.250483167e-05,-1.622062291e-04,-7.835458717e-03,-4.939635775e-05,-1.606596325e-04,-7.824903452e-03,7.015180161e-01,-1.589341280e-04,8.329008701e-01,7.015153666e-01,-1.606552678e-04,8.329054825e-01,7.016763246e-01,-1.587718393e-04,8.219557595e-01
+55,2.588333333e+01,DOWN_SETTLE,1791455344504815959,-2.298717585e-05,-1.651824895e-04,-8.011348956e-03,-2.411505015e-05,-1.707476123e-04,-7.997665497e-03,-5.167332542e-05,-1.691548278e-04,-7.988080992e-03,7.015148843e-01,-1.636315282e-04,8.327295922e-01,7.015137564e-01,-1.691966510e-04,8.327432757e-01,7.016740476e-01,-1.672670347e-04,8.217925819e-01
+56,2.640000000e+01,DOWN_SETTLE,1791455345296959494,-2.716851850e-05,-1.676438227e-04,-8.158319826e-03,-2.988287293e-05,-1.640398046e-04,-8.157740670e-03,-5.794651149e-05,-1.623981683e-04,-8.148992998e-03,7.015107030e-01,-1.660928614e-04,8.325826214e-01,7.015079886e-01,-1.624888433e-04,8.325832005e-01,7.016677744e-01,-1.605103751e-04,8.216316699e-01
+57,2.708333333e+01,DOWN_SETTLE,1791455346304400577,-4.157644525e-05,-1.723457906e-04,-8.321669776e-03,-4.254109494e-05,-1.701889184e-04,-8.315397734e-03,-7.138777321e-05,-1.683584990e-04,-8.308129030e-03,7.014962950e-01,-1.707948293e-04,8.324192714e-01,7.014953304e-01,-1.686379571e-04,8.324255435e-01,7.016543332e-01,-1.664707059e-04,8.214725339e-01
+58,2.775000000e+01,DOWN_SETTLE,1791455347308322759,-5.023185477e-05,-1.713874726e-04,-8.426735410e-03,-5.141286052e-05,-1.702454094e-04,-8.427958557e-03,-8.106880167e-05,-1.685597974e-04,-8.421929485e-03,7.014876396e-01,-1.698365113e-04,8.323142058e-01,7.014864586e-01,-1.686944481e-04,8.323129826e-01,7.016446521e-01,-1.666720042e-04,8.213587334e-01
+59,2.851666667e+01,DOWN_SETTLE,1791455348454370516,-5.407578108e-05,-1.693973577e-04,-8.490530535e-03,-5.629638191e-05,-1.713623813e-04,-8.491663859e-03,-8.644425208e-05,-1.697854691e-04,-8.487186225e-03,7.014837957e-01,-1.678463964e-04,8.322504107e-01,7.014815751e-01,-1.698114199e-04,8.322492773e-01,7.016392767e-01,-1.678976760e-04,8.212934767e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce6083741c38fb43761e3977040e8c05ccd769d6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-4.8129e-03,4.7054e-03,2.4539e+00,-3.7066e-02,3.6443e-02,-1.0577e-05,4.3942e-04,6.7782e-05,2.4796e-05,-4.5784e-06,2.8852e-05,3.0702e-07,4.4531e-04,2.9215e-05
+1,9.8333e-01,DOWN_FORCE_DETACH,1.9680e-04,2.9059e-02,1.0201e-02,2.4640e+00,-3.7453e-02,3.8840e-02,8.4266e-05,3.4312e-02,5.5630e-03,1.0108e-02,-3.9174e-04,2.4254e-03,9.5150e-05,3.6199e-02,2.4587e-03
+2,1.7667e+00,DOWN_FORCE_DETACH,3.8960e-04,4.5551e-02,1.8689e-02,2.5087e+00,-3.8037e-02,3.9929e-02,1.2267e-04,5.0804e-02,1.4051e-02,5.4790e-02,-9.7494e-04,3.5145e-03,1.3356e-04,7.6029e-02,3.6496e-03
+3,2.4167e+00,DOWN_FORCE_DETACH,5.8452e-04,4.9200e-02,2.5261e-02,2.5400e+00,-3.8475e-02,4.0171e-02,1.4359e-04,5.4452e-02,2.0623e-02,8.6172e-02,-1.4134e-03,3.7563e-03,1.5447e-04,1.0400e-01,4.0164e-03
+4,3.1500e+00,DOWN_FORCE_DETACH,7.7364e-04,5.4147e-02,3.2164e-02,2.5728e+00,-3.8929e-02,4.0490e-02,1.6605e-04,5.9399e-02,2.7527e-02,1.1896e-01,-1.8674e-03,4.0754e-03,1.7693e-04,1.3579e-01,4.4864e-03
+5,3.9667e+00,DOWN_FORCE_DETACH,9.6886e-04,6.0674e-02,3.6892e-02,2.5754e+00,-3.9236e-02,4.0933e-02,1.7518e-04,6.5926e-02,3.2254e-02,1.2157e-01,-2.1746e-03,4.5186e-03,1.8606e-04,1.4200e-01,5.0181e-03
+6,4.8000e+00,DOWN_FORCE_DETACH,1.1634e-03,6.1948e-02,3.6734e-02,2.5569e+00,-3.9234e-02,4.1049e-02,1.5943e-04,6.7201e-02,3.2096e-02,1.0305e-01,-2.1729e-03,4.6341e-03,1.7031e-04,1.2714e-01,5.1211e-03
+7,5.6000e+00,DOWN_FORCE_DETACH,1.3569e-03,6.0469e-02,3.8195e-02,2.5421e+00,-3.9358e-02,4.0971e-02,1.2784e-04,6.5721e-02,3.3558e-02,8.8195e-02,-2.2959e-03,4.5567e-03,1.3872e-04,1.1499e-01,5.1043e-03
+8,6.4333e+00,DOWN_FORCE_DETACH,1.5525e-03,5.5589e-02,3.6973e-02,2.5334e+00,-3.9324e-02,4.0646e-02,8.9499e-05,6.0842e-02,3.2335e-02,7.9569e-02,-2.2628e-03,4.2320e-03,1.0038e-04,1.0525e-01,4.8000e-03
+9,7.1500e+00,DOWN_FORCE_DETACH,1.7476e-03,5.3997e-02,4.0569e-02,2.5373e+00,-3.9604e-02,4.0522e-02,6.1813e-05,5.9249e-02,3.5932e-02,8.3453e-02,-2.5419e-03,4.1076e-03,7.2697e-05,1.0847e-01,4.8310e-03
+10,7.5833e+00,DOWN_FORCE_DETACH,1.9372e-03,5.4273e-02,4.2422e-02,2.5412e+00,-3.9752e-02,4.0529e-02,4.9751e-05,5.9525e-02,3.7784e-02,8.7346e-02,-2.6904e-03,4.1146e-03,6.0635e-05,1.1225e-01,4.9165e-03
+11,8.2833e+00,DOWN_FORCE_DETACH,2.1338e-03,5.5867e-02,4.2989e-02,2.5452e+00,-3.9820e-02,4.0625e-02,3.9381e-05,6.1119e-02,3.8352e-02,9.1297e-02,-2.7587e-03,4.2103e-03,5.0265e-05,1.1637e-01,5.0338e-03
+12,9.0000e+00,DOWN_FORCE_DETACH,2.3233e-03,5.8790e-02,4.3217e-02,2.5562e+00,-3.9854e-02,4.0816e-02,4.1249e-05,6.4042e-02,3.8580e-02,1.0233e-01,-2.7928e-03,4.4018e-03,5.2133e-05,1.2674e-01,5.2132e-03
+13,9.7333e+00,DOWN_FORCE_DETACH,2.5226e-03,6.0101e-02,4.5394e-02,2.5722e+00,-4.0001e-02,4.0900e-02,5.5837e-05,6.5353e-02,4.0757e-02,1.1835e-01,-2.9397e-03,4.4853e-03,6.6721e-05,1.4121e-01,5.3632e-03
+14,1.0450e+01,DOWN_FORCE_DETACH,2.7166e-03,6.4222e-02,4.6836e-02,2.5973e+00,-4.0076e-02,4.1164e-02,7.9941e-05,6.9474e-02,4.2199e-02,1.4348e-01,-3.0146e-03,4.7498e-03,9.0825e-05,1.6490e-01,5.6265e-03
+15,1.1083e+01,DOWN_FORCE_DETACH,2.9086e-03,6.7520e-02,4.8203e-02,2.6111e+00,-4.0128e-02,4.1378e-02,1.0779e-04,7.2772e-02,4.3565e-02,1.5722e-01,-3.0659e-03,4.9635e-03,1.1867e-04,1.7864e-01,5.8353e-03
+16,1.1767e+01,DOWN_FORCE_DETACH,3.1007e-03,7.2555e-02,5.1899e-02,2.6241e+00,-4.0312e-02,4.1708e-02,1.4153e-04,7.7808e-02,4.7262e-02,1.7025e-01,-3.2507e-03,5.2941e-03,1.5241e-04,1.9306e-01,6.2143e-03
+17,1.2400e+01,DOWN_FORCE_DETACH,3.2951e-03,7.5071e-02,5.4784e-02,2.6306e+00,-4.0464e-02,4.1876e-02,1.7325e-04,8.0324e-02,5.0147e-02,1.7671e-01,-3.4027e-03,5.4619e-03,1.8413e-04,2.0048e-01,6.4377e-03
+18,1.3000e+01,DOWN_FORCE_DETACH,3.4887e-03,7.6892e-02,5.5512e-02,2.6387e+00,-4.0530e-02,4.2002e-02,2.0043e-04,8.2144e-02,5.0875e-02,1.8487e-01,-3.4688e-03,5.5875e-03,2.1131e-04,2.0859e-01,6.5800e-03
+19,1.3583e+01,DOWN_FORCE_DETACH,3.6848e-03,8.0222e-02,5.4807e-02,2.6588e+00,-4.0522e-02,4.2224e-02,2.2011e-04,8.5474e-02,5.0169e-02,2.0496e-01,-3.4606e-03,5.8095e-03,2.3100e-04,2.2766e-01,6.7660e-03
+20,1.4133e+01,DOWN_FORCE_DETACH,3.8786e-03,8.5801e-02,5.8239e-02,2.6805e+00,-4.0762e-02,4.2587e-02,2.3592e-04,9.1054e-02,5.3602e-02,2.2667e-01,-3.6999e-03,6.1722e-03,2.4680e-04,2.5009e-01,7.2005e-03
+21,1.4650e+01,DOWN_FORCE_DETACH,4.0735e-03,9.2628e-02,6.1643e-02,2.7012e+00,-4.0973e-02,4.3022e-02,2.5383e-04,9.7880e-02,5.7005e-02,2.4734e-01,-3.9110e-03,6.6079e-03,2.6472e-04,2.7204e-01,7.6831e-03
+22,1.5167e+01,DOWN_FORCE_DETACH,4.2696e-03,9.7145e-02,6.6555e-02,2.7184e+00,-4.1266e-02,4.3309e-02,2.6927e-04,1.0240e-01,6.1917e-02,2.6457e-01,-4.2040e-03,6.8946e-03,2.8015e-04,2.9037e-01,8.0801e-03
+23,1.5633e+01,DOWN_FORCE_DETACH,4.4618e-03,9.4924e-02,6.8440e-02,2.7334e+00,-4.1361e-02,4.3156e-02,2.6720e-04,1.0018e-01,6.3803e-02,2.7954e-01,-4.2994e-03,6.7420e-03,2.7808e-04,3.0373e-01,8.0010e-03
+24,1.6083e+01,DOWN_FORCE_DETACH,4.6520e-03,8.9010e-02,6.8492e-02,2.7453e+00,-4.1343e-02,4.2746e-02,2.4615e-04,9.4262e-02,6.3854e-02,2.9143e-01,-4.2810e-03,6.3320e-03,2.5704e-04,3.1288e-01,7.6477e-03
+25,1.6500e+01,DOWN_FORCE_DETACH,4.8504e-03,8.1418e-02,6.6059e-02,2.7613e+00,-4.1179e-02,4.2204e-02,2.1616e-04,8.6671e-02,6.1422e-02,3.0747e-01,-4.1177e-03,5.7896e-03,2.2704e-04,3.2530e-01,7.1081e-03
+26,1.6883e+01,DOWN_FORCE_DETACH,5.0411e-03,7.7029e-02,6.3732e-02,2.7811e+00,-4.1027e-02,4.1864e-02,1.8587e-04,8.2281e-02,5.9094e-02,3.2724e-01,-3.9651e-03,5.4493e-03,1.9675e-04,3.4256e-01,6.7421e-03
+27,1.7267e+01,DOWN_FORCE_DETACH,5.2320e-03,7.3568e-02,6.3913e-02,2.8014e+00,-4.1011e-02,4.1584e-02,1.5509e-04,7.8821e-02,5.9275e-02,3.4756e-01,-3.9495e-03,5.1698e-03,1.6597e-04,3.6128e-01,6.5079e-03
+28,1.7633e+01,DOWN_FORCE_DETACH,5.4244e-03,7.2420e-02,6.6252e-02,2.8185e+00,-4.1117e-02,4.1468e-02,1.3172e-04,7.7673e-02,6.1614e-02,3.6460e-01,-4.0556e-03,5.0538e-03,1.4260e-04,3.7784e-01,6.4814e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..04f221de8eb165370b4e9c7824f7537dcec94f18
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa24ddc8a3acdaeece3ef7e9f079400ea5636d5711c2152367faa4509ada9074
+size 2590720
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b07e7a36a8044fe5c0841f63fa5c22a7a6ba3259
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..333529e8d344c8de6210ea2361ee69e99f1c233c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..10be865647c3ef624f9c208b442d7e5009ae7645
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56e91529521b4edf5900de16967401dd42eb1ac2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,5.000000000e-01,UP_FORCE_RAMP,1791455294552623509,-9.256665012e-07,1.524909182e-06,2.031042739e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.102684829e-07,5.529756866e-08,6.061910784e-08,7.015369458e-01,3.075870503e-06,8.407429722e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261312e-01,1.943090699e-06,8.297807235e-01
+7,5.666666667e-01,UP_FORCE_RAMP,1791455294652619509,2.554004809e-06,-4.550548303e-06,8.132744912e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.569495798e-07,6.147709368e-08,6.701230515e-08,7.015404255e-01,-2.999586982e-06,8.407490739e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261779e-01,1.949270224e-06,8.297807299e-01
+8,6.333333333e-01,UP_FORCE_RAMP,1791455294757321044,2.344188298e-06,5.413282891e-08,8.839440389e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.022161901e-07,6.744445560e-08,7.313197237e-08,7.015402157e-01,1.605094150e-06,8.407497806e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262231e-01,1.955237586e-06,8.297807360e-01
+9,7.500000000e-01,UP_FORCE_RAMP,1791455294963943063,2.748056365e-07,-4.755109355e-07,1.089197042e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.780780649e-07,7.740397528e-08,8.325961276e-08,7.015381463e-01,1.075450386e-06,8.407518332e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262990e-01,1.965197106e-06,8.297807462e-01
+10,8.500000000e-01,UP_FORCE_RAMP,1791455295115734668,6.038527425e-07,-1.826344804e-06,1.484164471e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.398392286e-07,8.538656832e-08,9.138756918e-08,7.015384753e-01,-2.753834832e-07,8.407557828e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263608e-01,1.973179699e-06,8.297807543e-01
+11,9.333333333e-01,UP_FORCE_RAMP,1791455295243168135,4.906264199e-07,3.762067156e-06,2.072424811e-05,6.182128565e-07,-1.942103211e-07,2.063788541e-05,1.374605164e-06,-9.452948352e-08,2.042160472e-05,7.015383621e-01,5.313028477e-06,8.407616654e-01,7.015384897e-01,1.356751000e-06,8.407615791e-01,7.017270955e-01,1.793263647e-06,8.298010845e-01
+12,1.050000000e+00,UP_FORCE_RAMP,1791455295413595519,-1.293595675e-08,7.588128446e-06,3.137596787e-05,6.182128565e-07,-1.942103211e-07,2.063788541e-05,1.441030073e-06,-8.720919866e-08,2.045851596e-05,7.015378585e-01,9.139089767e-06,8.407723172e-01,7.015384897e-01,1.356751000e-06,8.407615791e-01,7.017271620e-01,1.800583932e-06,8.298011214e-01
+13,1.116666667e+00,UP_FORCE_RAMP,1791455295513291738,-1.320829172e-06,8.747585565e-06,3.577941676e-05,6.182128565e-07,-1.942103211e-07,2.063788541e-05,1.477510672e-06,-8.258586790e-08,2.047445570e-05,7.015365507e-01,1.029854689e-05,8.407767206e-01,7.015384897e-01,1.356751000e-06,8.407615791e-01,7.017271984e-01,1.805207262e-06,8.298011374e-01
+14,1.200000000e+00,UP_FORCE_RAMP,1791455295643127125,-3.401351013e-06,5.623732587e-06,4.215948126e-05,-9.932377472e-07,4.071685014e-06,4.013368055e-05,-5.043331031e-08,4.170973687e-06,3.970498933e-05,7.015344701e-01,7.174693908e-06,8.407831007e-01,7.015368782e-01,5.622646335e-06,8.407810749e-01,7.017256705e-01,6.058766817e-06,8.298203679e-01
+15,1.300000000e+00,UP_FORCE_RAMP,1791455295783208602,-2.319640695e-07,5.601715035e-06,5.494748076e-05,-9.932377472e-07,4.071685014e-06,4.013368055e-05,-2.280843847e-09,4.178982605e-06,3.974534916e-05,7.015376395e-01,7.152676356e-06,8.407958887e-01,7.015368782e-01,5.622646335e-06,8.407810749e-01,7.017257186e-01,6.066775735e-06,8.298204083e-01
+16,1.366666667e+00,UP_FORCE_RAMP,1791455295891841832,1.375839595e-06,7.528996333e-06,6.414549973e-05,7.921071377e-07,6.535461937e-06,6.083689046e-05,1.837821276e-06,6.601755877e-06,6.018905173e-05,7.015392473e-01,9.079957654e-06,8.408050867e-01,7.015386636e-01,8.086423258e-06,8.408017781e-01,7.017275587e-01,8.489549008e-06,8.298408520e-01
+17,1.466666667e+00,UP_FORCE_RAMP,1791455296043143713,6.391759422e-08,6.794499473e-06,7.317614270e-05,7.921071377e-07,6.535461937e-06,6.083689046e-05,1.885039711e-06,6.609040159e-06,6.024454290e-05,7.015379354e-01,8.345460794e-06,8.408141173e-01,7.015386636e-01,8.086423258e-06,8.408017781e-01,7.017276060e-01,8.496833290e-06,8.298409075e-01
+18,1.566666667e+00,UP_FORCE_RAMP,1791455296201247603,-1.144390107e-06,6.134600413e-06,7.966199570e-05,-2.955019981e-07,7.967994774e-06,8.164684171e-05,9.444677868e-07,8.017293256e-06,8.078788834e-05,7.015367271e-01,7.685561734e-06,8.408206032e-01,7.015375760e-01,9.518956095e-06,8.408225880e-01,7.017266654e-01,9.905086386e-06,8.298614508e-01
+19,1.666666667e+00,UP_FORCE_RAMP,1791455296343136689,-1.592375051e-06,9.837309214e-06,9.058848257e-05,-2.955019981e-07,7.967994774e-06,8.164684171e-05,9.845581509e-07,8.022589399e-06,8.085711744e-05,7.015362791e-01,1.138827053e-05,8.408315297e-01,7.015375760e-01,9.518956095e-06,8.408225880e-01,7.017267055e-01,9.910382530e-06,8.298615200e-01
+20,1.716666667e+00,UP_FORCE_RAMP,1791455296413907414,1.690567773e-06,1.071602887e-05,9.955317016e-05,-2.955019981e-07,7.967994774e-06,8.164684171e-05,1.004234898e-06,8.025240035e-06,8.088696757e-05,7.015395620e-01,1.226699020e-05,8.408404944e-01,7.015375760e-01,9.518956095e-06,8.408225880e-01,7.017267252e-01,9.913033166e-06,8.298615499e-01
+21,1.783333333e+00,UP_FORCE_RAMP,1791455296513948919,5.463775750e-06,8.880189194e-06,1.138615782e-04,1.699487861e-06,5.492951525e-06,1.021121744e-04,3.175528890e-06,5.577108193e-06,1.010568366e-04,7.015433353e-01,1.043115051e-05,8.408548028e-01,7.015395710e-01,7.043912846e-06,8.408430534e-01,7.017288965e-01,7.464901324e-06,8.298817197e-01
+22,1.833333333e+00,UP_FORCE_RAMP,1791455296585082609,7.316349523e-06,9.940825322e-06,1.210744133e-04,7.292845499e-06,9.733536869e-06,1.209860003e-04,8.882029448e-06,9.778909108e-06,1.197186340e-04,7.015451878e-01,1.149178664e-05,8.408620156e-01,7.015451643e-01,1.128449819e-05,8.408619272e-01,7.017346030e-01,1.166670224e-05,8.299003815e-01
+23,1.900000000e+00,UP_FORCE_RAMP,1791455296683921435,4.298318497e-06,9.779665247e-06,1.238260871e-04,7.292845499e-06,9.733536869e-06,1.209860003e-04,8.915935318e-06,9.787114208e-06,1.197900821e-04,7.015421698e-01,1.133062657e-05,8.408647673e-01,7.015451643e-01,1.128449819e-05,8.408619272e-01,7.017346369e-01,1.167490734e-05,8.299004530e-01
+24,1.950000000e+00,UP_FORCE_RAMP,1791455296763973281,7.147567976e-06,1.254622664e-05,1.348319531e-04,7.292845499e-06,9.733536869e-06,1.209860003e-04,8.937978383e-06,9.790243895e-06,1.198333646e-04,7.015450190e-01,1.409718796e-05,8.408757731e-01,7.015451643e-01,1.128449819e-05,8.408619272e-01,7.017346589e-01,1.167803703e-05,8.299004963e-01
+25,2.016666667e+00,UP_FORCE_RAMP,1791455296870002154,3.936599747e-06,1.542993532e-05,1.344307671e-04,7.292845499e-06,9.733536869e-06,1.209860003e-04,8.965655557e-06,9.793683731e-06,1.198868216e-04,7.015418081e-01,1.698089664e-05,8.408753720e-01,7.015451643e-01,1.128449819e-05,8.408619272e-01,7.017346866e-01,1.168147686e-05,8.299005497e-01
+26,2.100000000e+00,UP_FORCE_RAMP,1791455296985664912,4.566867344e-06,9.170154279e-06,1.412748119e-04,6.457725960e-06,1.462250660e-05,1.420952630e-04,8.256329754e-06,1.463273014e-05,1.407155926e-04,7.015424383e-01,1.072111560e-05,8.408822160e-01,7.015443292e-01,1.617346792e-05,8.408830365e-01,7.017339773e-01,1.652052327e-05,8.299213785e-01
+27,2.183333333e+00,UP_FORCE_RAMP,1791455297120764572,4.883971788e-06,1.181437208e-05,1.483008290e-04,6.457725960e-06,1.462250660e-05,1.420952630e-04,8.285664301e-06,1.463848694e-05,1.407958810e-04,7.015427555e-01,1.336533340e-05,8.408892420e-01,7.015443292e-01,1.617346792e-05,8.408830365e-01,7.017340066e-01,1.652628007e-05,8.299214588e-01
+28,2.266666667e+00,UP_FORCE_RAMP,1791455297243135443,5.082901776e-06,1.648252259e-05,1.540830292e-04,6.457725960e-06,1.462250660e-05,1.420952630e-04,8.313777037e-06,1.464247628e-05,1.408673041e-04,7.015429544e-01,1.803348391e-05,8.408950242e-01,7.015443292e-01,1.617346792e-05,8.408830365e-01,7.017340347e-01,1.653026941e-05,8.299215302e-01
+29,2.350000000e+00,UP_FORCE_RAMP,1791455297362613778,1.781720260e-06,1.029214137e-05,1.556618985e-04,6.457725960e-06,1.462250660e-05,1.420952630e-04,8.340391834e-06,1.464585045e-05,1.409340939e-04,7.015396532e-01,1.184310269e-05,8.408966031e-01,7.015443292e-01,1.617346792e-05,8.408830365e-01,7.017340613e-01,1.653364358e-05,8.299215970e-01
+30,2.416666667e+00,UP_FORCE_RAMP,1791455297462628652,2.950027663e-06,8.741611605e-06,1.627188817e-04,3.068905856e-06,8.917735974e-06,1.624750675e-04,5.017842559e-06,9.012978611e-06,1.610506077e-04,7.015408215e-01,1.029257293e-05,8.409036601e-01,7.015409404e-01,1.046869729e-05,8.409034163e-01,7.017307388e-01,1.090077174e-05,8.299417135e-01
+31,2.483333333e+00,UP_FORCE_RAMP,1791455297563353956,-1.185995937e-07,1.658871739e-05,1.611911171e-04,3.068905856e-06,8.917735974e-06,1.624750675e-04,5.029967079e-06,9.005324540e-06,1.611279389e-04,7.015377529e-01,1.813967871e-05,8.409021323e-01,7.015409404e-01,1.046869729e-05,8.409034163e-01,7.017307509e-01,1.089311767e-05,8.299417909e-01
+32,2.566666667e+00,UP_FORCE_RAMP,1791455297683829041,-7.109855304e-08,9.815338736e-06,1.678999584e-04,3.068905856e-06,8.917735974e-06,1.624750675e-04,5.049722755e-06,9.005749115e-06,1.612035163e-04,7.015378004e-01,1.136630006e-05,8.409088411e-01,7.015409404e-01,1.046869729e-05,8.409034163e-01,7.017307706e-01,1.089354225e-05,8.299418664e-01
+33,2.650000000e+00,UP_FORCE_RAMP,1791455297813611857,3.431531636e-07,1.371224695e-05,1.736749907e-04,3.068905856e-06,8.917735974e-06,1.624750675e-04,5.069039147e-06,9.007433341e-06,1.612726528e-04,7.015382146e-01,1.526320827e-05,8.409146162e-01,7.015409404e-01,1.046869729e-05,8.409034163e-01,7.017307900e-01,1.089522647e-05,8.299419356e-01
+34,2.700000000e+00,UP_FORCE_RAMP,1791455297883007533,9.470256187e-07,1.735138749e-05,1.765400331e-04,3.068905856e-06,8.917735974e-06,1.624750675e-04,5.080150695e-06,9.008581625e-06,1.613121075e-04,7.015388185e-01,1.890234881e-05,8.409174812e-01,7.015409404e-01,1.046869729e-05,8.409034163e-01,7.017308011e-01,1.089637476e-05,8.299419750e-01
+35,2.733333333e+00,UP_FORCE_RAMP,1791455297943158057,3.045934411e-06,1.438366145e-05,1.838259596e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.372173909e-06,1.439141499e-05,1.822932538e-04,7.015409174e-01,1.593462278e-05,8.409247671e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017310931e-01,1.627920812e-05,8.299629562e-01
+36,2.800000000e+00,UP_FORCE_RAMP,1791455298043066189,-1.952056440e-06,1.885997306e-05,1.795362974e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.385898487e-06,1.439976254e-05,1.823716975e-04,7.015359194e-01,2.041093438e-05,8.409204775e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017311068e-01,1.628755567e-05,8.299630346e-01
+37,2.866666667e+00,UP_FORCE_RAMP,1791455298143080772,-2.946280095e-06,1.598186591e-05,1.810030268e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.399507028e-06,1.440308051e-05,1.824338275e-04,7.015349252e-01,1.753282723e-05,8.409219442e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017311204e-01,1.629087364e-05,8.299630967e-01
+38,2.916666667e+00,UP_FORCE_RAMP,1791455298213294140,2.145142840e-06,1.807962757e-05,1.908585260e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.409326943e-06,1.440497468e-05,1.824771410e-04,7.015400166e-01,1.963058889e-05,8.409317997e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017311303e-01,1.629276781e-05,8.299631401e-01
+39,3.016666667e+00,UP_FORCE_RAMP,1791455298362652954,-3.156703231e-06,1.535367492e-05,1.901158635e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.427712690e-06,1.440810750e-05,1.825583088e-04,7.015347148e-01,1.690463624e-05,8.409310571e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017311486e-01,1.629590063e-05,8.299632212e-01
+40,3.133333333e+00,UP_FORCE_RAMP,1791455298543192805,-2.285309155e-06,1.744234098e-05,1.961982463e-04,3.292381871e-06,1.435299978e-05,1.837680280e-04,5.447306270e-06,1.441108001e-05,1.826459374e-04,7.015355862e-01,1.899330230e-05,8.409371394e-01,7.015411639e-01,1.590396110e-05,8.409247092e-01,7.017311682e-01,1.629887314e-05,8.299633089e-01
+41,3.216666667e+00,UP_FORCE_RAMP,1791455298662413939,2.047236343e-07,1.803604390e-05,2.035355744e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.472048553e-06,1.793403825e-05,2.019495619e-04,7.015380762e-01,1.958700522e-05,8.409444768e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017281930e-01,1.982183138e-05,8.299826125e-01
+42,3.316666667e+00,UP_FORCE_RAMP,1791455298813320878,-1.658398097e-06,1.918066992e-05,2.060065133e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.479659215e-06,1.794005681e-05,2.020495082e-04,7.015362131e-01,2.073163124e-05,8.409469477e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017282006e-01,1.982784994e-05,8.299827124e-01
+43,3.400000000e+00,UP_FORCE_RAMP,1791455298943149565,-2.234931725e-06,1.886057171e-05,2.077641979e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.488462491e-06,1.794227599e-05,2.021153430e-04,7.015356365e-01,2.041153303e-05,8.409487054e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017282094e-01,1.983006912e-05,8.299827783e-01
+44,3.450000000e+00,UP_FORCE_RAMP,1791455299012539991,-2.715605042e-06,1.643005167e-05,2.086093005e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.493597107e-06,1.794331521e-05,2.021522592e-04,7.015351559e-01,1.798101299e-05,8.409495505e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017282145e-01,1.983110834e-05,8.299828152e-01
+45,3.516666667e+00,UP_FORCE_RAMP,1791455299113199004,3.305947033e-07,2.114470235e-05,2.180006471e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.500114159e-06,1.794451729e-05,2.021991620e-04,7.015382021e-01,2.269566367e-05,8.409589418e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017282210e-01,1.983231042e-05,8.299828621e-01
+46,3.583333333e+00,UP_FORCE_RAMP,1791455299212588042,4.371726251e-07,1.923794077e-05,2.207365099e-04,2.608515546e-07,1.790959315e-05,2.033164501e-04,2.506272646e-06,1.794559662e-05,2.022438204e-04,7.015383087e-01,2.078890210e-05,8.409616777e-01,7.015381323e-01,1.946055447e-05,8.409442576e-01,7.017282272e-01,1.983338975e-05,8.299829067e-01
+47,3.650000000e+00,UP_FORCE_RAMP,1791455299313317778,9.073867241e-07,2.102703480e-05,2.245183250e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.348189303e-06,2.106360431e-05,2.231846126e-04,7.015387789e-01,2.257799612e-05,8.409654595e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017290691e-01,2.295139744e-05,8.300038475e-01
+48,3.733333333e+00,UP_FORCE_HOLD,1791455299443308891,-2.058105668e-07,2.067821484e-05,2.271090130e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.355414841e-06,2.106879519e-05,2.232680453e-04,7.015376657e-01,2.222917617e-05,8.409680502e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017290763e-01,2.295658832e-05,8.300039310e-01
+49,3.850000000e+00,UP_FORCE_HOLD,1791455299613640055,2.456415495e-06,2.129385794e-05,2.335508156e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.365487788e-06,2.107165087e-05,2.233555126e-04,7.015403279e-01,2.284481926e-05,8.409744920e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017290864e-01,2.295944400e-05,8.300040184e-01
+50,3.916666667e+00,UP_FORCE_HOLD,1791455299704539085,-7.273747995e-07,1.978732811e-05,2.296697194e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.370631745e-06,2.107280027e-05,2.234008046e-04,7.015371441e-01,2.133828943e-05,8.409706109e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017290916e-01,2.296059340e-05,8.300040637e-01
+51,4.000000000e+00,UP_FORCE_HOLD,1791455299818156649,5.324282357e-07,2.044684175e-05,2.355445383e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.376558329e-06,2.107400605e-05,2.234540601e-04,7.015384039e-01,2.199780307e-05,8.409764857e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017290975e-01,2.296179918e-05,8.300041170e-01
+52,4.050000000e+00,UP_FORCE_HOLD,1791455299898466390,1.585091097e-06,2.364125440e-05,2.391142400e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.379716764e-06,2.107462303e-05,2.234844197e-04,7.015394566e-01,2.519221572e-05,8.409800554e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017291006e-01,2.296241616e-05,8.300041473e-01
+53,4.116666667e+00,UP_FORCE_HOLD,1791455300000069404,-1.283518944e-06,2.220051324e-05,2.372121921e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.383706687e-06,2.107542898e-05,2.235232225e-04,7.015365880e-01,2.375147456e-05,8.409781534e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017291046e-01,2.296322211e-05,8.300041861e-01
+54,4.166666667e+00,UP_FORCE_HOLD,1791455300079084949,-9.909123730e-07,2.156467955e-05,2.401664807e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.386477441e-06,2.107603222e-05,2.235511556e-04,7.015368806e-01,2.311564087e-05,8.409811077e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017291074e-01,2.296382535e-05,8.300042141e-01
+55,4.233333333e+00,UP_FORCE_HOLD,1791455300179289289,-2.712865726e-06,1.802850875e-05,2.410237255e-04,1.049288226e-06,2.109284615e-05,2.244927469e-04,3.389944968e-06,2.107672264e-05,2.235868160e-04,7.015351586e-01,1.957947007e-05,8.409819649e-01,7.015389208e-01,2.264380747e-05,8.409654339e-01,7.017291109e-01,2.296451577e-05,8.300042497e-01
+56,4.316666667e+00,UP_FORCE_HOLD,1791455300298742539,-1.172167305e-06,1.741504103e-05,2.441565684e-04,-4.553102060e-07,2.211936736e-05,2.455380679e-04,1.988334456e-06,2.210678856e-05,2.443692161e-04,7.015366993e-01,1.896600235e-05,8.409850978e-01,7.015374162e-01,2.367032868e-05,8.409864793e-01,7.017277093e-01,2.399458169e-05,8.300250321e-01
+57,4.400000000e+00,UP_FORCE_HOLD,1791455300418544809,-1.528441564e-06,2.397791798e-05,2.474941281e-04,-4.553102060e-07,2.211936736e-05,2.455380679e-04,1.990502213e-06,2.210807883e-05,2.444275441e-04,7.015363430e-01,2.552887930e-05,8.409884353e-01,7.015374162e-01,2.367032868e-05,8.409864793e-01,7.017277114e-01,2.399587196e-05,8.300250905e-01
+58,4.483333333e+00,UP_SETTLE,1791455300549429902,-1.224840321e-06,1.958315075e-05,2.478494915e-04,-4.553102060e-07,2.211936736e-05,2.455380679e-04,1.992938267e-06,2.210922727e-05,2.444785442e-04,7.015366466e-01,2.113411207e-05,8.409887907e-01,7.015374162e-01,2.367032868e-05,8.409864793e-01,7.017277139e-01,2.399702041e-05,8.300251415e-01
+59,4.550000000e+00,UP_SETTLE,1791455300650051674,-1.352636805e-06,2.482877971e-05,2.510226073e-04,-4.553102060e-07,2.211936736e-05,2.455380679e-04,1.994665334e-06,2.211003816e-05,2.445164310e-04,7.015365188e-01,2.637974103e-05,8.409919638e-01,7.015374162e-01,2.367032868e-05,8.409864793e-01,7.017277156e-01,2.399783129e-05,8.300251793e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..516ebc3d5b377f25e4897afbacae39f53a0772ef
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_08/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-4.8129e-03,4.7054e-03,2.4539e+00,-3.7066e-02,3.6443e-02,-1.0577e-05,4.3942e-04,6.7782e-05,2.4796e-05,-4.5784e-06,2.8852e-05,3.0702e-07,4.4531e-04,2.9215e-05
+1,1.0000e-01,UP_FORCE_RAMP,1.8353e-05,-2.0720e-03,5.0798e-03,2.4541e+00,-3.7092e-02,3.6624e-02,-8.4677e-06,3.1803e-03,4.4215e-04,2.4557e-04,-3.0000e-05,2.0942e-04,2.4160e-06,3.2203e-03,2.1158e-04
+2,1.6667e-01,UP_FORCE_RAMP,3.6384e-05,-1.7499e-04,5.3020e-03,2.4543e+00,-3.7107e-02,3.6749e-02,-6.8185e-06,5.0774e-03,6.6444e-04,4.4632e-04,-4.5210e-05,3.3497e-04,4.0651e-06,5.1401e-03,3.3804e-04
+3,2.6667e-01,UP_FORCE_RAMP,5.4661e-05,2.7252e-03,5.6050e-03,2.4547e+00,-3.7128e-02,3.6942e-02,-4.0033e-06,7.9776e-03,9.6744e-04,8.0109e-04,-6.6057e-05,5.2782e-04,6.8804e-06,8.0759e-03,5.3198e-04
+4,3.8333e-01,UP_FORCE_RAMP,7.5298e-05,6.1312e-03,5.9248e-03,2.4551e+00,-3.7150e-02,3.7170e-02,-2.4044e-07,1.1384e-02,1.2872e-03,1.2660e-03,-8.8196e-05,7.5566e-04,1.0643e-05,1.1526e-02,7.6086e-04
+5,4.3333e-01,UP_FORCE_RAMP,9.1647e-05,7.5840e-03,6.0535e-03,2.4553e+00,-3.7159e-02,3.7268e-02,1.5172e-06,1.2836e-02,1.4159e-03,1.4749e-03,-9.7141e-05,8.5329e-04,1.2401e-05,1.2998e-02,8.5889e-04
+6,5.0000e-01,UP_FORCE_RAMP,1.1172e-04,9.5011e-03,6.2184e-03,2.4556e+00,-3.7170e-02,3.7397e-02,3.9761e-06,1.4753e-02,1.5808e-03,1.7557e-03,-1.0863e-04,9.8253e-04,1.4860e-05,1.4941e-02,9.8863e-04
+7,5.6667e-01,UP_FORCE_RAMP,1.3111e-04,1.1399e-02,6.3773e-03,2.4559e+00,-3.7181e-02,3.7525e-02,6.5703e-06,1.6651e-02,1.7397e-03,2.0373e-03,-1.1971e-04,1.1109e-03,1.7454e-05,1.6866e-02,1.1175e-03
+8,6.3333e-01,UP_FORCE_RAMP,1.4865e-04,1.3273e-02,6.5305e-03,2.4562e+00,-3.7192e-02,3.7653e-02,9.2910e-06,1.8525e-02,1.8929e-03,2.3174e-03,-1.3041e-04,1.2382e-03,2.0175e-05,1.8765e-02,1.2452e-03
+9,7.5000e-01,UP_FORCE_RAMP,1.6910e-04,1.6482e-02,6.7866e-03,2.4567e+00,-3.7210e-02,3.7871e-02,1.4329e-05,2.1734e-02,2.1490e-03,2.7990e-03,-1.4833e-04,1.4571e-03,2.5212e-05,2.2019e-02,1.4648e-03
+10,8.5000e-01,UP_FORCE_RAMP,1.8715e-04,2.8832e-02,7.9897e-03,2.4590e+00,-3.7307e-02,3.8824e-02,8.1309e-05,3.4084e-02,3.3521e-03,5.1432e-03,-2.4497e-04,2.4094e-03,9.2193e-05,3.4633e-02,2.4235e-03
+11,9.3333e-01,UP_FORCE_RAMP,2.0497e-04,2.9469e-02,8.0203e-03,2.4580e+00,-3.7308e-02,3.8869e-02,8.2630e-05,3.4721e-02,3.3826e-03,4.1423e-03,-2.4677e-04,2.4550e-03,9.3514e-05,3.5131e-02,2.4691e-03
+12,1.0500e+00,UP_FORCE_RAMP,2.2620e-04,3.0380e-02,8.0704e-03,2.4537e+00,-3.7311e-02,3.8930e-02,8.4870e-05,3.5632e-02,3.4328e-03,-2.1172e-04,-2.4978e-04,2.5161e-03,9.5753e-05,3.5798e-02,2.5302e-03
+13,1.1167e+00,UP_FORCE_RAMP,2.4230e-04,3.1166e-02,8.1155e-03,2.4524e+00,-3.7314e-02,3.8983e-02,8.6170e-05,3.6418e-02,3.4779e-03,-1.5190e-03,-2.5257e-04,2.5683e-03,9.7054e-05,3.6615e-02,2.5825e-03
+14,1.2000e+00,UP_FORCE_RAMP,2.5917e-04,3.6202e-02,5.4272e-03,2.4345e+00,-3.7135e-02,3.9319e-02,9.3948e-05,4.1455e-02,7.8957e-04,-1.9362e-02,-7.3619e-05,2.9051e-03,1.0483e-04,4.5760e-02,2.9079e-03
+15,1.3000e+00,UP_FORCE_RAMP,2.7979e-04,3.6563e-02,5.7938e-03,2.4355e+00,-3.7159e-02,3.9347e-02,9.5727e-05,4.1816e-02,1.1562e-03,-1.8417e-02,-9.7282e-05,2.9327e-03,1.0661e-04,4.5706e-02,2.9363e-03
+16,1.3667e+00,UP_FORCE_RAMP,2.9883e-04,3.7029e-02,5.6123e-03,2.4345e+00,-3.7145e-02,3.9381e-02,9.7364e-05,4.2281e-02,9.7470e-04,-1.9391e-02,-8.3495e-05,2.9667e-03,1.0825e-04,4.6526e-02,2.9698e-03
+17,1.4667e+00,UP_FORCE_RAMP,3.1791e-04,3.7894e-02,5.3474e-03,2.4318e+00,-3.7126e-02,3.9444e-02,1.0004e-04,4.3147e-02,7.0981e-04,-2.2037e-02,-6.4664e-05,3.0297e-03,1.1092e-04,4.8454e-02,3.0324e-03
+18,1.5667e+00,UP_FORCE_RAMP,3.3351e-04,3.9185e-02,5.1315e-03,2.4304e+00,-3.7111e-02,3.9534e-02,1.0240e-04,4.4437e-02,4.9388e-04,-2.3433e-02,-4.8984e-05,3.1198e-03,1.1328e-04,5.0240e-02,3.1223e-03
+19,1.6667e+00,UP_FORCE_RAMP,3.5485e-04,4.1206e-02,4.6757e-03,2.4251e+00,-3.7079e-02,3.9676e-02,1.0624e-04,4.6458e-02,3.8056e-05,-2.8790e-02,-1.7274e-05,3.2617e-03,1.1713e-04,5.4656e-02,3.2638e-03
+20,1.7167e+00,UP_FORCE_RAMP,3.7151e-04,4.1794e-02,4.6192e-03,2.4245e+00,-3.7075e-02,3.9717e-02,1.0735e-04,4.7046e-02,-1.8450e-05,-2.9390e-02,-1.3065e-05,3.3030e-03,1.1823e-04,5.5471e-02,3.3051e-03
+21,1.7833e+00,UP_FORCE_RAMP,3.9384e-04,4.2498e-02,4.9996e-03,2.4208e+00,-3.7099e-02,3.9769e-02,1.0972e-04,4.7750e-02,3.6198e-04,-3.3040e-02,-3.7707e-05,3.3546e-03,1.2060e-04,5.8067e-02,3.3569e-03
+22,1.8333e+00,UP_FORCE_RAMP,4.1467e-04,4.2922e-02,5.1134e-03,2.4194e+00,-3.7106e-02,3.9800e-02,1.1091e-04,4.8175e-02,4.7575e-04,-3.4482e-02,-4.4730e-05,3.3856e-03,1.2180e-04,5.9246e-02,3.3881e-03
+23,1.9000e+00,UP_FORCE_RAMP,4.2890e-04,4.2503e-02,4.3154e-03,2.4142e+00,-3.7052e-02,3.9777e-02,1.1308e-04,4.7755e-02,-3.2222e-04,-3.9642e-02,9.6411e-06,3.3628e-03,1.2396e-04,6.2066e-02,3.3651e-03
+24,1.9500e+00,UP_FORCE_RAMP,4.4645e-04,4.2642e-02,4.1188e-03,2.4126e+00,-3.7039e-02,3.9790e-02,1.1419e-04,4.7895e-02,-5.1881e-04,-4.1259e-02,2.2735e-05,3.3753e-03,1.2507e-04,6.3218e-02,3.3777e-03
+25,2.0167e+00,UP_FORCE_RAMP,4.6646e-04,4.3059e-02,3.9287e-03,2.4113e+00,-3.7026e-02,3.9821e-02,1.1566e-04,4.8312e-02,-7.0890e-04,-4.2547e-02,3.5502e-05,3.4069e-03,1.2654e-04,6.4379e-02,3.4094e-03
+26,2.1000e+00,UP_FORCE_RAMP,4.8484e-04,4.3948e-02,3.1340e-03,2.4091e+00,-3.6972e-02,3.9886e-02,1.1765e-04,4.9200e-02,-1.5037e-03,-4.4735e-02,8.9537e-05,3.4713e-03,1.2854e-04,6.6515e-02,3.4748e-03
+27,2.1833e+00,UP_FORCE_RAMP,5.0449e-04,4.4887e-02,2.4049e-03,2.4065e+00,-3.6924e-02,3.9953e-02,1.1939e-04,5.0139e-02,-2.2327e-03,-4.7334e-02,1.3789e-04,3.5382e-03,1.3028e-04,6.8989e-02,3.5433e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..62192a9c1f7671d3c36c356d6cbcc8daee772b99
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:3a4bcc10da9846da84ddfcc2d37cc78379539e01cf9b7b7cada1477cea97e32c
+size 2129920
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cef08f17b52667eef61e81ea622bd491749f340b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..69abec3ef489cbf9f1704bdbbdb22320409918d6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
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+59189,1791455371510565927,10349899000000,1791455371507336728,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760459306488208,-0.004790161130809235,0.09065331739242258,0.9999999657471663,0.0002092144595774069,-8.293549805628251e-05,9.64341399963477e-05,0.6761,-0.0048,0.09069036747439138,1.0,0.0,0.0,0.0,0.006492700981520841,-0.22959269735571058,0.381105014644581,-0.01845920834484841,0.0002652627261260066,-2.0616057793581546e-05,0.04022176587593424,-0.3190048117552125,0.2598090628806195,-0.02141522975932169,-0.002677122967862776,-0.001522212341528861,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.28210485884584285,-0.22932808703109084,0.512833119533616,0.145840959149851,-0.21932929002223606,-0.23817991724115456,0.721557885649919,0.381105014644581,0.20872476611630297,0.20872476611630297,0.21804000000001056,0,0,-0.00012352361540982214,9.997749436519427e-05
+59299,1791455372426556883,10350815000000,1791455372419346326,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760584082833136,-0.004790554148814626,0.09057888579247682,0.9999999657823935,0.00020924933699029423,-6.228408370860407e-05,0.00011051463217743518,0.6761,-0.0048,0.09058414872639987,1.0,0.0,0.0,0.0,-0.024494663094896896,-0.18870857058177276,0.44853213481763454,-0.015462343066246867,0.002222359211582926,-1.210345679286684e-05,0.009234401799516505,-0.2781206849812747,0.327236183053673,-0.018418364480720147,-0.0007200264824058567,-0.0015136997405281463,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.3443739474698725,-0.09843628836973806,0.4876361226106738,0.1035217023821313,-0.19537406455361958,-0.15824020250900495,0.721557885649919,0.44853213481763454,0.23392176303924517,0.23392176303924517,0.2730000000000147,0,0,-9.926700023502188e-05,9.999999025923074e-05
+59439,1791455373593542265,10351982000000,1791455373591337097,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760651335769338,-0.0047964814769578005,0.09050332238969139,0.9999999652106548,0.0002061045814785235,-5.268440647079295e-05,0.000125565950964247,0.6761,-0.0048,0.09049691291153483,1.0,0.0,0.0,0.0,-0.03251032996121189,-0.19517300454020736,0.5469717892404224,-0.01550964901781316,0.003214781576192388,-7.77775483627079e-05,0.0012187349332015063,-0.2845851189397093,0.42567583747646087,-0.01846567043228644,0.00027239588220360513,-0.0015793738320979873,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.36525682548141164,-0.2740174448585801,0.4532212937118012,0.14854863838259652,-0.16629490090216117,-0.27569441421586766,0.721557885649919,0.5469717892404224,0.26833659193811776,0.26833659193811776,0.3430200000000199,0,0,-5.4379933907251814e-05,6.425906615004635e-05
+59615,1791455375060519409,10353449000000,1791455375059336589,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760670069111101,-0.004797035384973478,0.09044471917926479,0.9999999642876364,0.00020571744015260792,-5.1727531145766815e-05,0.0001336869009357503,0.6761,-0.0048,0.09043282865820511,1.0,0.0,0.0,0.0,-0.0435741111200999,-0.19842786682018476,0.6044667355607793,-0.015951504566654742,0.004223828955958792,-0.00011352695262697283,-0.009845046225686504,-0.2878399812196867,0.4831707837968178,-0.01890752598112802,0.0012814432619700097,-0.0016151232363622522,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.41671232491610355,-0.23668982210644873,0.3892982908238893,0.13777155251610215,-0.11314696732803088,-0.252238640919859,0.721557885649919,0.6044667355607793,0.3322595948260297,0.3322595948260297,0.4310400000000265,0,0,-4.4420009416594415e-05,-9.999999025923074e-05
+59747,1791455376160482237,10354549000000,1791455376159337248,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.676068129619173,-0.004798714518999286,0.09040217253382106,0.9999999630967145,0.00020621163515975783,-5.113681265998029e-05,0.00014181403947938003,0.6761,-0.0048,0.09038234122312858,1.0,0.0,0.0,0.0,-0.05305705206544273,-0.19423437251250708,0.6445750555578206,-0.016528817020502254,0.005238692982354751,3.9213745945542496e-05,-0.019327987171029324,-0.283646486912009,0.523279103793859,-0.019484838434975532,0.002296307288365968,-0.001462382537789737,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.42337292817814554,-0.2723078193384913,0.3934543718930957,0.1531433713622342,-0.1185877584370934,-0.2708577624116497,0.721557885649919,0.6445750555578206,0.3281035137568233,0.3281035137568233,0.49704000000003146,0,0,-4.838885410004957e-05,-9.999999025923074e-05
+59858,1791455377085554380,10355474000000,1791455377083336980,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760772427701319,-0.004762811130365075,0.09035627739284564,0.9999999949717225,2.3636544536216952e-05,-2.0235093640858307e-05,-2.3049384530084348e-05,0.6761,-0.0048,0.09033577759853531,1.0,0.0,0.0,0.0,-0.07258706951183198,-0.19252490955789742,0.6489694053474244,-0.01507833091812715,0.006033499032228863,-5.3720041025276e-05,-0.03885800461741858,-0.28193702395739934,0.5276734535834628,-0.01803435233260043,0.0030911133382400804,-0.0015553163247605554,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.3613927085433188,-0.24379237620550423,0.3258041369962747,0.08049787804066764,-0.07865012769612766,-0.25144552382917157,0.721557885649919,0.6489694053474244,0.39575374865364427,0.39575374865364427,0.552539999999987,0,0,-5.279647515984832e-05,-9.999999025923074e-05
+59993,1791455378210523626,10356599000000,1791455378203337134,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.676077442405404,-0.004761922255881455,0.0902824561807824,0.999999994811568,3.738308247569851e-05,-2.0147693954392016e-05,-4.037811487887422e-06,0.6761,-0.0048,0.09025542926379045,1.0,0.0,0.0,0.0,-0.0727410758755519,-0.1954341731411141,0.7353417946317998,-0.01566412581650734,0.007223367268285225,0.0008079039931738046,-0.03901201098113849,-0.284846287540616,0.6140458428678383,-0.018620147230980617,0.0042809815742964425,-0.0006936922905614748,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.4771997446793743,-0.22069780668993375,0.21023928080935417,0.05436039692585118,0.024860571663831356,-0.21561084871555913,0.721557885649919,0.7353417946317998,0.5113186048405648,0.5113186048405648,0.6200399999999296,0,0,-7.428240983284018e-05,9.140982562849765e-05
+60131,1791455379360557493,10357749000000,1791455379359336791,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760787529557347,-0.004773452492948301,0.09021410076297175,0.9999999940667575,5.0565252184975655e-05,-2.0453339494932938e-05,1.8280192612433308e-05,0.6761,-0.0048,0.09017852131348049,1.0,0.0,0.0,0.0,-0.08218539794480675,-0.18710894656928317,0.7757232017071477,-0.015444229513339026,0.007183858157778974,0.0008007963796656576,-0.04845633305039335,-0.2765210609687851,0.6544272499431861,-0.018400250927812306,0.004241472463790192,-0.0007007999040696218,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5258512808725622,-0.25014467235064203,0.03818155435021195,0.1206044617699061,0.1361497698070903,-0.24939080795831062,0.721557885649919,0.7757232017071477,0.683376331299707,0.683376331299707,0.689039999999871,0,0,-6.09731340320011e-05,9.970963918271564e-05
+60283,1791455380626487149,10359015000000,1791455380619336996,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.676077458693402,-0.004783291119443806,0.09014135262784582,0.9999999926874166,6.314886386744672e-05,-2.46462185262635e-05,3.8377287966598275e-05,0.6761,-0.0048,0.09010545178171511,1.0,0.0,0.0,0.0,-0.07688428782793813,-0.19286677204127833,0.8063009805149297,-0.014631524273925672,0.006223897134703497,0.0007948841387604531,-0.04315522293352474,-0.28227888644078025,0.6850050287509681,-0.017587545688398952,0.0032815114407147147,-0.0007067121449748263,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5037661238918162,-0.2714729799612453,0.06337470314650016,0.17995431208952137,0.09973466431070506,-0.2708653302740025,0.721557885649919,0.8063009805149297,0.6581831825034188,0.6581831825034188,0.7649999999998064,0,0,-5.615151356149579e-05,-8.018764582158345e-05
+60439,1791455381926488450,10360315000000,1791455381919337255,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.676077426594736,-0.004786892974929573,0.09006604807179847,0.9999999915268587,6.930956247711343e-05,-2.5610537331653995e-05,5.41242266111665e-05,0.6761,-0.0048,0.09002561387213903,1.0,0.0,0.0,0.0,-0.07394747996152759,-0.18058777267714704,0.8259987153142736,-0.014658118422430791,0.007184724519456794,0.0001899533582885634,-0.0402184150671142,-0.26999988707664896,0.704702763550312,-0.01761413983690407,0.004242338825468012,-0.001311642925446716,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5530013296203833,-0.2913760543862219,0.07023253250345242,0.1950627961890932,0.1040134761858288,-0.2873394084831096,0.721557885649919,0.8259987153142736,0.6513253531464666,0.6513253531464666,0.8429999999997401,0,0,-6.931882270552604e-05,-9.984519741402238e-05
+60595,1791455383226494874,10361615000000,1791455383223337009,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760823734591441,-0.00479825537582488,0.08998011966369324,0.9999999903282626,7.179646953047663e-05,-2.056437645485926e-05,7.217141132767159e-05,0.6761,-0.0048,0.08992698759221594,1.0,0.0,0.0,0.0,-0.09241958380116505,-0.1784394634657112,0.8564815554044777,-0.01375057490041951,0.0075277899508862,-0.0002327654963784479,-0.05869051890675166,-0.26785157786521313,0.7351856036405161,-0.01670659631489279,0.004585404256897417,-0.0017343617801137273,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5592364836811152,-0.23702943231102938,-0.052829532773212895,0.18723984916821773,0.17908136941467787,-0.2510870212246856,0.721557885649919,0.8564815554044777,0.7743874184231319,0.7743874184231319,0.9209999999996737,0,0,-8.22412593658807e-05,-5.784130888933763e-05
+60731,1791455384360486194,10362749000000,1791455384359336677,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760852036499381,-0.004791992655196832,0.08988522657897857,0.9999999943401331,2.5893750678843337e-05,-1.1547431802068829e-05,4.425797973661112e-05,0.6761,-0.0048,0.08982753161335189,1.0,0.0,0.0,0.0,-0.08413042186867972,-0.16480399830680625,0.887182114728061,-0.01263007363346845,0.00714318082955501,0.0006861687063510408,-0.05040135697426633,-0.2542161127063082,0.7658861629640994,-0.01558609504794173,0.004200795135566227,-0.0008154275773842386,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.5593257169203835,-0.27729911036203897,-0.04828260584720291,0.20399789006319177,0.1677752847465909,-0.2801459780466982,0.721557885649919,0.887182114728061,0.7698404914971219,0.7698404914971219,0.9890399999996159,0,0,-9.024799027121245e-05,-9.884502524671319e-05
+60860,1791455385435472900,10363824000000,1791455385435337265,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760881938860156,-0.004795647171573014,0.08978839478102137,0.9999999940115329,1.938256014553741e-05,-9.552224788262856e-06,5.434031560782563e-05,0.6761,-0.0048,0.089723307382203,1.0,0.0,0.0,0.0,-0.09292236087641081,-0.1669023903148602,0.9042707426393287,-0.01356311794072076,0.008164451825503774,0.0003489571699902172,-0.05919329598199741,-0.2563145047143621,0.7829747908753671,-0.01651913935519404,0.005222066131514992,-0.0011526391137450622,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.660618344628055,-0.16440000313524294,-0.16207604744517876,0.181721893253033,0.26418625503592413,-0.2068174390169787,0.721557885649919,0.9042707426393287,0.8836339330950977,0.8836339330950977,1.0535399999995612,0,0,-0.00010382649423959644,1.226651699515742e-05
+60992,1791455386535487739,10364924000000,1791455386535337256,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760923415801013,-0.004793938784984575,0.08967234293844485,0.9999999942296387,5.66176227526293e-06,-4.6610159810327795e-06,5.412768554327694e-05,0.6761,-0.0048,0.08960012814953047,1.0,0.0,0.0,0.0,-0.1027450216978529,-0.1640073020685739,0.9172247257031279,-0.012662977283810344,0.008139261668730038,0.0007545269504143245,-0.06901595680343951,-0.2534194164680758,0.7959287739391663,-0.015618998698283624,0.005196875974741256,-0.0007470693333209549,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6587495046908122,-0.2457527298006093,-0.20133125252601589,0.2170689837209378,0.2769390303182985,-0.2576520073486257,0.721557885649919,0.9172247257031279,0.9228891381759349,0.9228891381759349,1.119539999999505,0,0,-0.00012111070496892561,2.9935605409764323e-05
+61115,1791455387560561582,10365949000000,1791455387559336954,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760922094020486,-0.004800198171956489,0.08954354560454118,0.9999999835644119,0.00014566753916517807,-7.716898697709079e-06,5.509498985288025e-05,0.6761,-0.0048,0.08946932779640561,1.0,0.0,0.0,0.0,-0.09676685569946994,-0.1731498139401471,0.9367065736922916,-0.013031074239706527,0.00814775918350032,-0.00028918923442082783,-0.06303779080505653,-0.26256192833964903,0.81541062192833,-0.015987095654179807,0.005205373489511537,-0.0017907855181561072,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.637223181781966,-0.19258593348788333,-0.18202485450095499,0.19834797210557997,0.2563160053284706,-0.24146468836424406,0.721557885649919,0.9367065736922916,0.9035827401508739,0.9035827401508739,1.1810399999994527,0,0,-0.0001354022662145279,-9.979375245461881e-05
+61229,1791455388510562532,10366899000000,1791455388503337438,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760985421196812,-0.004805290478849609,0.08942053512238049,0.9999999884383046,0.00010754771093582157,1.5044119773634247e-06,5.474926172772607e-05,0.6761,-0.0048,0.08933588840695228,1.0,0.0,0.0,0.0,-0.09482900235831593,-0.168398379487121,0.9505558764166353,-0.012667744694190037,0.008134130668080726,-0.0002863652999179516,-0.061099937463902534,-0.2578104938866229,0.8292599246526737,-0.015623766108663317,0.005191744974091944,-0.001787961583653231,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.714584025902764,-0.3170998642703682,-0.19634805856576035,0.2596103433013263,0.2775233569648136,-0.2928290039304768,0.721557885649919,0.9505558764166353,0.9179059442156793,0.9179059442156793,1.2380399999994043,0,0,-0.0001433535637238289,-9.921875407237763e-05
+61343,1791455389460515388,10367849000000,1791455389459337397,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760989097642693,-0.004808396898479636,0.08927641530407102,0.9999999902549115,8.511304940951636e-05,-1.0015511927610227e-06,6.0727319024931096e-05,0.6761,-0.0048,0.08919336860715549,1.0,0.0,0.0,0.0,-0.09324464323662127,-0.1747739630271633,0.9565092077379275,-0.013683445226011488,0.008155068990431863,-0.0002303272668178829,-0.059515578342207866,-0.2641860774266652,0.8352132559739659,-0.016639466640484768,0.00521268329644308,-0.0017319235505531623,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6966238667402612,-0.2657538312475394,-0.30579786763914724,0.2521513086860302,0.33700650680504485,-0.25433369364968544,0.721557885649919,0.9565092077379275,1.0273557532890663,1.0273557532890663,1.2950399999993558,0,0,-0.00015808000231111162,-2.5561067828910086e-05
+61451,1791455390360544215,10368749000000,1791455390355337077,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760941638818626,-0.004809121897166442,0.08912120028042073,0.999999992086878,5.9816605052823996e-05,-7.697061758096502e-06,6.0264728000302136e-05,0.6761,-0.0048,0.08904570793102075,1.0,0.0,0.0,0.0,-0.09309199830774145,-0.17412997072328362,0.9745444125925808,-0.01370300191629279,0.008151780785988773,-0.0002994377593454778,-0.05936293341332805,-0.26354208512278554,0.8532484608286193,-0.01665902333076607,0.0052093950919999904,-0.0018010340430807572,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.671500019495172,-0.21222593956031782,-0.3275484768340471,0.24423941144298897,0.33832401375708815,-0.2160535598847847,0.721557885649919,0.9745444125925808,1.049106362483966,1.049106362483966,1.34903999999931,0,0,-0.00016941413889390156,-9.425541877406402e-05
+61547,1791455391160561093,10369549000000,1791455391159336325,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760886894479212,-0.004806382807901894,0.08897010455716155,0.9999999922437248,5.0521408332079025e-05,-1.8534689885390913e-05,6.371394956106378e-05,0.6761,-0.0048,0.08890464241398219,1.0,0.0,0.0,0.0,-0.07415233996076734,-0.18380538567745447,0.9864160679443592,-0.014682620120987354,0.007154699485952943,-0.0001536230223383823,-0.040423275066353945,-0.2732175000769564,0.8651201161803976,-0.017638641535460634,0.0042123137919641606,-0.0016552193060736617,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6904880355071626,-0.2770569168251764,-0.39289791911406236,0.26940152136166773,0.38429546830671485,-0.2580296928736869,0.721557885649919,0.9864160679443592,1.1144558047639812,1.1144558047639812,1.397039999999269,0,0,-0.00018517029848755395,8.48574225039755e-05
+61647,1791455391993519007,10370382000000,1791455391987336940,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.676089964329968,-0.004810734307927225,0.08881067269320386,0.9999999919083475,4.882847596567285e-05,-1.7407088009360377e-05,7.027761022298399e-05,0.6761,-0.0048,0.08874237108112779,1.0,0.0,0.0,0.0,-0.07754446061510842,-0.18478188609989588,0.9950149495493886,-0.014681995610445657,0.007153362743266266,-0.00036544692934346737,-0.04381539572069501,-0.2741940004993978,0.873718997785427,-0.017638017024918937,0.004210977049277483,-0.0018670432130787468,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6612710773476679,-0.27280597302047643,-0.4209584160051161,0.2725567449908875,0.38772000216935215,-0.2504545757928649,0.721557885649919,0.9950149495493886,1.142516301655035,1.142516301655035,1.4470199999992266,0,0,-0.00020334897144339147,9.99986857471768e-05
+61735,1791455392726491180,10371115000000,1791455392719337401,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760860947345162,-0.004808653190208885,0.08865159445610377,0.999999991308276,5.3201319249258046e-05,-2.367600473663598e-05,7.372502161009333e-05,0.6761,-0.0048,0.08858772986366845,1.0,0.0,0.0,0.0,-0.08645910514649016,-0.18386161482239682,0.9962925887118649,-0.01471129881718025,0.008166081465806732,-0.0003503623228574479,-0.05273004025207677,-0.27327372922189874,0.8749966369479033,-0.01766732023165353,0.0052236957718179485,-0.0018519586065927273,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.672107757752662,-0.24098858104213552,-0.3475696772078629,0.27876543661770675,0.34069228673450214,-0.2262657018589373,0.721557885649919,0.9962925887118649,1.0691275628577819,1.0691275628577819,1.4909999999991892,0,0,-0.00021969026324094999,-9.999999025923074e-05
+61823,1791455393460563587,10371849000000,1791455393455336741,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760867395330931,-0.004812772985791314,0.08848266343007857,0.9999999835693925,0.00013351845444143056,-2.4600843498651905e-05,7.662701737611006e-05,0.6761,-0.0048,0.0884206314698057,1.0,0.0,0.0,0.0,-0.08343667226669652,-0.18525019611217536,1.0162211863525086,-0.01471540424630059,0.008161833970774607,-0.0003577512194354491,-0.049707607372283115,-0.2746623105116773,0.894925234588547,-0.01767142566077387,0.005219448276785823,-0.0018593475031707285,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6836682638586512,-0.2113087539093431,-0.3748450964303202,0.26487020567105335,0.3601749406506891,-0.23395144024722037,0.721557885649919,1.0162211863525086,1.0964029820802392,1.0964029820802392,1.5350399999991517,0,0,-0.00023748373241125188,-9.609443382541655e-05
+61907,1791455394160489440,10372549000000,1791455394155337506,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.67608220327597,-0.004816650346362438,0.08830641997453448,0.9999999875023439,9.649073076808716e-05,-3.086128643509576e-05,7.858305334963683e-05,0.6761,-0.0048,0.08824772656995014,1.0,0.0,0.0,0.0,-0.09072009725780539,-0.1853001748234257,1.0163571735342445,-0.01471516695378263,0.00816203087571922,-0.00037309646632313316,-0.056991032363391994,-0.2747122892229276,0.895061221770283,-0.01767118836825591,0.0052196451817304364,-0.0018746927500584126,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7317293215063098,-0.3324158700816613,-0.39749338607895257,0.32680916890908435,0.38250507158085734,-0.284842440825694,0.721557885649919,1.0163571735342445,1.1190512717288716,1.1190512717288716,1.577039999999116,0,0,-0.00025698340567622955,-9.999871350275242e-05
+61979,1791455394760489167,10373149000000,1791455394759336484,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760836731422281,-0.004819649916517305,0.08814855820478988,0.9999999892715832,7.285209561676728e-05,-2.9650339530581977e-05,8.193367589030533e-05,0.6761,-0.0048,0.08809002366228062,1.0,0.0,0.0,0.0,-0.09244371711940036,-0.18522957862150308,1.036811520938305,-0.014727542213422611,0.008152495141682606,0.0005873072435756386,-0.05871465222498695,-0.274641693021005,0.9155155691743435,-0.01768356362789589,0.005210109447693823,-0.0009142890401596408,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6741556342271273,-0.32974195748091467,-0.3698821628926369,0.3411277492076285,0.3445543406959485,-0.2836075585490699,0.721557885649919,1.036811520938305,1.091440048542556,1.091440048542556,1.6130399999990854,0,0,-0.00026732453969477286,-9.027853051091767e-05
+62051,1791455395360465579,10373749000000,1791455395355337560,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760818405703701,-0.0048230090942219025,0.08797338883039818,0.9999999897775623,5.2821370501741166e-05,-3.728799454461018e-05,8.779093346073105e-05,0.6761,-0.0048,0.08792497516290133,1.0,0.0,0.0,0.0,-0.09154111781035225,-0.1963135843273484,1.0658206267759804,-0.015727459943370856,0.008170716587137389,-0.0003802846092857801,-0.05781205291593885,-0.28572569872685033,0.9445246750120189,-0.018683481357844135,0.005228330893148607,-0.0018818808930210595,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6985965714670442,-0.3855024921539539,-0.46517963169245585,0.3702128449278317,0.40852521545637005,-0.3199203958916805,0.721557885649919,1.0658206267759804,1.1867375173423749,1.1867375173423749,1.6490399999990548,0,0,-0.00028129817231517675,2.3271325170998127e-05
+62127,1791455395993565372,10374382000000,1791455395987337739,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760816353509895,-0.004827430201500054,0.08779827263614409,0.9999999892684198,5.6064678017086456e-05,-3.63561483770239e-05,9.18749537439387e-05,0.6761,-0.0048,0.08774191690665685,1.0,0.0,0.0,0.0,-0.0921916576142727,-0.19545453986093142,1.040213013534934,-0.015740112277383006,0.008163944273135005,-0.00039760916875078846,-0.05846259271985929,-0.28486665426043334,0.9189170617709724,-0.018696133691856284,0.005221558579146223,-0.0018992054524860679,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6588410221429943,-0.3227851959021313,-0.38246848926516896,0.3652543389747777,0.34233971297983135,-0.2742381469040022,0.721557885649919,1.040213013534934,1.104026374915088,1.104026374915088,1.6870199999990225,0,0,-0.00029971709461093363,-9.999718694609356e-05
+62195,1791455396560528036,10374949000000,1791455396559337331,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760764893815843,-0.004828477640890044,0.08762390773618378,0.9999999836920246,0.00011741912436609152,-4.242226126522809e-05,9.204301038755327e-05,0.6761,-0.0048,0.08756665821405624,1.0,0.0,0.0,0.0,-0.09224742555211354,-0.20205559993041172,1.0628285340577757,-0.015752901780593402,0.008167769410632061,-0.0003302884481815476,-0.05851836065770015,-0.29146771432991364,0.9415325822938142,-0.01870892319506668,0.005225383716643278,-0.001831884731916827,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.63541201341566,-0.2581021729118678,-0.42261417012914365,0.363100992624087,0.3588715134038493,-0.22763592264816407,0.721557885649919,1.0628285340577757,1.1441720557790627,1.1441720557790627,1.7210399999989936,0,0,-0.00032012736112948934,-9.999999025923074e-05
+62263,1791455397126566476,10375515000000,1791455397123337238,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760790278405163,-0.004832939694262189,0.08744514157629339,0.9999999865533092,9.063792136556283e-05,-4.0304931079441396e-05,9.217659917583817e-05,0.6761,-0.0048,0.08738056226390128,1.0,0.0,0.0,0.0,-0.1020092284860632,-0.19738663528776001,1.0664640891982695,-0.014777605808603206,0.008151877862431597,-0.00038570074210645343,-0.06828016359164979,-0.28679874968726193,0.945168137434308,-0.017733627223076486,0.005209492168442813,-0.0018872970258417329,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7149736779347262,-0.4328498847920554,-0.44856310155889884,0.42571559221121136,0.3970895800423779,-0.3473480033785722,0.721557885649919,1.0664640891982695,1.1701209872088179,1.1701209872088179,1.7549999999989647,0,0,-0.0003379919798998917,-9.572900391686118e-05
+62323,1791455397626565293,10376015000000,1791455397619337263,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760783124409911,-0.0048359349024889985,0.08727112289118226,0.9999999879115694,6.628192752164071e-05,-4.013379350154907e-05,9.80597267418362e-05,0.6761,-0.0048,0.08720734816548655,1.0,0.0,0.0,0.0,-0.09636351459200457,-0.20488972085212714,1.076874758553157,-0.015172041687456372,0.008152042837922095,0.0005943694043070878,-0.06263444969759117,-0.29430183525162906,0.9555788067891956,-0.018128063101929652,0.005209657143933311,-0.0009072268794281916,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6379364253861874,-0.35010258455640475,-0.4106305418659587,0.413565231732856,0.3488953239125044,-0.29323738861139004,0.721557885649919,1.076874758553157,1.1321884275158776,1.1321884275158776,1.7849999999989392,0,0,-0.0003553182625723724,-9.999999025923074e-05
+62383,1791455398126494928,10376515000000,1791455398119337442,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760804825190807,-0.004836492138496436,0.08709558780010526,0.9999999883143093,5.679787834357911e-05,-3.7374416902199386e-05,0.0001009524630423705,0.6761,-0.0048,0.08702562740077585,1.0,0.0,0.0,0.0,-0.1025521739681467,-0.20303994305467715,1.0865082176071923,-0.01473081736864503,0.008148601233131129,-0.00042733480893247734,-0.06882310907373329,-0.29245205745417907,0.9652122658432307,-0.01768683878311831,0.005206215539142346,-0.0019289310926677568,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.6948510438841006,-0.3935613474330045,-0.44721281266597096,0.441316148826443,0.3854936997444935,-0.3181545415852852,0.721557885649919,1.0865082176071923,1.1687706983158899,1.1687706983158899,1.8149999999989137,0,0,-0.0003713644563904924,-9.999999025923074e-05
+62443,1791455398626540902,10377015000000,1791455398619337068,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760789716837705,-0.004840814207617899,0.08690641646244728,0.9999999858468007,8.445363529418575e-05,-3.850592373587353e-05,0.0001055184350958146,0.6761,-0.0048,0.08683643494348066,1.0,0.0,0.0,0.0,-0.10330715742817875,-0.20391388228414087,1.0969124912462982,-0.014739786766672832,0.008141451251851048,0.00021721991887760383,-0.06957809253376536,-0.2933259966836428,0.9756165394823366,-0.017695808181146112,0.005199065557862265,-0.0012843763648576756,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7185322806141781,-0.3598653824929846,-0.42935818333428377,0.4387787439114557,0.3760075451357913,-0.29387637502131747,0.721557885649919,1.0969124912462982,1.1509160689842028,1.1509160689842028,1.8449999999988882,0,0,-0.00038553283477768394,-9.999999025923074e-05
+62499,1791455399093532604,10377482000000,1791455399087337483,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760753271147156,-0.004842841274400705,0.08672237269906267,0.9999999861322326,7.481964816725452e-05,-4.347878203544727e-05,0.00010812037212052945,0.6761,-0.0048,0.0866538026855998,1.0,0.0,0.0,0.0,-0.11136284119119977,-0.2021730538828151,1.1065957446869843,-0.01473506175411157,0.008143957274927154,-0.00036530488359431024,-0.07763377629678636,-0.291585168282317,0.9852997929230228,-0.01769108316858485,0.0052015715809383715,-0.0018669011673295897,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.712632321609448,-0.33268160353499415,-0.4203395929997971,0.4483808483891724,0.3682118442361428,-0.2771054233067502,0.721557885649919,1.1065957446869843,1.141897478649716,1.141897478649716,1.8730199999988644,0,0,-0.0003986396281505363,-9.999999025923074e-05
+62555,1791455399560495220,10377949000000,1791455399555336844,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760783212246662,-0.004841096864099696,0.08654089612346173,0.9999999868318253,6.555994479539677e-05,-3.723081518718941e-05,0.00010997715048410107,0.6761,-0.0048,0.08646490645679736,1.0,0.0,0.0,0.0,-0.1026866213175022,-0.19036081048174053,1.1014148206077783,-0.013771248731407797,0.008121254104443799,0.000594824472546389,-0.06895755642308879,-0.27977292488124245,0.9801188688438167,-0.016727270145881077,0.005178868410455015,-0.0009067718111888904,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7660228152872178,-0.33608366605543616,-0.49950168878783147,0.45676325961315634,0.43406927106125504,-0.2782535683525107,0.721557885649919,1.1014148206077783,1.2210595744377504,1.2210595744377504,1.9010399999988405,0,0,-0.00041058597826816465,2.623962557081396e-05
+62607,1791455399993573681,10378382000000,1791455399991336903,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760731942521824,-0.004836107196026073,0.08635850462725535,0.9999999873422013,6.145219281482264e-05,-4.538581119206199e-05,0.00010450941448517428,0.6761,-0.0048,0.08628378607193783,1.0,0.0,0.0,0.0,-0.10254577428781109,-0.18900289297307282,1.117038463441765,-0.014005705383070706,0.00812193852860756,-0.0002356880750579262,-0.06881670939339768,-0.27841500737257474,0.9957425116778035,-0.016961726797543986,0.005179552834618776,-0.0017372843587932056,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.7778710938397965,-0.22891466385774842,-0.41462865474486976,0.44171210382077464,0.38190769474260183,-0.20628424798762635,0.721557885649919,1.117038463441765,1.1361865403947888,1.1361865403947888,1.9270199999988185,0,0,-0.0004247667684351405,-9.99890961958016e-05
+62659,1791455400426523086,10378815000000,1791455400423337279,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760748475502796,-0.004843395480426865,0.08617884432886827,0.9999999845501362,9.612772723093073e-05,-4.053499351610365e-05,0.0001070465611915784,0.6761,-0.0048,0.08609739294543091,1.0,0.0,0.0,0.0,-0.10268209750481166,-0.17968590659709344,1.1113698172818494,-0.013722293681378983,0.008117755647698378,0.0005083042721422371,-0.06895303261039827,-0.26909802099659536,0.9900738655178879,-0.016678315095852263,0.0051753699537095965,-0.0009932920115930423,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8191193095886232,-0.3488367885745476,-0.5066597274057317,0.47746732772854295,0.44757172070824075,-0.28254360142398044,0.721557885649919,1.1113698172818494,1.2282176130556506,1.2282176130556506,1.9529999999987964,0,0,-0.0004353748477294741,5.105207712996799e-06
+62711,1791455400860540134,10379249000000,1791455400859336225,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.67607447237719,-0.004846151255300146,0.0859884163565983,0.999999985836079,7.913629583050549e-05,-3.9538998537395307e-05,0.000109292362265388,0.6761,-0.0048,0.08590643055260291,1.0,0.0,0.0,0.0,-0.10267879355967494,-0.18080255306601778,1.1176532334117848,-0.013722973354654089,0.008116063817644872,0.0005824744605798181,-0.06894972866526154,-0.2702146674655197,0.9963572816478232,-0.01667899476912737,0.005173678123656089,-0.0009191218231554613,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8097523310659983,-0.3537819953335802,-0.4904607462148439,0.48890200243407056,0.43102777564022,-0.28744450003812305,0.721557885649919,1.1176532334117848,1.2120186318647628,1.2120186318647628,1.9790399999987742,0,0,-0.00044437265973448623,-8.12027764737266e-05
+62761,1791455401276508878,10379665000000,1791455401275336809,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760756706556355,-0.00484752398373304,0.08580009907267612,0.9999999869526467,6.154308175750631e-05,-3.811420808584168e-05,0.00011089331426782671,0.6761,-0.0048,0.08571936921872735,1.0,0.0,0.0,0.0,-0.1032586437946971,-0.17915086785960804,1.1178794764838802,-0.012751765353951594,0.00809816207423602,0.0005929353701477875,-0.0695295789002837,-0.26856298225910996,0.9965835247199186,-0.015707786768424874,0.0051557763802472355,-0.0009086609135874919,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8508976821647835,-0.33420594748812826,-0.5838858934187013,0.4934588671521866,0.4989185870111111,-0.27119760105539076,0.721557885649919,1.1178794764838802,1.3054437790686202,1.3054437790686202,2.003999999998753,0,0,-0.000454805637793683,9.936243080955193e-05
+62809,1791455401676603978,10380065000000,1791455401675337340,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760697872053072,-0.004846812173993266,0.0856107597893658,0.9999999865606349,6.128508216246529e-05,-4.566805909273946e-05,0.00011171464284592362,0.6761,-0.0048,0.08553627953948287,1.0,0.0,0.0,0.0,-0.10316473987336097,-0.1760298360298047,1.1276161159976767,-0.012709960376429573,0.008098446759235971,-6.87847422786267e-05,-0.06943567497894758,-0.26544195042930663,1.0063201642337152,-0.015665981790902853,0.00515606106524719,-0.0015703810260139061,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.843988052527239,-0.2573183848818821,-0.5448732584544299,0.48374035021610073,0.46703184568224226,-0.21223041769203585,0.721557885649919,1.1276161159976767,1.2664311441043488,1.2664311441043488,2.0279999999987326,0,0,-0.0004596540354889739,2.740123184185499e-05
+62857,1791455402076581626,10380465000000,1791455402071337458,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760708190558937,-0.004856292004396932,0.085429892252037,0.9999999860780907,6.818339278923345e-05,-4.292429862284185e-05,0.00011311592401466612,0.6761,-0.0048,0.08535122709766878,1.0,0.0,0.0,0.0,-0.09403389989456945,-0.176098629129475,1.1275174516374513,-0.012700548257971662,0.008097379814489367,9.233858910569605e-05,-0.06030483500015605,-0.2655107435289769,1.0062214998734897,-0.015656569672444942,0.005154994120500585,-0.0014092576946295834,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.8680552523241011,-0.2813541525734211,-0.541227970486771,0.4877773123999664,0.47204932743290556,-0.22757686143165076,0.721557885649919,1.1275174516374513,1.26278585613669,1.26278585613669,2.051999999998712,0,0,-0.00046478238431155026,-6.08538317222795e-05
+62908,1791455402501573783,10380890000000,1791455402499336756,DOWN_FORCE_DETACH,9,0.034,0.03400154411792755,0.6760735771757811,-0.004856547253469343,0.08523987877338593,0.9999999872700955,6.245471096990932e-05,-3.25583803231565e-05,0.00010927961432693375,0.6761,-0.0048,0.085151358413931,1.0,0.0,0.0,0.0,-0.09524717375468361,-0.1657499618896599,1.1275374516125054,-0.01269437809880315,0.008099366972439962,-0.0004401916097596639,-0.061518108860270204,-0.2551620762891618,1.0062414998485438,-0.01565039951327643,0.005156981278451179,-0.0019417878934949433,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9932991782457737,-0.3751498803174846,-0.5765090227185679,0.5261992364757994,0.5201366654651824,-0.2848566902656873,0.721557885649919,1.1275374516125054,1.2980669083684868,1.2980669083684868,2.0774999999986905,0,0,-0.0004729999470162518,5.394032361747108e-05
+62951,1791455402860570492,10381249000000,1791455402859336847,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760667272349007,-0.004862304950327116,0.08506482109789497,0.9999999864849892,6.179592204682455e-05,-4.499558251200088e-05,0.00011238125841667981,0.6761,-0.0048,0.08498137798478603,1.0,0.0,0.0,0.0,-0.08524087352753316,-0.16610858356977937,1.137979398969481,-0.012705615871480126,0.008091504489398093,0.0005796380111763388,-0.051511808633119764,-0.2555206979692813,1.0166834472055195,-0.015661637285953406,0.00514911879540931,-0.0009219582725589407,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9455490443771847,-0.29309246013554996,-0.52037374843785,0.5052808579507176,0.4696323184034262,-0.23288655111980733,0.721557885649919,1.137979398969481,1.241931634087769,1.241931634087769,2.099039999998672,0,0,-0.00047410072765849263,-9.933251029903829e-05
+62999,1791455403260572594,10381649000000,1791455403259337296,DOWN_FORCE_DETACH,9,0.034,0.03400219976902008,0.6760676515162828,-0.004861519170102496,0.08487808392047762,0.9999999869391467,5.386164541093541e-05,-4.245171433636272e-05,0.00011340787453538627,0.6761,-0.0048,0.08479053497769375,1.0,0.0,0.0,0.0,-0.09817070432101513,-0.1720179524863974,1.136576375315063,-0.012623052652486682,0.008092001619222659,-4.483042478655255e-05,-0.06444163942660174,-0.2614300668858993,1.0152804235511015,-0.015579074066959962,0.005149615925233876,-0.001546426708521832,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,0.9795551101307061,-0.27542838005589154,-0.6236248876983569,0.49982345434835773,0.5417697231170916,-0.21742218258409216,0.721557885649919,1.136576375315063,1.345182773348276,1.345182773348276,2.123039999998652,0,0,-0.00047920351973066024,9.080756565993937e-05
+63051,1791455403690516998,10382079000000,1791455403683337601,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760681101188036,-0.004864493843405446,0.0846799941668252,0.9999999872915757,5.031093741637379e-05,-4.120430940819681e-05,0.00011238650942352666,0.6761,-0.0048,0.08458800761193973,1.0,0.0,0.0,0.0,-0.09456221626890934,-0.15373773031988622,1.1283340896908487,-0.011693313251301971,0.008074291272592724,0.0005879598515133612,-0.06083315137449594,-0.24314984471938814,1.0070381379268871,-0.014649334665775251,0.00513190557860394,-0.0009136364322219182,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0442381458048302,-0.3162772206712406,-0.5372204387786584,0.5127600607253465,0.4986168262019543,-0.23985390856660455,0.721557885649919,1.1283340896908487,1.2587783244285773,1.2587783244285773,2.12531999999865,0,0,-0.0004603545132639012,9.999999025923074e-05
+63096,1791455404065565114,10382454000000,1791455404063336913,DOWN_SETTLE,9,0.034,0.03400219976902008,0.6760640902424314,-0.004868976331563449,0.08450753949487279,0.9999999870425019,5.430176380993584e-05,-4.5459881290539744e-05,0.00011109715563500629,0.6761,-0.0048,0.08441888091877904,1.0,0.0,0.0,0.0,-0.0957666215334307,-0.16365439766182305,1.1382317096363648,-0.012061870341804047,0.008076154406872548,0.0004615677115828321,-0.0620375566390173,-0.25306651206132497,1.0169357578724032,-0.015017891756277327,0.005133768712883766,-0.0010400285721524473,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.0737453209795882,-0.35897362192082427,-0.586030420591264,0.5266782595662887,0.5397322867235756,-0.2652815301740193,0.721557885649919,1.1382317096363648,1.307588306241183,1.307588306241183,2.12531999999865,0,0,-0.0004416045169166897,9.999999025923074e-05
+63147,1791455404490528423,10382879000000,1791455404487337236,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760607098080733,-0.004869874055601689,0.08432270697541663,0.9999999866605369,5.2726368800230694e-05,-4.970238157230596e-05,0.00011345216477122113,0.6761,-0.0048,0.08423570399820766,1.0,0.0,0.0,0.0,-0.0960456439650056,-0.17329157023101294,1.1128408478106242,-0.012701776766566008,0.00809891312682019,0.0005962606346006754,-0.0623165790705922,-0.26270368463051486,0.9915448960466626,-0.01565779818103929,0.005156527432831408,-0.000905335649134604,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1295925230930828,-0.32090646328892425,-0.6575559549492919,0.5133552893741398,0.59839595891131,-0.24140906550638258,0.721557885649919,1.1128408478106242,1.379113840599211,1.379113840599211,2.12531999999865,0,0,-0.0004203545210565166,9.999999025923074e-05
+63201,1791455404940478980,10383329000000,1791455404939336977,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760619877198852,-0.004875386414763686,0.08414365497380064,0.9999999877145139,3.708750559114599e-05,-4.928896091000092e-05,0.00011049412587346316,0.6761,-0.0048,0.08405159571274379,1.0,0.0,0.0,0.0,-0.10823642925290214,-0.18929596276526028,1.1049264014036917,-0.013706396706748602,0.00812465855893669,-0.0004306028537189347,-0.07450736435848875,-0.2787080771647622,0.9836304496397301,-0.01666241812122188,0.0051822728649479075,-0.0019321991374542141,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1703682960862267,-0.3241338839356204,-0.5530660895820768,0.5153701189314964,0.5356426805687411,-0.2405201288057192,0.721557885649919,1.1049264014036917,1.2746239752319957,1.2746239752319957,2.12531999999865,0,0,-0.0003978545254398628,9.999999025923074e-05
+63259,1791455405423483756,10383812000000,1791455405423337310,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760601864850889,-0.0048698219910697236,0.08396153266457407,0.9999999879687141,3.852534181359407e-05,-4.735485663910059e-05,0.00010852995702346002,0.6761,-0.0048,0.08386525212581777,1.0,0.0,0.0,0.0,-0.11181920335102558,-0.19042071372168,1.0871549353305998,-0.013714821193738428,0.008125788854466727,0.0006053172505066572,-0.07809013845661217,-0.27983282812118193,0.9658589835666384,-0.01667084260821171,0.005183403160477944,-0.0008962790332286223,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2174681256745254,-0.2633619897619934,-0.6323484496696377,0.5033542811762486,0.5955127934262213,-0.19188236932137248,0.721557885649919,1.0871549353305998,1.3539063353195566,1.3539063353195566,2.12531999999865,0,0,-0.00037370453014465434,9.999999025923074e-05
+63318,1791455405915485907,10384304000000,1791455405915337358,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760562802690636,-0.004876257247735285,0.08378274317529177,0.9999999875763272,3.7190273628327436e-05,-5.181956895672273e-05,0.00011055236551921489,0.6761,-0.0048,0.08368742879580526,1.0,0.0,0.0,0.0,-0.1115746278329797,-0.1903434444507648,1.076868833380458,-0.013707506935535218,0.008131248266905595,-0.00041299742224725064,-0.07784556293856629,-0.2797555588502667,0.9555728816164963,-0.016663528350008498,0.005188862572916812,-0.00191459370598253,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.1787254302022072,-0.32292631689808776,-0.6747766332278682,0.5152446002810448,0.6099187504284708,-0.2326646733170824,0.721557885649919,1.076868833380458,1.3963345188777871,1.3963345188777871,2.12531999999865,0,0,-0.0003491045349371128,9.999999025923074e-05
+63380,1791455406432478461,10384821000000,1791455406431337080,DOWN_SETTLE,9,0.034,0.03400219976902008,0.6760545859275453,-0.004876831837626479,0.08360640184535896,0.9999999866278465,4.051662571727969e-05,-5.607413636479808e-05,0.00011576383491976605,0.6761,-0.0048,0.08351361104993846,1.0,0.0,0.0,0.0,-0.11135383099398533,-0.19174676786867295,1.0585689167602486,-0.013712989174383053,0.008129886667734513,0.0006256586475852002,-0.07762476609957193,-0.28115888226817487,0.937272964996287,-0.016669010588856333,0.005187500973745729,-0.0008759376361500793,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.2393045500670348,-0.2914001142890059,-0.692616795964059,0.5049249730741592,0.6362269329145194,-0.20857258410643348,0.721557885649919,1.0585689167602486,1.414174681613978,1.414174681613978,2.12531999999865,0,0,-0.0003232545399730905,9.999999025923074e-05
+63450,1791455407015477332,10385404000000,1791455407015337178,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760524045635807,-0.004882353744203335,0.08341942189693666,0.9999999876086365,2.3083699717155838e-05,-5.889565264930049e-05,0.00011056236285791311,0.6761,-0.0048,0.08333363630147592,1.0,0.0,0.0,0.0,-0.11181674369163705,-0.19115628752715352,1.0559838573917493,-0.013703724737783201,0.008135668412149475,-0.0003965556098517028,-0.07808767879722366,-0.28056840192665544,0.9346879056277878,-0.01665974615225648,0.005193282718160692,-0.0018981518935869822,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.298590402257349,-0.40573774213141567,-0.6444204521892002,0.5426813298411779,0.6137852972766306,-0.2814394958854459,0.721557885649919,1.0559838573917493,1.365978337839119,1.365978337839119,2.12531999999865,0,0,-0.000294104545651959,9.999999025923074e-05
+63522,1791455407615507065,10386004000000,1791455407611337002,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760409413476424,-0.0048814215007684895,0.08323895483221899,0.999999986961683,1.9955351260942487e-05,-7.370031331643947e-05,0.00010811820433432446,0.6761,-0.0048,0.08316615857232848,1.0,0.0,0.0,0.0,-0.10264871909275522,-0.1989659330827167,1.0367729348581616,-0.01472907322817102,0.008153530011509253,0.0006098178030811188,-0.06891965419834183,-0.2883780474822186,0.9154769830942001,-0.0176850946426443,0.00521114431752047,-0.0008917784806541607,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.339767664982325,-0.3303254712387051,-0.6495501176113144,0.526754064222784,0.6263305236427514,-0.2251376351802882,0.721557885649919,1.0367729348581616,1.3711080032612335,1.3711080032612335,2.12531999999865,0,0,-0.00026410455149642056,9.999999025923074e-05
+63603,1791455408290549126,10386679000000,1791455408287337520,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760385474532861,-0.004881815692677348,0.08307359191190622,0.9999999857454989,2.4084617490807644e-05,-7.692183598056563e-05,0.00011599495231053558,0.6761,-0.0048,0.08299926174784604,1.0,0.0,0.0,0.0,-0.10192521361155651,-0.20581413232291368,1.0062308091580592,-0.01472178410598986,0.008166250844984024,-0.0003663578583171735,-0.0681961487171431,-0.2952262467224156,0.8849348573940977,-0.01767780552046314,0.005223865150995241,-0.001867954142052453,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.346041281882965,-0.31878631223237686,-0.6146233765477562,0.5171317661000122,0.6051257879878175,-0.21570245582426772,0.721557885649919,1.0062308091580592,1.3361812621976752,1.3361812621976752,2.12531999999865,0,0,-0.00023035455807143978,9.999999025923074e-05
+63680,1791455408932535062,10387321000000,1791455408927337271,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760328080038226,-0.004883717412685372,0.08292563120033832,0.9999999839543671,3.0443347911869513e-05,-8.836295495123094e-05,0.00012165245912600968,0.6761,-0.0048,0.08286166216955365,1.0,0.0,0.0,0.0,-0.11178646477565773,-0.19640341937548395,0.9864213012350644,-0.014094149721788225,0.00815814654895733,-0.0003292898059454013,-0.07805739988124433,-0.28581553377498586,0.8651253494711029,-0.017050171136261505,0.005215760854968548,-0.0018308860896806807,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.3969283382665703,-0.41911570019181016,-0.6398739605870597,0.5433299707276422,0.6289055398058747,-0.2820426579961395,0.721557885649919,0.9864213012350644,1.3614318462369788,1.3614318462369788,2.12531999999865,0,0,-0.00019825456432501364,9.999999025923074e-05
+63759,1791455409590536306,10387979000000,1791455409587336983,DOWN_SETTLE,9,0.034,0.03400154411792755,0.6760268476992081,-0.004882969093421215,0.08280047793365693,0.9999999847170346,1.867324404965203e-05,-9.549424935297905e-05,0.0001119863987523923,0.6761,-0.0048,0.08274201831411589,1.0,0.0,0.0,0.0,-0.10660379425083855,-0.22337085527466521,0.9557735829876289,-0.015111435514203858,0.008185582196059287,-0.00033342210806961174,-0.07287472935642515,-0.31278296967416713,0.8344776312236674,-0.018067456928677138,0.005243196502070504,-0.0018350183918048912,0.0337290648944134,-0.08941211439950192,-0.12129595176396155,-0.0029560214144732796,-0.0029423856939887827,-0.0015015962837352794,1,1.421364502139915,-0.4205354953204142,-0.7003364671272058,0.5501869636305138,0.6719690649952075,-0.27861357805953507,0.721557885649919,0.9557735829876289,1.4218943527771248,1.4218943527771248,2.12531999999865,0,0,-0.00016535457073443981,9.999999025923074e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce5f9a45695a6a0f4bf7024594e2875336dab3e9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..42f3278bdf335203141fe24652a92bab29832d41
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/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,1791455367896154485,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.529937310e-08,2.045268366e-09,2.841045177e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017257012e-01,1.857466833e-06,8.297806928e-01
+1,1.000000000e+00,DOWN_FORCE_DETACH,1791455369429271853,6.481809674e-06,-3.064797247e-06,-2.444817997e-05,5.577856270e-06,-1.168874096e-06,-1.953543294e-05,6.294535848e-06,-1.037431208e-06,-1.910470272e-05,7.015443533e-01,-1.513835925e-06,8.407164930e-01,7.015434493e-01,3.820872248e-07,8.407214058e-01,7.017319805e-01,8.179903561e-07,8.297615853e-01
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+5,3.766666667e+00,DOWN_FORCE_DETACH,1791455373593376663,6.623270908e-05,-2.776084132e-05,-3.605469711e-04,6.620154961e-05,-2.721973449e-05,-3.531121152e-04,6.803506099e-05,-2.670285275e-05,-3.504333046e-04,7.016041042e-01,-2.620988000e-05,8.403803942e-01,7.016040730e-01,-2.566877317e-05,8.403878291e-01,7.017937210e-01,-2.484743118e-05,8.294302567e-01
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+7,5.483333333e+00,DOWN_FORCE_DETACH,1791455376159566239,7.272476651e-05,-3.357107640e-05,-4.583123828e-04,7.155654694e-05,-3.063780372e-05,-4.403405015e-04,7.361164209e-05,-3.009330979e-05,-4.384459103e-04,7.016105962e-01,-3.202011508e-05,8.402826288e-01,7.016094280e-01,-2.908684240e-05,8.403006007e-01,7.017992976e-01,-2.823788822e-05,8.293422440e-01
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+9,6.850000000e+00,DOWN_FORCE_DETACH,1791455378207439339,8.422047100e-05,-1.935427520e-06,-5.743574919e-04,8.364808366e-05,-1.004572723e-06,-5.642154541e-04,8.552580563e-05,-6.997957231e-07,-5.619873152e-04,7.016220920e-01,-3.844661988e-07,8.401665837e-01,7.016215196e-01,5.463885982e-07,8.401767257e-01,7.018112117e-01,1.155625841e-06,8.292187026e-01
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+14,1.095000000e+01,DOWN_FORCE_DETACH,1791455384357774065,9.046239111e-05,-2.341385172e-05,-9.745036404e-04,9.136484609e-05,-2.092089760e-05,-9.687768531e-04,9.224338454e-05,-2.049099128e-05,-9.655661796e-04,7.016283339e-01,-2.186289040e-05,8.397664375e-01,7.016292363e-01,-1.936993628e-05,8.397721643e-01,7.018179293e-01,-1.863556971e-05,8.288151238e-01
+15,1.166666667e+01,DOWN_FORCE_DETACH,1791455385432388073,9.295253708e-05,-2.816479861e-05,-1.072852261e-03,9.450490288e-05,-2.689007793e-05,-1.058221726e-03,9.515242682e-05,-2.643191707e-05,-1.054716089e-03,7.016308240e-01,-2.661383729e-05,8.396680889e-01,7.016323764e-01,-2.533911661e-05,8.396827195e-01,7.018208383e-01,-2.457649551e-05,8.287259739e-01
+16,1.240000000e+01,DOWN_FORCE_DETACH,1791455386531178202,9.643850537e-05,-3.239731991e-05,-1.187308718e-03,9.734301064e-05,-3.109989927e-05,-1.169913337e-03,9.777881111e-05,-3.059075470e-05,-1.166111427e-03,7.016343100e-01,-3.084635859e-05,8.395536325e-01,7.016352145e-01,-2.954893795e-05,8.395710279e-01,7.018234647e-01,-2.873533314e-05,8.286145785e-01
+17,1.308333333e+01,DOWN_FORCE_DETACH,1791455387558182155,9.746814323e-05,-3.161936848e-05,-1.316184615e-03,9.926909510e-05,-3.256168905e-05,-1.300216981e-03,9.934908895e-05,-3.205417253e-05,-1.296049386e-03,7.016353396e-01,-3.006840716e-05,8.394247566e-01,7.016371406e-01,-3.101072773e-05,8.394407242e-01,7.018250350e-01,-3.019875097e-05,8.284846406e-01
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+20,1.495000000e+01,DOWN_FORCE_DETACH,1791455390358534781,1.029874704e-04,-3.861027202e-05,-1.733485238e-03,9.994749750e-05,-3.934096250e-05,-1.726514249e-03,9.879444731e-05,-3.872497242e-05,-1.721129506e-03,7.016408590e-01,-3.705931070e-05,8.390074559e-01,7.016378190e-01,-3.779000118e-05,8.390144269e-01,7.018244804e-01,-3.686955086e-05,8.280595605e-01
+21,1.546666667e+01,DOWN_FORCE_DETACH,1791455391156111332,9.377592933e-05,-3.812669284e-05,-1.890819273e-03,9.356996635e-05,-3.802832337e-05,-1.890671294e-03,9.176630874e-05,-3.744515436e-05,-1.884431893e-03,7.016316474e-01,-3.657573152e-05,8.388501219e-01,7.016314414e-01,-3.647736205e-05,8.388502699e-01,7.018174522e-01,-3.558973279e-05,8.278962581e-01
+22,1.603333333e+01,DOWN_FORCE_DETACH,1791455391996809552,9.564195221e-05,-4.163921248e-05,-2.047794993e-03,9.593408711e-05,-3.897467943e-05,-2.039816632e-03,9.371853136e-05,-3.829525980e-05,-2.033416204e-03,7.016335134e-01,-4.008825116e-05,8.386931462e-01,7.016338056e-01,-3.742371811e-05,8.387011246e-01,7.018194044e-01,-3.643983823e-05,8.277472738e-01
+23,1.651666667e+01,DOWN_FORCE_DETACH,1791455392726051897,9.216342527e-05,-4.292959798e-05,-2.207809817e-03,9.406722609e-05,-4.027836651e-05,-2.195601707e-03,9.127546492e-05,-3.950135447e-05,-2.188686762e-03,7.016300349e-01,-4.137863666e-05,8.385331314e-01,7.016319387e-01,-3.872740519e-05,8.385453395e-01,7.018169614e-01,-3.764593291e-05,8.275920032e-01
+24,1.700000000e+01,DOWN_FORCE_DETACH,1791455393456177696,8.998462543e-05,-4.815771926e-05,-2.375534066e-03,8.990113043e-05,-4.821012852e-05,-2.375609241e-03,8.632274998e-05,-4.729553774e-05,-2.367972227e-03,7.016278561e-01,-4.660675794e-05,8.383654071e-01,7.016277726e-01,-4.665916720e-05,8.383653319e-01,7.018120087e-01,-4.544011618e-05,8.274127177e-01
+25,1.746666667e+01,DOWN_FORCE_DETACH,1791455394156157561,8.724849881e-05,-4.710056154e-05,-2.552978070e-03,8.726990207e-05,-4.836296079e-05,-2.542847338e-03,8.284238460e-05,-4.746355026e-05,-2.534866946e-03,7.016251200e-01,-4.554960022e-05,8.381879631e-01,7.016251414e-01,-4.681199947e-05,8.381980938e-01,7.018085283e-01,-4.560812870e-05,8.272458230e-01
+26,1.786666667e+01,DOWN_FORCE_DETACH,1791455394756109859,9.014134687e-05,-4.512833153e-05,-2.710126466e-03,8.712909035e-05,-5.191800103e-05,-2.694805852e-03,8.196709165e-05,-5.108606960e-05,-2.686494698e-03,7.016280128e-01,-4.357737021e-05,8.380308147e-01,7.016250006e-01,-5.036703971e-05,8.380461353e-01,7.018076530e-01,-4.923064803e-05,8.270941953e-01
+27,1.826666667e+01,DOWN_FORCE_DETACH,1791455395356129502,8.521987862e-05,-5.189092257e-05,-2.887162875e-03,8.514757772e-05,-5.837508607e-05,-2.879692156e-03,7.911180672e-05,-5.762025321e-05,-2.870592861e-03,7.016230914e-01,-5.033996125e-05,8.378537783e-01,7.016230191e-01,-5.682412475e-05,8.378612490e-01,7.018047977e-01,-5.576483165e-05,8.269100971e-01
+28,1.870000000e+01,DOWN_FORCE_DETACH,1791455395995621038,8.803817968e-05,-5.851835116e-05,-3.063938548e-03,8.609398858e-05,-5.538101153e-05,-3.050132147e-03,7.933547096e-05,-5.475475570e-05,-3.040858190e-03,7.016259097e-01,-5.696738984e-05,8.376770026e-01,7.016239655e-01,-5.383005021e-05,8.376908090e-01,7.018050214e-01,-5.289933414e-05,8.267398318e-01
+29,1.906666667e+01,DOWN_FORCE_DETACH,1791455396556126906,8.342772950e-05,-6.229398749e-05,-3.235162705e-03,8.370540603e-05,-6.091133281e-05,-3.224402996e-03,7.626254892e-05,-6.021828458e-05,-3.214678372e-03,7.016212992e-01,-6.074302617e-05,8.375057785e-01,7.016215769e-01,-5.936037149e-05,8.375165382e-01,7.018019485e-01,-5.836286301e-05,8.265660116e-01
+30,1.945000000e+01,DOWN_FORCE_DETACH,1791455397128864094,8.473310690e-05,-6.373256131e-05,-3.414264339e-03,8.457014483e-05,-6.371243730e-05,-3.413986433e-03,7.644591618e-05,-6.301294439e-05,-3.403927931e-03,7.016226046e-01,-6.218159999e-05,8.373266768e-01,7.016224416e-01,-6.216147598e-05,8.373269548e-01,7.018021318e-01,-6.115752283e-05,8.263767620e-01
+31,1.978333333e+01,DOWN_FORCE_DETACH,1791455397625515412,8.356555758e-05,-6.569440874e-05,-3.589532865e-03,8.341870403e-05,-6.581058060e-05,-3.589384394e-03,7.459006506e-05,-6.506699993e-05,-3.578837293e-03,7.016214370e-01,-6.414344741e-05,8.371514083e-01,7.016212902e-01,-6.425961927e-05,8.371515568e-01,7.018002760e-01,-6.321157836e-05,8.262018527e-01
+32,2.011666667e+01,DOWN_FORCE_DETACH,1791455398125147497,8.574126026e-05,-6.791333502e-05,-3.764142419e-03,8.281336485e-05,-6.831455163e-05,-3.750764171e-03,7.352198051e-05,-6.750622504e-05,-3.740077269e-03,7.016236127e-01,-6.636237370e-05,8.369767988e-01,7.016206848e-01,-6.676359031e-05,8.369901770e-01,7.017992079e-01,-6.565080348e-05,8.260406127e-01
+33,2.045000000e+01,DOWN_FORCE_DETACH,1791455398626535938,8.419437158e-05,-7.046153609e-05,-3.955733400e-03,8.387348310e-05,-7.073430233e-05,-3.955671363e-03,7.398283326e-05,-6.979898275e-05,-3.944282942e-03,7.016220659e-01,-6.891057477e-05,8.367852078e-01,7.016217450e-01,-6.918334101e-05,8.367852698e-01,7.017996687e-01,-6.794356119e-05,8.258364070e-01
+34,2.076666667e+01,DOWN_FORCE_DETACH,1791455399096682925,8.185973999e-05,-6.792235964e-05,-4.135172771e-03,8.133691940e-05,-7.038330239e-05,-4.132863262e-03,7.073287597e-05,-6.936171025e-05,-4.121206138e-03,7.016197312e-01,-6.637139832e-05,8.366057684e-01,7.016192084e-01,-6.883234107e-05,8.366080779e-01,7.017964188e-01,-6.750628868e-05,8.256594838e-01
+35,2.106666667e+01,DOWN_FORCE_DETACH,1791455399556155697,8.096561212e-05,-6.967874131e-05,-4.318914877e-03,8.084320562e-05,-6.986729511e-05,-4.319228841e-03,6.944758113e-05,-6.887019054e-05,-4.307200416e-03,7.016188371e-01,-6.812777999e-05,8.364220263e-01,7.016187147e-01,-6.831633379e-05,8.364217123e-01,7.017951335e-01,-6.701476898e-05,8.254734895e-01
+36,2.136666667e+01,DOWN_FORCE_DETACH,1791455399995042480,8.140701547e-05,-7.288682206e-05,-4.494633489e-03,8.037342591e-05,-7.274856547e-05,-4.485197513e-03,6.826948577e-05,-7.179185960e-05,-4.473114188e-03,7.016192785e-01,-7.133586074e-05,8.362463077e-01,7.016182449e-01,-7.119760415e-05,8.362557437e-01,7.017939554e-01,-6.993643803e-05,8.253075758e-01
+37,2.165000000e+01,DOWN_FORCE_DETACH,1791455400425151704,8.010629146e-05,-7.481667695e-05,-4.680885891e-03,8.011381177e-05,-7.182783617e-05,-4.662436324e-03,6.744524655e-05,-7.101109902e-05,-4.650034753e-03,7.016179778e-01,-7.326571563e-05,8.360600553e-01,7.016179853e-01,-7.027687485e-05,8.360785049e-01,7.017931312e-01,-6.915567746e-05,8.251306552e-01
+38,2.193333333e+01,DOWN_FORCE_DETACH,1791455400856127914,8.090450328e-05,-7.202289279e-05,-4.869445123e-03,7.773963226e-05,-7.004707163e-05,-4.858111852e-03,6.431544904e-05,-6.924299736e-05,-4.845271442e-03,7.016187760e-01,-7.047193147e-05,8.358714961e-01,7.016156111e-01,-6.849611031e-05,8.358828293e-01,7.017900014e-01,-6.738757579e-05,8.249354185e-01
+39,2.221666667e+01,DOWN_FORCE_DETACH,1791455401276718829,8.063461295e-05,-7.796672274e-05,-5.063255352e-03,8.023017653e-05,-7.817529676e-05,-5.063365825e-03,6.618264915e-05,-7.732225251e-05,-5.050039943e-03,7.016185061e-01,-7.641576142e-05,8.356776858e-01,7.016181017e-01,-7.662433544e-05,8.356775754e-01,7.017918686e-01,-7.546683095e-05,8.247306500e-01
+40,2.248333333e+01,DOWN_FORCE_DETACH,1791455401677608352,7.676920952e-05,-7.985801045e-05,-5.246600253e-03,7.658391434e-05,-8.016537165e-05,-5.246700733e-03,6.191156345e-05,-7.929676240e-05,-5.233138204e-03,7.016146407e-01,-7.830704913e-05,8.354943409e-01,7.016144554e-01,-7.861441033e-05,8.354942405e-01,7.017875975e-01,-7.744134083e-05,8.245475518e-01
+41,2.271666667e+01,DOWN_FORCE_DETACH,1791455402077108765,7.725815439e-05,-8.486844005e-05,-5.432825267e-03,7.692428052e-05,-8.488208873e-05,-5.432700787e-03,6.163942863e-05,-8.392634310e-05,-5.418616098e-03,7.016151296e-01,-8.331747873e-05,8.353081159e-01,7.016147958e-01,-8.333112741e-05,8.353082404e-01,7.017873253e-01,-8.207092154e-05,8.243620739e-01
+42,2.300000000e+01,DOWN_FORCE_DETACH,1791455402498436157,7.897363403e-05,-9.100801256e-05,-5.614931583e-03,7.877728329e-05,-9.091969745e-05,-5.614818448e-03,6.292502941e-05,-8.976007540e-05,-5.600784007e-03,7.016168451e-01,-8.945705124e-05,8.351260096e-01,7.016166488e-01,-8.936873612e-05,8.351261227e-01,7.017886109e-01,-8.790465384e-05,8.241799060e-01
+43,2.325000000e+01,DOWN_FORCE_DETACH,1791455402863018518,7.389896355e-05,-8.976964528e-05,-5.797315008e-03,7.359985132e-05,-8.981870930e-05,-5.797084449e-03,5.700772385e-05,-8.856807970e-05,-5.782952964e-03,7.016117704e-01,-8.821868396e-05,8.349436262e-01,7.016114713e-01,-8.826774798e-05,8.349438567e-01,7.017826936e-01,-8.671265814e-05,8.239977370e-01
+44,2.351666667e+01,DOWN_FORCE_DETACH,1791455403262103396,7.220557564e-05,-9.291284422e-05,-5.985711307e-03,7.211549570e-05,-9.306089310e-05,-5.985357200e-03,5.474645190e-05,-9.178769801e-05,-5.971150573e-03,7.016100771e-01,-9.136188290e-05,8.347552299e-01,7.016099870e-01,-9.150993178e-05,8.347555840e-01,7.017804324e-01,-8.993227644e-05,8.238095394e-01
+45,2.380000000e+01,DOWN_SETTLE,1791455403692232443,7.337297789e-05,-9.591708511e-05,-6.179869891e-03,7.332744362e-05,-9.618925929e-05,-6.179461449e-03,5.515219264e-05,-9.503618025e-05,-6.165190142e-03,7.016112445e-01,-9.436612378e-05,8.345610713e-01,7.016111989e-01,-9.463829797e-05,8.345614797e-01,7.017808381e-01,-9.318075869e-05,8.236154998e-01
+46,2.405000000e+01,DOWN_SETTLE,1791455404062230535,6.930091576e-05,-1.009929416e-04,-6.352169941e-03,6.987764356e-05,-9.374799407e-05,-6.338520757e-03,5.115161124e-05,-9.273054583e-05,-6.324393956e-03,7.016071724e-01,-9.944198026e-05,8.343887712e-01,7.016077491e-01,-9.219703275e-05,8.344024204e-01,7.017768375e-01,-9.087512426e-05,8.234562960e-01
+47,2.433333333e+01,DOWN_SETTLE,1791455404492373462,6.606038964e-05,-1.008052024e-04,-6.536780999e-03,6.596672765e-05,-1.008963274e-04,-6.536522097e-03,4.648678181e-05,-9.978264968e-05,-6.522351114e-03,7.016039319e-01,-9.925424112e-05,8.342041602e-01,7.016038382e-01,-9.934536605e-05,8.342044191e-01,7.017721727e-01,-9.792722812e-05,8.232583388e-01
+48,2.463333333e+01,DOWN_SETTLE,1791455404939402410,6.724646106e-05,-1.068076113e-04,-6.716075246e-03,6.700774556e-05,-1.068754007e-04,-6.716194462e-03,4.689958000e-05,-1.057448729e-04,-6.702410498e-03,7.016051179e-01,-1.052566500e-04,8.340248659e-01,7.016048792e-01,-1.053244394e-04,8.340247467e-01,7.017725855e-01,-1.038894513e-04,8.230782795e-01
+49,2.495000000e+01,DOWN_SETTLE,1791455405422431917,6.513504231e-05,-1.047453628e-04,-6.897358594e-03,6.484284706e-05,-1.047908382e-04,-6.897667973e-03,4.414160632e-05,-1.036530431e-04,-6.884154275e-03,7.016030065e-01,-1.031944014e-04,8.338435826e-01,7.016027143e-01,-1.032398769e-04,8.338432732e-01,7.017698275e-01,-1.017976215e-04,8.228965357e-01
+50,2.528333333e+01,DOWN_SETTLE,1791455405918439531,6.196745232e-05,-1.133024269e-04,-7.075898024e-03,6.103810451e-05,-1.078659103e-04,-7.069607471e-03,3.978253331e-05,-1.065162158e-04,-7.056582244e-03,7.015998389e-01,-1.117514655e-04,8.336650432e-01,7.015989096e-01,-1.063149490e-04,8.336713337e-01,7.017654684e-01,-1.046607942e-04,8.227241077e-01
+51,2.563333333e+01,DOWN_SETTLE,1791455406434842038,5.664989084e-05,-1.104269231e-04,-7.258803502e-03,5.760095446e-05,-1.084157050e-04,-7.242140670e-03,3.566475380e-05,-1.069970250e-04,-7.229605709e-03,7.015945214e-01,-1.088759618e-04,8.334821377e-01,7.015954724e-01,-1.068647437e-04,8.334988005e-01,7.017613507e-01,-1.051416034e-04,8.225510843e-01
+52,2.601666667e+01,DOWN_SETTLE,1791455407012762893,5.937660816e-05,-1.134921329e-04,-7.437681459e-03,5.591509780e-05,-1.129066564e-04,-7.424923341e-03,3.315176508e-05,-1.115363821e-04,-7.412799235e-03,7.015972481e-01,-1.119411715e-04,8.333032597e-01,7.015937866e-01,-1.113556950e-04,8.333160178e-01,7.017588377e-01,-1.096809605e-04,8.223678907e-01
+53,2.641666667e+01,DOWN_SETTLE,1791455407618579082,4.914494303e-05,-1.071619448e-04,-7.612499133e-03,4.931725608e-05,-1.091047137e-04,-7.601105780e-03,2.570095602e-05,-1.079817483e-04,-7.589468281e-03,7.015870164e-01,-1.056109834e-04,8.331284421e-01,7.015871887e-01,-1.075537524e-04,8.331398354e-01,7.017513869e-01,-1.061263267e-04,8.221912217e-01
+54,2.686666667e+01,DOWN_SETTLE,1791455408292272836,4.410041503e-05,-1.133600722e-04,-7.786420786e-03,4.295005316e-05,-1.141253482e-04,-7.779553631e-03,1.847064106e-05,-1.129455995e-04,-7.768618178e-03,7.015819719e-01,-1.118091109e-04,8.329545204e-01,7.015808215e-01,-1.125743868e-04,8.329613876e-01,7.017441566e-01,-1.110901779e-04,8.220120718e-01
+55,2.730000000e+01,DOWN_SETTLE,1791455408932288267,4.497823680e-05,-1.154818304e-04,-7.923192684e-03,4.217778630e-05,-1.177733356e-04,-7.924583099e-03,1.713579990e-05,-1.165915128e-04,-7.914490105e-03,7.015828497e-01,-1.139308691e-04,8.328177485e-01,7.015800493e-01,-1.162223743e-04,8.328163581e-01,7.017428217e-01,-1.147360912e-04,8.218661999e-01
+56,2.773333333e+01,DOWN_SETTLE,1791455409592281537,3.177822754e-05,-1.135237633e-04,-8.059522092e-03,3.284595302e-05,-1.096178812e-04,-8.047701940e-03,7.266824459e-06,-1.085341790e-04,-8.038315898e-03,7.015696497e-01,-1.119728020e-04,8.326814191e-01,7.015707174e-01,-1.080669199e-04,8.326932392e-01,7.017329527e-01,-1.066787575e-04,8.217423741e-01
+57,2.828333333e+01,DOWN_SETTLE,1791455410412306467,3.108551798e-05,-1.157944430e-04,-8.183275667e-03,3.365160209e-05,-1.104999054e-04,-8.174178656e-03,7.761605084e-06,-1.093225914e-04,-8.165856778e-03,7.015689570e-01,-1.142434817e-04,8.325576655e-01,7.015715231e-01,-1.089489441e-04,8.325667625e-01,7.017334475e-01,-1.074671699e-04,8.216148332e-01
+58,2.898333333e+01,DOWN_SETTLE,1791455411464019535,2.463874622e-05,-1.103373503e-04,-8.295506007e-03,2.264268070e-05,-1.099280721e-04,-8.284482819e-03,-3.866360207e-06,-1.086119798e-04,-8.277719669e-03,7.015625102e-01,-1.087863890e-04,8.324454352e-01,7.015605142e-01,-1.083771108e-04,8.324564584e-01,7.017218196e-01,-1.067565582e-04,8.215029703e-01
+59,2.980000000e+01,DOWN_SETTLE,1791455412692295802,2.407807393e-05,-8.668431742e-05,-8.362292893e-03,2.237658158e-05,-9.905273394e-05,-8.347992471e-03,-4.635652817e-06,-9.784437588e-05,-8.343156746e-03,7.015619496e-01,-8.513335610e-05,8.323786483e-01,7.015602481e-01,-9.750177262e-05,8.323929487e-01,7.017210503e-01,-9.598895431e-05,8.214375332e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1340828c0d44be9fa0f622817b27d16e4020c756
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-6.6714e-03,4.1507e-03,2.4547e+00,-3.7028e-02,3.6313e-02,-1.2505e-05,4.5334e-04,5.1635e-05,4.7684e-05,-3.4571e-06,2.9650e-05,2.6019e-07,4.5876e-04,2.9852e-05
+1,1.0000e+00,DOWN_FORCE_DETACH,1.9707e-04,2.7119e-02,6.6491e-03,2.4734e+00,-3.7217e-02,3.8710e-02,8.9685e-05,3.4243e-02,2.5501e-03,1.8834e-02,-1.9222e-04,2.4268e-03,1.0245e-04,3.9164e-02,2.4365e-03
+2,1.7833e+00,DOWN_FORCE_DETACH,3.9332e-04,4.4293e-02,1.3207e-02,2.5119e+00,-3.7648e-02,3.9834e-02,1.1033e-04,5.1418e-02,9.1084e-03,5.7319e-02,-6.2339e-04,3.5503e-03,1.2310e-04,7.7539e-02,3.6067e-03
+3,2.3833e+00,DOWN_FORCE_DETACH,6.0038e-04,5.1793e-02,1.8402e-02,2.5452e+00,-3.7994e-02,4.0335e-02,1.2833e-04,5.8917e-02,1.4303e-02,9.0563e-02,-9.6916e-04,4.0516e-03,1.4109e-04,1.0898e-01,4.1683e-03
+4,3.0000e+00,DOWN_FORCE_DETACH,7.8296e-04,4.0411e-02,2.0151e-02,2.5553e+00,-3.8104e-02,3.9560e-02,1.4471e-04,4.7536e-02,1.6052e-02,1.0067e-01,-1.0787e-03,3.2766e-03,1.5747e-04,1.1248e-01,3.4532e-03
+5,3.7667e+00,DOWN_FORCE_DETACH,9.8023e-04,4.8970e-02,2.6280e-02,2.5663e+00,-3.8498e-02,4.0119e-02,1.5970e-04,5.6094e-02,2.2181e-02,1.1165e-01,-1.4732e-03,3.8352e-03,1.7246e-04,1.2690e-01,4.1120e-03
+6,4.7500e+00,DOWN_FORCE_DETACH,1.1751e-03,5.9172e-02,2.8060e-02,2.5516e+00,-3.8614e-02,4.0840e-02,1.5696e-04,6.6297e-02,2.3961e-02,9.7017e-02,-1.5894e-03,4.5563e-03,1.6973e-04,1.1992e-01,4.8285e-03
+7,5.4833e+00,DOWN_FORCE_DETACH,1.3694e-03,6.3395e-02,2.8632e-02,2.5433e+00,-3.8663e-02,4.1162e-02,1.4075e-04,7.0520e-02,2.4533e-02,8.8721e-02,-1.6384e-03,4.8786e-03,1.5351e-04,1.1596e-01,5.1487e-03
+8,6.1000e+00,DOWN_FORCE_DETACH,1.5628e-03,6.5683e-02,2.6573e-02,2.5400e+00,-3.8533e-02,4.1342e-02,1.2047e-04,7.2808e-02,2.2474e-02,8.5428e-02,-1.5079e-03,5.0583e-03,1.3324e-04,1.1447e-01,5.2800e-03
+9,6.8500e+00,DOWN_FORCE_DETACH,1.7635e-03,6.5345e-02,1.2343e-02,2.5454e+00,-3.7592e-02,4.1334e-02,8.6146e-05,7.2470e-02,8.2445e-03,9.0805e-02,-5.6709e-04,5.0499e-03,9.8911e-05,1.1647e-01,5.0826e-03
+10,7.6167e+00,DOWN_FORCE_DETACH,1.9590e-03,6.8348e-02,1.3076e-02,2.5501e+00,-3.7646e-02,4.1537e-02,6.5190e-05,7.5473e-02,8.9766e-03,9.5504e-02,-6.2071e-04,5.2530e-03,7.7955e-05,1.2206e-01,5.2901e-03
+11,8.4500e+00,DOWN_FORCE_DETACH,2.1523e-03,7.2961e-02,1.6739e-02,2.5490e+00,-3.7914e-02,4.1850e-02,6.0013e-05,8.0086e-02,1.2640e-02,9.4349e-02,-8.8932e-04,5.5667e-03,7.2778e-05,1.2440e-01,5.6377e-03
+12,9.3333e+00,DOWN_FORCE_DETACH,2.3474e-03,7.4749e-02,1.9501e-02,2.5503e+00,-3.8133e-02,4.1980e-02,6.8554e-05,8.1873e-02,1.5402e-02,9.5730e-02,-1.1081e-03,5.6959e-03,8.1319e-05,1.2690e-01,5.8033e-03
+13,1.0200e+01,DOWN_FORCE_DETACH,2.5451e-03,7.6540e-02,2.3718e-02,2.5626e+00,-3.8442e-02,4.2098e-02,8.2162e-05,8.3665e-02,1.9619e-02,1.0804e-01,-1.4174e-03,5.8140e-03,9.4927e-05,1.3805e-01,5.9850e-03
+14,1.0950e+01,DOWN_FORCE_DETACH,2.7412e-03,7.5596e-02,2.2255e-02,2.5799e+00,-3.8358e-02,4.2019e-02,9.0788e-05,8.2721e-02,1.8156e-02,1.2527e-01,-1.3336e-03,5.7351e-03,1.0355e-04,1.5122e-01,5.8890e-03
+15,1.1667e+01,DOWN_FORCE_DETACH,2.9363e-03,7.7866e-02,2.4735e-02,2.5999e+00,-3.8507e-02,4.2142e-02,9.6577e-05,8.4990e-02,2.0636e-02,1.4532e-01,-1.4819e-03,5.8587e-03,1.0934e-04,1.6961e-01,6.0442e-03
+16,1.2400e+01,DOWN_FORCE_DETACH,3.1307e-03,8.0032e-02,2.6696e-02,2.6175e+00,-3.8603e-02,4.2263e-02,1.0286e-04,8.7156e-02,2.2597e-02,1.6288e-01,-1.5781e-03,5.9790e-03,1.1563e-04,1.8611e-01,6.1848e-03
+17,1.3083e+01,DOWN_FORCE_DETACH,3.3247e-03,8.3720e-02,2.7677e-02,2.6296e+00,-3.8624e-02,4.2491e-02,1.0836e-04,9.0844e-02,2.3578e-02,1.7498e-01,-1.5989e-03,6.2074e-03,1.2112e-04,1.9856e-01,6.4112e-03
+18,1.3717e+01,DOWN_FORCE_DETACH,3.5210e-03,8.6891e-02,2.9739e-02,2.6380e+00,-3.8747e-02,4.2696e-02,1.1651e-04,9.4015e-02,2.5639e-02,1.8336e-01,-1.7218e-03,6.4123e-03,1.2927e-04,2.0765e-01,6.6407e-03
+19,1.4350e+01,DOWN_FORCE_DETACH,3.7174e-03,8.9027e-02,2.9044e-02,2.6501e+00,-3.8739e-02,4.2845e-02,1.3095e-04,9.6151e-02,2.4945e-02,1.9550e-01,-1.7142e-03,6.5612e-03,1.4371e-04,2.1929e-01,6.7830e-03
+20,1.4950e+01,DOWN_FORCE_DETACH,3.9159e-03,9.4136e-02,2.9293e-02,2.6739e+00,-3.8793e-02,4.3187e-02,1.5078e-04,1.0126e-01,2.5194e-02,2.1933e-01,-1.7681e-03,6.9038e-03,1.6355e-04,2.4289e-01,7.1285e-03
+21,1.5467e+01,DOWN_FORCE_DETACH,4.1135e-03,9.9503e-02,3.1306e-02,2.6973e+00,-3.8928e-02,4.3539e-02,1.7013e-04,1.0663e-01,2.7207e-02,2.4270e-01,-1.9028e-03,7.2552e-03,1.8289e-04,2.6648e-01,7.5028e-03
+22,1.6033e+01,DOWN_FORCE_DETACH,4.3066e-03,1.0408e-01,3.4530e-02,2.7205e+00,-3.9116e-02,4.3827e-02,1.9360e-04,1.1120e-01,3.0431e-02,2.6590e-01,-2.0913e-03,7.5435e-03,2.0636e-04,2.8982e-01,7.8307e-03
+23,1.6517e+01,DOWN_FORCE_DETACH,4.4975e-03,1.0787e-01,3.8248e-02,2.7403e+00,-3.9337e-02,4.4063e-02,2.1023e-04,1.1500e-01,3.4149e-02,2.8564e-01,-2.3116e-03,7.7797e-03,2.2299e-04,3.0981e-01,8.1190e-03
+24,1.7000e+01,DOWN_FORCE_DETACH,4.6967e-03,1.0715e-01,4.0889e-02,2.7612e+00,-3.9499e-02,4.4003e-02,2.1605e-04,1.1427e-01,3.6789e-02,3.0661e-01,-2.4745e-03,7.7190e-03,2.2881e-04,3.2927e-01,8.1092e-03
+25,1.7467e+01,DOWN_FORCE_DETACH,4.8957e-03,1.0260e-01,4.3792e-02,2.7806e+00,-3.9691e-02,4.3678e-02,2.1020e-04,1.0972e-01,3.9693e-02,3.2594e-01,-2.6658e-03,7.3939e-03,2.2297e-04,3.4619e-01,7.8629e-03
+26,1.7867e+01,DOWN_FORCE_DETACH,5.0883e-03,9.6749e-02,4.2879e-02,2.7978e+00,-3.9645e-02,4.3253e-02,1.9394e-04,1.0387e-01,3.8780e-02,3.4317e-01,-2.6201e-03,6.9691e-03,2.0671e-04,3.6064e-01,7.4483e-03
+27,1.8267e+01,DOWN_FORCE_DETACH,5.2842e-03,9.0043e-02,4.1654e-02,2.8209e+00,-3.9578e-02,4.2753e-02,1.6657e-04,9.7168e-02,3.7555e-02,3.6631e-01,-2.5533e-03,6.4689e-03,1.7934e-04,3.8083e-01,6.9568e-03
+28,1.8700e+01,DOWN_FORCE_DETACH,5.4828e-03,8.6996e-02,3.9986e-02,2.8460e+00,-3.9453e-02,4.2475e-02,1.2810e-04,9.4121e-02,3.5887e-02,3.9136e-01,-2.4283e-03,6.1918e-03,1.4086e-04,4.0411e-01,6.6524e-03
+29,1.9067e+01,DOWN_FORCE_DETACH,5.6746e-03,8.4216e-02,4.1313e-02,2.8590e+00,-3.9511e-02,4.2236e-02,9.3970e-05,9.1340e-02,3.7214e-02,4.0436e-01,-2.4866e-03,5.9520e-03,1.0674e-04,4.1622e-01,6.4514e-03
+30,1.9450e+01,DOWN_FORCE_DETACH,5.8743e-03,8.1626e-02,4.2440e-02,2.8710e+00,-3.9579e-02,4.2029e-02,6.7396e-05,8.8751e-02,3.8341e-02,4.1638e-01,-2.5540e-03,5.7454e-03,8.0161e-05,4.2746e-01,6.2880e-03
+31,1.9783e+01,DOWN_FORCE_DETACH,6.0670e-03,8.0464e-02,4.1685e-02,2.8845e+00,-3.9530e-02,4.1934e-02,5.3437e-05,8.7588e-02,3.7586e-02,4.2985e-01,-2.5050e-03,5.6500e-03,6.6202e-05,4.4029e-01,6.1807e-03
+32,2.0117e+01,DOWN_FORCE_DETACH,6.2629e-03,8.2210e-02,4.4314e-02,2.9031e+00,-3.9690e-02,4.2026e-02,4.7762e-05,8.9334e-02,4.0215e-02,4.4846e-01,-2.6650e-03,5.7422e-03,6.0527e-05,4.5903e-01,6.3307e-03
+33,2.0450e+01,DOWN_FORCE_DETACH,6.4649e-03,8.4307e-02,5.0644e-02,2.9181e+00,-4.0077e-02,4.2143e-02,4.8086e-05,9.1432e-02,4.6545e-02,4.6352e-01,-3.0521e-03,5.8590e-03,6.0851e-05,4.7474e-01,6.6066e-03
+34,2.0767e+01,DOWN_FORCE_DETACH,6.6535e-03,8.5768e-02,5.4495e-02,2.9365e+00,-4.0299e-02,4.2221e-02,4.5835e-05,9.2893e-02,5.0396e-02,4.8186e-01,-3.2744e-03,5.9377e-03,5.8600e-05,4.9331e-01,6.7810e-03
+35,2.1067e+01,DOWN_FORCE_DETACH,6.8486e-03,8.3965e-02,5.5348e-02,2.9515e+00,-4.0336e-02,4.2086e-02,3.8178e-05,9.1090e-02,5.1249e-02,4.9690e-01,-3.3106e-03,5.8024e-03,5.0943e-05,5.0777e-01,6.6806e-03
+36,2.1367e+01,DOWN_FORCE_DETACH,7.0420e-03,8.1325e-02,5.3845e-02,2.9651e+00,-4.0233e-02,4.1889e-02,2.8274e-05,8.8450e-02,4.9745e-02,5.1053e-01,-3.2085e-03,5.6054e-03,4.1039e-05,5.2052e-01,6.4589e-03
+37,2.1650e+01,DOWN_FORCE_DETACH,7.2386e-03,7.9560e-02,5.0643e-02,2.9803e+00,-4.0018e-02,4.1742e-02,1.7071e-05,8.6684e-02,4.6544e-02,5.2564e-01,-2.9926e-03,5.4579e-03,2.9836e-05,5.3477e-01,6.2246e-03
+38,2.1933e+01,DOWN_FORCE_DETACH,7.4366e-03,7.9722e-02,5.0145e-02,2.9951e+00,-3.9958e-02,4.1712e-02,4.9315e-06,8.6847e-02,4.6046e-02,5.4046e-01,-2.9327e-03,5.4286e-03,1.7697e-05,5.4933e-01,6.1702e-03
+39,2.2217e+01,DOWN_FORCE_DETACH,7.6394e-03,7.9878e-02,5.1569e-02,3.0059e+00,-4.0032e-02,4.1687e-02,-1.6153e-06,8.7003e-02,4.7470e-02,5.5131e-01,-3.0068e-03,5.4035e-03,1.1150e-05,5.6014e-01,6.1837e-03
+40,2.2483e+01,DOWN_FORCE_DETACH,7.8338e-03,8.0927e-02,5.1326e-02,3.0156e+00,-4.0009e-02,4.1735e-02,4.4977e-07,8.8052e-02,4.7227e-02,5.6104e-01,-2.9846e-03,5.4515e-03,1.3215e-05,5.6986e-01,6.2151e-03
+41,2.2717e+01,DOWN_FORCE_DETACH,8.0278e-03,8.4315e-02,5.2243e-02,3.0291e+00,-4.0059e-02,4.1937e-02,7.4802e-06,9.1440e-02,4.8144e-02,5.7446e-01,-3.0342e-03,5.6529e-03,2.0245e-05,5.8369e-01,6.4158e-03
+42,2.3000e+01,DOWN_FORCE_DETACH,8.2221e-03,8.7658e-02,5.8198e-02,3.0439e+00,-4.0421e-02,4.2129e-02,1.6575e-05,9.4782e-02,5.4099e-02,5.8924e-01,-3.3956e-03,5.8453e-03,2.9341e-05,5.9927e-01,6.7601e-03
+43,2.3250e+01,DOWN_FORCE_DETACH,8.4138e-03,8.7312e-02,6.4559e-02,3.0477e+00,-4.0801e-02,4.2098e-02,2.0162e-05,9.4437e-02,6.0460e-02,5.9307e-01,-3.7759e-03,5.8144e-03,3.2927e-05,6.0358e-01,6.9330e-03
+44,2.3517e+01,DOWN_FORCE_DETACH,8.6124e-03,8.4369e-02,6.8507e-02,3.0490e+00,-4.1028e-02,4.1899e-02,1.8549e-05,9.1493e-02,6.4408e-02,5.9436e-01,-4.0033e-03,5.6155e-03,3.1315e-05,6.0480e-01,6.8965e-03
+45,2.3800e+01,DOWN_SETTLE,8.8184e-03,8.1306e-02,6.5979e-02,3.0545e+00,-4.0857e-02,4.1679e-02,1.3669e-05,8.8431e-02,6.1880e-02,5.9988e-01,-3.8319e-03,5.3950e-03,2.6434e-05,6.0952e-01,6.6174e-03
+46,2.4050e+01,DOWN_SETTLE,9.0024e-03,8.0397e-02,6.4558e-02,3.0584e+00,-4.0745e-02,4.1593e-02,6.6910e-06,8.7522e-02,6.0459e-02,6.0382e-01,-3.7206e-03,5.3089e-03,1.9456e-05,6.1312e-01,6.4829e-03
+47,2.4333e+01,DOWN_SETTLE,9.2023e-03,8.0830e-02,6.5328e-02,3.0587e+00,-4.0765e-02,4.1587e-02,-1.4671e-06,8.7954e-02,6.1229e-02,6.0414e-01,-3.7402e-03,5.3036e-03,1.1298e-05,6.1357e-01,6.4898e-03
+48,2.4633e+01,DOWN_SETTLE,9.3996e-03,8.0166e-02,6.5411e-02,3.0508e+00,-4.0759e-02,4.1527e-02,-1.8680e-06,8.7291e-02,6.1312e-02,5.9622e-01,-3.7338e-03,5.2432e-03,1.0897e-05,6.0568e-01,6.4368e-03
+49,2.4950e+01,DOWN_SETTLE,9.5916e-03,8.1970e-02,6.5440e-02,3.0378e+00,-4.0739e-02,4.1635e-02,6.4613e-06,8.9095e-02,6.1341e-02,5.8316e-01,-3.7144e-03,5.3517e-03,1.9226e-05,5.9311e-01,6.5144e-03
+50,2.5283e+01,DOWN_SETTLE,9.7910e-03,8.6067e-02,7.2352e-02,3.0253e+00,-4.1149e-02,4.1891e-02,1.9443e-05,9.3192e-02,6.8253e-02,5.7065e-01,-4.1245e-03,5.6077e-03,3.2208e-05,5.8222e-01,6.9613e-03
+51,2.5633e+01,DOWN_SETTLE,9.9883e-03,8.7807e-02,7.7987e-02,3.0123e+00,-4.1482e-02,4.2008e-02,2.5689e-05,9.4932e-02,7.3888e-02,5.5764e-01,-4.4569e-03,5.7242e-03,3.8454e-05,5.7047e-01,7.2548e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00977ec8e07c2c2a8b5df0d18b915e7d0d72d07a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_10/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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