diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af4eae83b1b42d17374ee6d345dcfe8182304c79
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792046154290241148,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.802793468e-09,2.536370419e-11,7.722987805e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293662e-01,1.786625682e-06,8.295727534e-01
+1,3.166666667e-01,DOWN_FORCE_DETACH,1792046154888852439,-9.090080459e-07,1.366799693e-06,-1.193372939e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.030738180e-07,3.356924114e-12,1.558996277e-08,7.015369625e-01,2.917761014e-06,8.407397478e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294635e-01,1.786603675e-06,8.295727683e-01
+2,6.000000000e-01,DOWN_FORCE_DETACH,1792046155419819710,-2.329679392e-06,-9.999528662e-06,-1.402482189e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.730539549e-07,-1.132803608e-10,2.779490871e-08,7.015355418e-01,-8.448567341e-06,8.407269164e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295335e-01,1.786487038e-06,8.295727805e-01
+3,1.116666667e+00,DOWN_FORCE_DETACH,1792046156420769449,-4.728594000e-06,-1.827426029e-05,-8.009931077e-05,-5.488741685e-06,-2.298670040e-05,-7.672306904e-05,-5.646867061e-06,-2.289132516e-05,-7.599110539e-05,7.015331429e-01,-1.672329897e-05,8.406608419e-01,7.015323827e-01,-2.143573908e-05,8.406642181e-01,7.017237136e-01,-2.110472485e-05,8.294967616e-01
+4,1.416666667e+00,DOWN_FORCE_DETACH,1792046156984285918,1.573087304e-07,-2.640390661e-05,-1.322396196e-04,2.808935735e-07,-3.799750080e-05,-1.267346279e-04,9.046427718e-08,-3.784242560e-05,-1.257052403e-04,7.015380288e-01,-2.485294529e-05,8.406087016e-01,7.015381524e-01,-3.644653947e-05,8.406142066e-01,7.017294509e-01,-3.605582528e-05,8.294470474e-01
+5,1.766666667e+00,DOWN_FORCE_DETACH,1792046157659203864,1.097605971e-06,-3.793688670e-05,-2.179777919e-04,-4.799661674e-07,-3.349941916e-05,-2.078486096e-04,-9.271996301e-07,-3.336127464e-05,-2.063003283e-04,7.015389691e-01,-3.638592538e-05,8.405229634e-01,7.015373915e-01,-3.194845784e-05,8.405330926e-01,7.017284332e-01,-3.157467432e-05,8.293664523e-01
+6,2.200000000e+00,DOWN_FORCE_DETACH,1792046158482370236,-4.025077778e-07,-5.001614248e-05,-3.288683966e-04,-1.502843547e-06,-5.306384427e-05,-3.171741597e-04,-2.408546274e-06,-5.283476452e-05,-3.151585785e-04,7.015374690e-01,-4.846518116e-05,8.404120728e-01,7.015363686e-01,-5.151288295e-05,8.404237670e-01,7.017269519e-01,-5.104816420e-05,8.292575941e-01
+7,2.433333333e+00,DOWN_FORCE_DETACH,1792046158946539337,-1.157545695e-06,-5.929475817e-05,-3.882668955e-04,-1.337199225e-06,-5.387605036e-05,-3.720420881e-04,-2.394584986e-06,-5.365253362e-05,-3.698761116e-04,7.015367139e-01,-5.774379685e-05,8.403526743e-01,7.015365343e-01,-5.232508904e-05,8.403688991e-01,7.017269659e-01,-5.186593330e-05,8.292028766e-01
+8,2.683333333e+00,DOWN_FORCE_DETACH,1792046159445343340,1.102315205e-05,-5.866765969e-05,-4.244076843e-04,1.429806815e-06,-6.422814585e-05,-4.132406186e-04,2.725809140e-07,-6.397819026e-05,-4.110962947e-04,7.015488946e-01,-5.711669837e-05,8.403165335e-01,7.015393013e-01,-6.267718453e-05,8.403277006e-01,7.017296330e-01,-6.219158995e-05,8.291616564e-01
+9,3.116666667e+00,DOWN_FORCE_DETACH,1792046160312585470,2.216173113e-05,-7.789011456e-05,-4.764172571e-04,1.888422180e-05,-7.311711682e-05,-4.729765823e-04,1.801060894e-05,-7.283940898e-05,-4.710096257e-04,7.015600332e-01,-7.633915324e-05,8.402645239e-01,7.015567557e-01,-7.156615550e-05,8.402679646e-01,7.017473711e-01,-7.105280866e-05,8.291017430e-01
+10,3.466666667e+00,DOWN_FORCE_DETACH,1792046161010395245,2.644630619e-05,-7.026016484e-05,-5.036836469e-04,2.202255760e-05,-6.839153366e-05,-4.953266543e-04,2.116782571e-05,-6.814236667e-05,-4.937486605e-04,7.015643178e-01,-6.870920352e-05,8.402372575e-01,7.015598940e-01,-6.684057234e-05,8.402456145e-01,7.017505283e-01,-6.635576635e-05,8.290790040e-01
+11,3.866666667e+00,DOWN_FORCE_DETACH,1792046161792217100,3.968071034e-05,-7.453639282e-05,-5.178500231e-04,3.400145798e-05,-6.924907900e-05,-5.105367272e-04,3.344006082e-05,-6.899365640e-05,-5.093009683e-04,7.015775522e-01,-7.298543150e-05,8.402230912e-01,7.015718729e-01,-6.769811768e-05,8.402304045e-01,7.017628005e-01,-6.720705608e-05,8.290634517e-01
+12,4.450000000e+00,DOWN_FORCE_DETACH,1792046162904173878,4.471161024e-05,-7.915777742e-05,-5.617382699e-04,4.562139936e-05,-7.571741463e-05,-5.483531787e-04,4.532523635e-05,-7.547163719e-05,-5.473305083e-04,7.015825831e-01,-7.760681609e-05,8.401792029e-01,7.015834929e-01,-7.416645331e-05,8.401925880e-01,7.017746857e-01,-7.368503687e-05,8.290254222e-01
+13,4.933333333e+00,DOWN_FORCE_DETACH,1792046163802164826,5.421191444e-05,-7.500150588e-05,-6.079997134e-04,5.417140790e-05,-7.502150308e-05,-6.081917194e-04,5.395312976e-05,-7.479737760e-05,-6.069540309e-04,7.015920834e-01,-7.345054456e-05,8.401329415e-01,7.015920429e-01,-7.347054176e-05,8.401327495e-01,7.017833136e-01,-7.301077729e-05,8.289657986e-01
+14,5.450000000e+00,DOWN_FORCE_DETACH,1792046164800096864,6.053786088e-05,-8.313242805e-05,-6.702729224e-04,6.030287435e-05,-8.295093385e-05,-6.703666068e-04,6.012928163e-05,-8.269140298e-05,-6.689634891e-04,7.015984093e-01,-8.158146672e-05,8.400706683e-01,7.015981744e-01,-8.139997252e-05,8.400705746e-01,7.017894897e-01,-8.090480266e-05,8.289037892e-01
+15,5.983333333e+00,DOWN_FORCE_DETACH,1792046165801096735,6.450469879e-05,-8.660558188e-05,-7.188284053e-04,6.004908576e-05,-9.289685793e-05,-7.137854702e-04,5.983795145e-05,-9.261483043e-05,-7.124952335e-04,7.016023762e-01,-8.505462056e-05,8.400221128e-01,7.015979206e-01,-9.134589661e-05,8.400271557e-01,7.017891984e-01,-9.082823011e-05,8.288602574e-01
+16,6.416666667e+00,DOWN_FORCE_DETACH,1792046166632623168,6.450061434e-05,-9.963630138e-05,-7.604822073e-04,6.423395477e-05,-9.196548623e-05,-7.563490721e-04,6.400069733e-05,-9.172280639e-05,-7.549933594e-04,7.016023721e-01,-9.808534006e-05,8.399804590e-01,7.016021054e-01,-9.041452491e-05,8.399845921e-01,7.017933611e-01,-8.993620608e-05,8.288177593e-01
+17,6.866666667e+00,DOWN_FORCE_DETACH,1792046167528465678,6.737277829e-05,-1.036067846e-04,-8.026984156e-04,6.723511877e-05,-9.749602009e-05,-7.939673635e-04,6.701679884e-05,-9.718636207e-05,-7.926257220e-04,7.016052443e-01,-1.020558233e-04,8.399382428e-01,7.016051066e-01,-9.594505877e-05,8.399469738e-01,7.017963772e-01,-9.539976176e-05,8.287801269e-01
+18,7.300000000e+00,DOWN_FORCE_DETACH,1792046168394060644,7.332801877e-05,-1.020203228e-04,-8.462771694e-04,7.253603967e-05,-1.122223283e-04,-8.444576059e-04,7.228173174e-05,-1.118741237e-04,-8.430662232e-04,7.016111995e-01,-1.004693615e-04,8.398946640e-01,7.016104075e-01,-1.106713670e-04,8.398964836e-01,7.018016422e-01,-1.100875234e-04,8.287296864e-01
+19,7.883333333e+00,DOWN_FORCE_DETACH,1792046169556455903,7.526906703e-05,-1.138756440e-04,-9.206567899e-04,7.539579209e-05,-1.083582150e-04,-9.059323666e-04,7.502528920e-05,-1.079933136e-04,-9.045818789e-04,7.016131405e-01,-1.123246827e-04,8.398202844e-01,7.016132673e-01,-1.068072536e-04,8.398350088e-01,7.018043857e-01,-1.062067133e-04,8.286681708e-01
+20,8.350000000e+00,DOWN_FORCE_DETACH,1792046170624124991,8.434502191e-05,-1.155442997e-04,-9.809432960e-04,7.902207286e-05,-1.151562536e-04,-9.682992630e-04,7.853424372e-05,-1.147866753e-04,-9.669289623e-04,7.016222165e-01,-1.139933384e-04,8.397599979e-01,7.016168936e-01,-1.136052923e-04,8.397726419e-01,7.018078947e-01,-1.130000750e-04,8.286058237e-01
+21,8.800000000e+00,DOWN_FORCE_DETACH,1792046171486127143,8.444237505e-05,-1.169746985e-04,-1.043378710e-03,8.060369081e-05,-1.181464199e-04,-1.033119377e-03,7.995674171e-05,-1.177471693e-04,-1.031677028e-03,7.016223139e-01,-1.154237372e-04,8.396975625e-01,7.016184752e-01,-1.165954586e-04,8.397078218e-01,7.018093172e-01,-1.159605689e-04,8.285410756e-01
+22,9.283333333e+00,DOWN_FORCE_DETACH,1792046172420023870,9.053135718e-05,-1.153625739e-04,-1.103677111e-03,8.586173134e-05,-1.196752614e-04,-1.100427992e-03,8.507808237e-05,-1.192777316e-04,-1.098949061e-03,7.016284028e-01,-1.138116126e-04,8.396372641e-01,7.016237332e-01,-1.181243001e-04,8.396405132e-01,7.018144385e-01,-1.174911312e-04,8.284738036e-01
+23,9.816666667e+00,DOWN_FORCE_DETACH,1792046173416144662,9.132343772e-05,-1.277217221e-04,-1.179713450e-03,9.215973853e-05,-1.251834296e-04,-1.163735538e-03,9.131331537e-05,-1.247909211e-04,-1.162307742e-03,7.016291949e-01,-1.261707608e-04,8.395612277e-01,7.016300312e-01,-1.236324683e-04,8.395772057e-01,7.018206738e-01,-1.230043207e-04,8.284104449e-01
+24,1.015000000e+01,DOWN_FORCE_DETACH,1792046174048026908,9.437272056e-05,-1.195460452e-04,-1.225937382e-03,8.942110874e-05,-1.239664735e-04,-1.208179400e-03,8.832222294e-05,-1.235632504e-04,-1.206788868e-03,7.016322442e-01,-1.179950839e-04,8.395150038e-01,7.016272926e-01,-1.224155122e-04,8.395327618e-01,7.018176827e-01,-1.217766501e-04,8.283659638e-01
+25,1.038333333e+01,DOWN_FORCE_DETACH,1792046174512123932,9.998100987e-05,-1.247877109e-04,-1.255241396e-03,9.681993032e-05,-1.184036836e-04,-1.245538247e-03,9.573868974e-05,-1.180306824e-04,-1.244050709e-03,7.016378525e-01,-1.232367495e-04,8.394856998e-01,7.016346914e-01,-1.168527223e-04,8.394954029e-01,7.018250991e-01,-1.162440821e-04,8.283287020e-01
+26,1.078333333e+01,DOWN_FORCE_DETACH,1792046175280231653,1.013449554e-04,-1.280856074e-04,-1.321744350e-03,9.834014335e-05,-1.274977186e-04,-1.314832683e-03,9.700458978e-05,-1.271134871e-04,-1.313162352e-03,7.016392164e-01,-1.265346461e-04,8.394191968e-01,7.016362116e-01,-1.259467573e-04,8.394261085e-01,7.018263650e-01,-1.253268868e-04,8.282595903e-01
+27,1.121666667e+01,DOWN_FORCE_DETACH,1792046176144300774,1.041791913e-04,-1.245022011e-04,-1.397971428e-03,9.995899355e-05,-1.321357593e-04,-1.387704729e-03,9.840543175e-05,-1.317492052e-04,-1.385948587e-03,7.016420507e-01,-1.229512397e-04,8.393429698e-01,7.016378305e-01,-1.305847980e-04,8.393532365e-01,7.018277659e-01,-1.299626049e-04,8.281868041e-01
+28,1.161666667e+01,DOWN_FORCE_DETACH,1792046176945304673,1.064841909e-04,-1.311626653e-04,-1.470502982e-03,1.046517828e-04,-1.344904690e-04,-1.451078859e-03,1.030053613e-04,-1.340592599e-04,-1.449299505e-03,7.016443557e-01,-1.296117039e-04,8.392704382e-01,7.016425233e-01,-1.329395076e-04,8.392898623e-01,7.018323658e-01,-1.322726596e-04,8.281234532e-01
+29,1.200000000e+01,DOWN_FORCE_DETACH,1792046177708129746,1.056881941e-04,-1.345060281e-04,-1.554530422e-03,1.049454668e-04,-1.310083156e-04,-1.546620013e-03,1.029600710e-04,-1.306230061e-04,-1.544406913e-03,7.016435597e-01,-1.329550668e-04,8.391864108e-01,7.016428169e-01,-1.294573543e-04,8.391943212e-01,7.018323205e-01,-1.288364058e-04,8.280283458e-01
+30,1.233333333e+01,DOWN_FORCE_DETACH,1792046178372078923,1.060122661e-04,-1.314546881e-04,-1.635332227e-03,1.051710364e-04,-1.373798520e-04,-1.628146045e-03,1.028633369e-04,-1.369601539e-04,-1.625761805e-03,7.016438837e-01,-1.299037268e-04,8.391056090e-01,7.016430425e-01,-1.358288907e-04,8.391127951e-01,7.018322238e-01,-1.351735536e-04,8.279469909e-01
+31,1.271666667e+01,DOWN_FORCE_DETACH,1792046179071991514,1.051084327e-04,-1.438181274e-04,-1.736018584e-03,1.010958666e-04,-1.398509215e-04,-1.720844325e-03,9.840394534e-05,-1.394048391e-04,-1.718291828e-03,7.016429799e-01,-1.422671661e-04,8.390049226e-01,7.016389673e-01,-1.382999602e-04,8.390200969e-01,7.018277644e-01,-1.376182388e-04,8.278544608e-01
+32,1.300000000e+01,DOWN_FORCE_DETACH,1792046179636199825,1.048276453e-04,-1.469496016e-04,-1.823560707e-03,1.045314048e-04,-1.427495846e-04,-1.805992184e-03,1.015691394e-04,-1.422844155e-04,-1.803225469e-03,7.016426991e-01,-1.453986403e-04,8.389173805e-01,7.016424029e-01,-1.411986233e-04,8.389349490e-01,7.018309296e-01,-1.404978152e-04,8.277695272e-01
+33,1.331666667e+01,DOWN_FORCE_DETACH,1792046180236016996,1.061255077e-04,-1.433778809e-04,-1.925328277e-03,1.020492423e-04,-1.399492675e-04,-1.919139886e-03,9.856704865e-05,-1.394759753e-04,-1.916056192e-03,7.016439970e-01,-1.418269196e-04,8.388156129e-01,7.016399207e-01,-1.383983062e-04,8.388218013e-01,7.018279275e-01,-1.376893750e-04,8.276566965e-01
+34,1.365000000e+01,DOWN_FORCE_DETACH,1792046180869055630,1.038183465e-04,-1.456418606e-04,-2.045786642e-03,1.023411905e-04,-1.479963865e-04,-2.034717632e-03,9.847030046e-05,-1.474651153e-04,-2.031376035e-03,7.016416898e-01,-1.440908992e-04,8.386951545e-01,7.016402127e-01,-1.464454252e-04,8.387062236e-01,7.018278307e-01,-1.456785150e-04,8.275413766e-01
+35,1.398333333e+01,DOWN_FORCE_DETACH,1792046181500142105,1.058604949e-04,-1.408341190e-04,-2.166849225e-03,1.046534475e-04,-1.434890345e-04,-2.159829153e-03,1.003928274e-04,-1.429641538e-04,-2.156294346e-03,7.016437320e-01,-1.392831577e-04,8.385740920e-01,7.016425249e-01,-1.419380732e-04,8.385811120e-01,7.018297533e-01,-1.411775534e-04,8.274164583e-01
+36,1.423333333e+01,DOWN_FORCE_DETACH,1792046181966062564,1.040501826e-04,-1.436899001e-04,-2.266158308e-03,1.036607716e-04,-1.437701506e-04,-2.266169473e-03,9.900901412e-05,-1.432770098e-04,-2.262344378e-03,7.016419217e-01,-1.421389388e-04,8.384747829e-01,7.016415323e-01,-1.422191892e-04,8.384747717e-01,7.018283695e-01,-1.414904095e-04,8.273104083e-01
+37,1.451666667e+01,DOWN_FORCE_DETACH,1792046182496138327,1.054850511e-04,-1.374154517e-04,-2.382776116e-03,1.052679379e-04,-1.372184352e-04,-2.382635909e-03,1.002501756e-04,-1.367581578e-04,-2.378632552e-03,7.016433565e-01,-1.358644904e-04,8.383581651e-01,7.016431394e-01,-1.356674739e-04,8.383583053e-01,7.018296106e-01,-1.349715575e-04,8.271941201e-01
+38,1.478333333e+01,DOWN_FORCE_DETACH,1792046182996114454,1.044171420e-04,-1.382199166e-04,-2.506648294e-03,1.019763305e-04,-1.391409243e-04,-2.501689092e-03,9.647947740e-05,-1.386584354e-04,-2.497501867e-03,7.016422886e-01,-1.366689553e-04,8.382342929e-01,7.016398478e-01,-1.375899629e-04,8.382392521e-01,7.018258399e-01,-1.368718351e-04,8.270752508e-01
+39,1.500000000e+01,DOWN_FORCE_DETACH,1792046183430210905,1.017872181e-04,-1.395020913e-04,-2.624879915e-03,1.016621560e-04,-1.393794893e-04,-2.624605555e-03,9.574981669e-05,-1.388377061e-04,-2.620003792e-03,7.016396587e-01,-1.379511299e-04,8.381160613e-01,7.016395336e-01,-1.378285280e-04,8.381163356e-01,7.018251103e-01,-1.370511058e-04,8.269527489e-01
+40,1.521666667e+01,DOWN_FORCE_DETACH,1792046183860836231,1.023686009e-04,-1.479299855e-04,-2.738416011e-03,1.022274404e-04,-1.478919323e-04,-2.738272521e-03,9.592210090e-05,-1.472827552e-04,-2.733519466e-03,7.016402401e-01,-1.463790242e-04,8.380025252e-01,7.016400989e-01,-1.463409710e-04,8.380026687e-01,7.018252825e-01,-1.454961548e-04,8.268392332e-01
+41,1.543333333e+01,DOWN_FORCE_DETACH,1792046184294036028,1.033520964e-04,-1.404252018e-04,-2.856212943e-03,1.032796892e-04,-1.408453490e-04,-2.855874131e-03,9.656186706e-05,-1.402664800e-04,-2.850967686e-03,7.016412236e-01,-1.388742405e-04,8.378847282e-01,7.016411512e-01,-1.392943876e-04,8.378850671e-01,7.018259223e-01,-1.384798797e-04,8.267217850e-01
+42,1.558333333e+01,DOWN_FORCE_DETACH,1792046184592096917,9.726293618e-05,-1.400346585e-04,-2.965811932e-03,9.264069180e-05,-1.404878507e-04,-2.950687249e-03,8.542014806e-05,-1.399157764e-04,-2.945618252e-03,7.016351344e-01,-1.384836972e-04,8.377751293e-01,7.016305122e-01,-1.389368894e-04,8.377902539e-01,7.018147806e-01,-1.381291761e-04,8.266271344e-01
+43,1.575000000e+01,DOWN_FORCE_DETACH,1792046184924151370,9.536445396e-05,-1.496074216e-04,-3.071137335e-03,9.448001037e-05,-1.535082970e-04,-3.053256154e-03,8.691598321e-05,-1.529137280e-04,-3.048060404e-03,7.016332359e-01,-1.480564602e-04,8.376698039e-01,7.016323515e-01,-1.519573356e-04,8.376876850e-01,7.018162764e-01,-1.511271276e-04,8.265246923e-01
+44,1.595000000e+01,DOWN_FORCE_DETACH,1792046185323940895,9.625945490e-05,-1.498892662e-04,-3.197781325e-03,9.487106074e-05,-1.514549332e-04,-3.189406098e-03,8.676812614e-05,-1.509331781e-04,-3.183896292e-03,7.016341309e-01,-1.483383049e-04,8.375431599e-01,7.016327425e-01,-1.499039719e-04,8.375515351e-01,7.018161286e-01,-1.491465778e-04,8.263888564e-01
+45,1.613333333e+01,DOWN_FORCE_DETACH,1792046185690208241,9.906649469e-05,-1.572895742e-04,-3.317477562e-03,9.292311538e-05,-1.511208198e-04,-3.312387335e-03,8.433780934e-05,-1.505699832e-04,-3.306713301e-03,7.016369380e-01,-1.557386129e-04,8.374234636e-01,7.016307946e-01,-1.495698585e-04,8.374285539e-01,7.018136983e-01,-1.487833829e-04,8.262660394e-01
+46,1.631666667e+01,DOWN_FORCE_DETACH,1792046186056023895,9.521526469e-05,-1.632855037e-04,-3.449740904e-03,9.499737458e-05,-1.633346783e-04,-3.449543098e-03,8.586242056e-05,-1.627496059e-04,-3.443531871e-03,7.016330867e-01,-1.617345423e-04,8.372912003e-01,7.016328689e-01,-1.617837170e-04,8.372913981e-01,7.018152229e-01,-1.609630056e-04,8.261292208e-01
+47,1.650000000e+01,DOWN_FORCE_DETACH,1792046186422276600,9.556354864e-05,-1.597555709e-04,-3.587527443e-03,9.546840840e-05,-1.598042523e-04,-3.587243809e-03,8.586736581e-05,-1.591521788e-04,-3.580988580e-03,7.016334350e-01,-1.582046095e-04,8.371534137e-01,7.016333399e-01,-1.582532910e-04,8.371536974e-01,7.018152278e-01,-1.573655785e-04,8.259917641e-01
+48,1.670000000e+01,DOWN_FORCE_DETACH,1792046186788161786,9.233549266e-05,-1.676160902e-04,-3.729267442e-03,9.492222916e-05,-1.585519724e-04,-3.717254415e-03,8.481088913e-05,-1.578849075e-04,-3.710983286e-03,7.016302070e-01,-1.660651289e-04,8.370116737e-01,7.016327937e-01,-1.570010111e-04,8.370236868e-01,7.018141713e-01,-1.560983072e-04,8.258617694e-01
+49,1.683333333e+01,DOWN_FORCE_DETACH,1792046187054580047,9.240110780e-05,-1.606211356e-04,-3.843758353e-03,9.229220098e-05,-1.607590842e-04,-3.843338545e-03,8.165202501e-05,-1.600497689e-04,-3.836737242e-03,7.016302726e-01,-1.590701743e-04,8.368971828e-01,7.016301637e-01,-1.592081228e-04,8.368976026e-01,7.018110125e-01,-1.582631686e-04,8.257360154e-01
+50,1.698333333e+01,DOWN_FORCE_DETACH,1792046187352220993,9.909853635e-05,-1.662326419e-04,-3.961290044e-03,9.622959786e-05,-1.702232598e-04,-3.948937607e-03,8.522249147e-05,-1.695455909e-04,-3.942362307e-03,7.016369700e-01,-1.646816806e-04,8.367796511e-01,7.016341011e-01,-1.686722985e-04,8.367920036e-01,7.018145829e-01,-1.677589906e-04,8.256303904e-01
+51,1.715000000e+01,DOWN_FORCE_DETACH,1792046187652136182,9.628538356e-05,-1.711208982e-04,-4.096277324e-03,9.804041993e-05,-1.703043721e-04,-4.081262187e-03,8.661893222e-05,-1.696500304e-04,-4.074700233e-03,7.016341569e-01,-1.695699368e-04,8.366446639e-01,7.016359119e-01,-1.687534108e-04,8.366596790e-01,7.018159794e-01,-1.678634301e-04,8.254980524e-01
+52,1.730000000e+01,DOWN_FORCE_DETACH,1792046187952132309,8.987906430e-05,-1.799976449e-04,-4.239272434e-03,8.972886614e-05,-1.799338696e-04,-4.238739066e-03,7.768128412e-05,-1.792290221e-04,-4.231695760e-03,7.016277505e-01,-1.784466836e-04,8.365016688e-01,7.016276003e-01,-1.783829083e-04,8.365022021e-01,7.018070417e-01,-1.774424218e-04,8.253410569e-01
+53,1.746666667e+01,DOWN_FORCE_DETACH,1792046188252493520,8.398317162e-05,-1.786184904e-04,-4.381320667e-03,8.390354885e-05,-1.786065007e-04,-4.381117730e-03,7.123538493e-05,-1.779055722e-04,-4.373857404e-03,7.016218547e-01,-1.770675290e-04,8.363596205e-01,7.016217750e-01,-1.770555394e-04,8.363598235e-01,7.018005958e-01,-1.761189719e-04,8.251988953e-01
+54,1.760000000e+01,DOWN_FORCE_DETACH,1792046188518120972,7.522777695e-05,-1.865864542e-04,-4.516589121e-03,7.534088008e-05,-1.866538244e-04,-4.516290325e-03,6.200389275e-05,-1.858208401e-04,-4.508864115e-03,7.016130993e-01,-1.850354929e-04,8.362243521e-01,7.016132124e-01,-1.851028631e-04,8.362246509e-01,7.017913643e-01,-1.840342398e-04,8.250638886e-01
+55,1.775000000e+01,DOWN_FORCE_DETACH,1792046188784135548,9.586549329e-05,-1.906392175e-04,-4.631392585e-03,9.571631715e-05,-1.904558020e-04,-4.631475988e-03,8.234738028e-05,-1.896313162e-04,-4.624221480e-03,7.016337370e-01,-1.890882562e-04,8.361095486e-01,7.016335878e-01,-1.889048406e-04,8.361094652e-01,7.018117078e-01,-1.878447158e-04,8.249485312e-01
+56,1.788333333e+01,DOWN_FORCE_DETACH,1792046189051979740,9.098467483e-05,-2.006681142e-04,-4.764482222e-03,8.958253826e-05,-1.919574593e-04,-4.750953665e-03,7.568247395e-05,-1.911814776e-04,-4.743655018e-03,7.016288562e-01,-1.991171529e-04,8.359764590e-01,7.016274540e-01,-1.904064979e-04,8.359899875e-01,7.018050429e-01,-1.893948773e-04,8.248290977e-01
+57,1.803333333e+01,DOWN_FORCE_DETACH,1792046189320189668,1.022503379e-04,-1.918334833e-04,-4.896991675e-03,1.004229834e-04,-1.799490546e-04,-4.882223993e-03,8.627182184e-05,-1.792556601e-04,-4.874947890e-03,7.016401218e-01,-1.902825220e-04,8.358439495e-01,7.016382945e-01,-1.783980933e-04,8.358587172e-01,7.018156323e-01,-1.774690598e-04,8.246978048e-01
+58,1.816666667e+01,DOWN_SETTLE,1792046189582392813,9.502499582e-05,-1.964189940e-04,-5.037569409e-03,9.302373456e-05,-1.921700475e-04,-5.028961410e-03,7.817546752e-05,-1.914249217e-04,-5.021422549e-03,7.016328965e-01,-1.948680327e-04,8.357033718e-01,7.016308952e-01,-1.906190862e-04,8.357119798e-01,7.018075359e-01,-1.896383214e-04,8.245513301e-01
+59,1.835000000e+01,DOWN_SETTLE,1792046189916270004,8.479794523e-05,-1.993958117e-04,-5.106983832e-03,8.561464326e-05,-1.809952521e-04,-5.105982492e-03,7.036720418e-05,-1.802129747e-04,-5.099305818e-03,7.016226694e-01,-1.978448504e-04,8.356339574e-01,7.016234861e-01,-1.794442908e-04,8.356349587e-01,7.017997277e-01,-1.784263744e-04,8.244734469e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41edf5724b127c185450fc4445d35e63f4f5840b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-5.8166e-03,2.4032e-03,2.4559e+00,-3.6966e-02,3.6368e-02,-1.9770e-05,2.6483e-04,-1.5355e-06,3.7193e-05,4.0978e-08,1.8612e-05,-8.2815e-08,2.6744e-04,1.8612e-05
+1,3.1667e-01,DOWN_FORCE_DETACH,1.4877e-04,-1.3759e-03,2.3434e-03,2.4566e+00,-3.6962e-02,3.6680e-02,-2.1486e-05,4.7055e-03,-6.1411e-05,7.6866e-04,4.1500e-06,3.3065e-04,-1.7985e-06,4.7683e-03,3.3068e-04
+2,6.0000e-01,DOWN_FORCE_DETACH,2.9254e-04,1.8178e-03,2.2822e-03,2.4573e+00,-3.6957e-02,3.6905e-02,-2.3200e-05,7.8993e-03,-1.2256e-04,1.3809e-03,9.6038e-06,5.5526e-04,-3.5122e-06,8.0200e-03,5.5536e-04
+3,1.1167e+00,DOWN_FORCE_DETACH,4.3874e-04,8.4344e-03,1.3894e-02,2.4936e+00,-3.7763e-02,3.7350e-02,-1.6065e-05,1.4516e-02,1.1489e-02,3.7738e-02,-7.9715e-04,1.0011e-03,3.6224e-06,4.2034e-02,1.2797e-03
+4,1.4167e+00,DOWN_FORCE_DETACH,5.8566e-04,6.8093e-03,2.1778e-02,2.5104e+00,-3.8309e-02,3.7226e-02,-1.1762e-05,1.2891e-02,1.9373e-02,5.4488e-02,-1.3423e-03,8.7651e-04,7.9250e-06,5.9249e-02,1.6032e-03
+5,1.7667e+00,DOWN_FORCE_DETACH,7.3886e-04,9.4271e-03,1.8811e-02,2.5374e+00,-3.8095e-02,3.7393e-02,-1.3341e-05,1.5509e-02,1.6406e-02,8.1497e-02,-1.1286e-03,1.0432e-03,6.3466e-06,8.4566e-02,1.5369e-03
+6,2.2000e+00,DOWN_FORCE_DETACH,8.8478e-04,1.1344e-02,2.9085e-02,2.5626e+00,-3.8800e-02,3.7515e-02,-1.7917e-06,1.7425e-02,2.6680e-02,1.0669e-01,-1.8335e-03,1.1652e-03,1.7896e-05,1.1135e-01,2.1725e-03
+7,2.4333e+00,DOWN_FORCE_DETACH,1.0265e-03,1.1951e-02,2.9383e-02,2.5695e+00,-3.8813e-02,3.7556e-02,1.3876e-06,1.8033e-02,2.6978e-02,1.1358e-01,-1.8468e-03,1.2064e-03,2.1075e-05,1.1813e-01,2.2060e-03
+8,2.6833e+00,DOWN_FORCE_DETACH,1.1716e-03,1.1836e-02,3.4764e-02,2.5664e+00,-3.9181e-02,3.7555e-02,1.0326e-05,1.7918e-02,3.2359e-02,1.1055e-01,-2.2149e-03,1.2055e-03,3.0013e-05,1.1657e-01,2.5219e-03
+9,3.1167e+00,DOWN_FORCE_DETACH,1.3238e-03,8.2699e-03,3.9259e-02,2.5586e+00,-3.9482e-02,3.7320e-02,2.1763e-05,1.4351e-02,3.6854e-02,1.0275e-01,-2.5158e-03,9.7066e-04,4.1450e-05,1.1010e-01,2.6969e-03
+10,3.4667e+00,DOWN_FORCE_DETACH,1.4681e-03,1.1346e-02,3.6070e-02,2.5401e+00,-3.9258e-02,3.7557e-02,2.0379e-05,1.7428e-02,3.3665e-02,8.4210e-02,-2.2915e-03,1.2079e-03,4.0066e-05,9.2349e-02,2.5907e-03
+11,3.8667e+00,DOWN_FORCE_DETACH,1.6162e-03,1.1016e-02,3.5864e-02,2.5206e+00,-3.9250e-02,3.7555e-02,1.6909e-05,1.7097e-02,3.3459e-02,6.4701e-02,-2.2834e-03,1.2058e-03,3.6596e-05,7.4820e-02,2.5825e-03
+12,4.4500e+00,DOWN_FORCE_DETACH,1.7613e-03,1.3897e-02,3.8065e-02,2.5104e+00,-3.9413e-02,3.7774e-02,7.8225e-06,1.9978e-02,3.5660e-02,5.4532e-02,-2.4471e-03,1.4242e-03,2.7510e-05,6.8151e-02,2.8315e-03
+13,4.9333e+00,DOWN_FORCE_DETACH,1.9083e-03,1.7683e-02,3.6324e-02,2.5074e+00,-3.9300e-02,3.8045e-02,-3.2595e-06,2.3765e-02,3.3919e-02,5.1557e-02,-2.3338e-03,1.6954e-03,1.6428e-05,6.6132e-02,2.8846e-03
+14,5.4500e+00,DOWN_FORCE_DETACH,2.0567e-03,2.0640e-02,3.9825e-02,2.5165e+00,-3.9540e-02,3.8249e-02,-8.3249e-06,2.6721e-02,3.7420e-02,6.0619e-02,-2.5736e-03,1.8996e-03,1.1362e-05,7.6085e-02,3.1988e-03
+15,5.9833e+00,DOWN_FORCE_DETACH,2.2013e-03,2.3823e-02,4.5939e-02,2.5248e+00,-3.9956e-02,3.8467e-02,-8.6523e-06,2.9904e-02,4.3534e-02,6.8956e-02,-2.9893e-03,2.1176e-03,1.1035e-05,8.6859e-02,3.6633e-03
+16,6.4167e+00,DOWN_FORCE_DETACH,2.3522e-03,2.5280e-02,4.5265e-02,2.5284e+00,-3.9899e-02,3.8565e-02,-1.2608e-05,3.1362e-02,4.2861e-02,7.2528e-02,-2.9326e-03,2.2151e-03,7.0790e-06,8.9894e-02,3.6752e-03
+17,6.8667e+00,DOWN_FORCE_DETACH,2.4955e-03,2.6973e-02,4.8126e-02,2.5257e+00,-4.0087e-02,3.8678e-02,-1.3562e-05,3.3054e-02,4.5721e-02,6.9827e-02,-3.1205e-03,2.3284e-03,6.1253e-06,8.9771e-02,3.8935e-03
+18,7.3000e+00,DOWN_FORCE_DETACH,2.6410e-03,2.7253e-02,5.7082e-02,2.5300e+00,-4.0699e-02,3.8686e-02,-1.0823e-05,3.3334e-02,5.4677e-02,7.4073e-02,-3.7325e-03,2.3362e-03,8.8639e-06,9.7916e-02,4.4033e-03
+19,7.8833e+00,DOWN_FORCE_DETACH,2.7906e-03,2.9736e-02,5.4729e-02,2.5272e+00,-4.0524e-02,3.8843e-02,-2.1825e-05,3.5817e-02,5.2324e-02,7.1282e-02,-3.5581e-03,2.4937e-03,-2.1379e-06,9.5404e-02,4.3450e-03
+20,8.3500e+00,DOWN_FORCE_DETACH,2.9346e-03,3.0569e-02,5.8687e-02,2.5277e+00,-4.0795e-02,3.8884e-02,-3.0070e-05,3.6651e-02,5.6282e-02,7.1784e-02,-3.8287e-03,2.5345e-03,-1.0382e-05,9.8305e-02,4.5916e-03
+21,8.8000e+00,DOWN_FORCE_DETACH,3.0801e-03,3.1525e-02,6.0138e-02,2.5307e+00,-4.0897e-02,3.8934e-02,-4.0379e-05,3.7607e-02,5.7733e-02,7.4812e-02,-3.9311e-03,2.5850e-03,-2.0692e-05,1.0171e-01,4.7049e-03
+22,9.2833e+00,DOWN_FORCE_DETACH,3.2304e-03,3.0056e-02,6.0656e-02,2.5338e+00,-4.0939e-02,3.8820e-02,-4.6239e-05,3.6138e-02,5.8251e-02,7.7938e-02,-3.9729e-03,2.4705e-03,-2.6552e-05,1.0380e-01,4.6784e-03
+23,9.8167e+00,DOWN_FORCE_DETACH,3.3783e-03,2.7402e-02,6.2727e-02,2.5309e+00,-4.1092e-02,3.8633e-02,-4.2748e-05,3.3484e-02,6.0322e-02,7.4977e-02,-4.1257e-03,2.2836e-03,-2.3061e-05,1.0189e-01,4.7156e-03
+24,1.0150e+01,DOWN_FORCE_DETACH,3.5207e-03,2.8855e-02,6.1603e-02,2.5311e+00,-4.1019e-02,3.8735e-02,-4.0588e-05,3.4936e-02,5.9198e-02,7.5193e-02,-4.0530e-03,2.3855e-03,-2.0901e-05,1.0188e-01,4.7030e-03
+25,1.0383e+01,DOWN_FORCE_DETACH,3.6746e-03,2.5418e-02,5.8438e-02,2.5349e+00,-4.0802e-02,3.8493e-02,-3.8690e-05,3.1499e-02,5.6033e-02,7.8993e-02,-3.8355e-03,2.1434e-03,-1.9002e-05,1.0184e-01,4.3938e-03
+26,1.0783e+01,DOWN_FORCE_DETACH,3.8168e-03,2.5251e-02,6.2644e-02,2.5436e+00,-4.1093e-02,3.8476e-02,-2.7217e-05,3.1333e-02,6.0239e-02,8.7710e-02,-4.1268e-03,2.1266e-03,-7.5300e-06,1.1092e-01,4.6425e-03
+27,1.1217e+01,DOWN_FORCE_DETACH,3.9655e-03,2.5030e-02,6.4601e-02,2.5486e+00,-4.1223e-02,3.8455e-02,-1.9651e-05,3.1111e-02,6.2196e-02,9.2733e-02,-4.2566e-03,2.1060e-03,3.6162e-08,1.1591e-01,4.7491e-03
+28,1.1617e+01,DOWN_FORCE_DETACH,4.1114e-03,2.3362e-02,6.5814e-02,2.5509e+00,-4.1297e-02,3.8334e-02,-1.5709e-05,2.9444e-02,6.3410e-02,9.5020e-02,-4.3308e-03,1.9845e-03,3.9789e-06,1.1797e-01,4.7639e-03
+29,1.2000e+01,DOWN_FORCE_DETACH,4.2614e-03,2.3523e-02,6.4226e-02,2.5707e+00,-4.1166e-02,3.8327e-02,-1.8285e-05,2.9604e-02,6.1821e-02,1.1486e-01,-4.1998e-03,1.9773e-03,1.4022e-06,1.3376e-01,4.6420e-03
+30,1.2333e+01,DOWN_FORCE_DETACH,4.4051e-03,2.3302e-02,6.7244e-02,2.5830e+00,-4.1348e-02,3.8297e-02,-1.7680e-05,2.9383e-02,6.4840e-02,1.2715e-01,-4.3820e-03,1.9481e-03,2.0069e-06,1.4572e-01,4.7955e-03
+31,1.2717e+01,DOWN_FORCE_DETACH,4.5511e-03,2.4603e-02,6.8691e-02,2.5912e+00,-4.1408e-02,3.8379e-02,-2.1474e-05,3.0685e-02,6.6287e-02,1.3532e-01,-4.4417e-03,2.0298e-03,-1.7866e-06,1.5378e-01,4.8835e-03
+32,1.3000e+01,DOWN_FORCE_DETACH,4.7017e-03,2.2298e-02,7.0720e-02,2.6032e+00,-4.1512e-02,3.8215e-02,-2.1538e-05,2.8379e-02,6.8316e-02,1.4728e-01,-4.5453e-03,1.8659e-03,-1.8511e-06,1.6481e-01,4.9134e-03
+33,1.3317e+01,DOWN_FORCE_DETACH,4.8493e-03,2.3339e-02,6.9977e-02,2.6212e+00,-4.1422e-02,3.8288e-02,-2.0650e-05,2.9421e-02,6.7572e-02,1.6530e-01,-4.4554e-03,1.9388e-03,-9.6286e-07,1.8099e-01,4.8589e-03
+34,1.3650e+01,DOWN_FORCE_DETACH,4.9958e-03,2.3883e-02,7.5068e-02,2.6315e+00,-4.1744e-02,3.8333e-02,-1.1294e-05,2.9964e-02,7.2663e-02,1.7560e-01,-4.7773e-03,1.9839e-03,8.3934e-06,1.9239e-01,5.1728e-03
+35,1.3983e+01,DOWN_FORCE_DETACH,5.1417e-03,2.4007e-02,7.2287e-02,2.6436e+00,-4.1556e-02,3.8350e-02,-1.1992e-05,3.0089e-02,6.9882e-02,1.8775e-01,-4.5895e-03,2.0001e-03,7.6958e-06,2.0258e-01,5.0064e-03
+36,1.4233e+01,DOWN_FORCE_DETACH,5.2904e-03,2.4422e-02,7.0273e-02,2.6375e+00,-4.1432e-02,3.8384e-02,-1.6451e-05,3.0503e-02,6.7868e-02,1.8164e-01,-4.4653e-03,2.0345e-03,3.2362e-06,1.9629e-01,4.9070e-03
+37,1.4517e+01,DOWN_FORCE_DETACH,5.4372e-03,2.6151e-02,6.9695e-02,2.6532e+00,-4.1374e-02,3.8497e-02,-1.6676e-05,3.2232e-02,6.7290e-02,1.9736e-01,-4.4073e-03,2.1478e-03,3.0113e-06,2.1100e-01,4.9028e-03
+38,1.4783e+01,DOWN_FORCE_DETACH,5.5805e-03,3.0457e-02,6.9583e-02,2.6785e+00,-4.1317e-02,3.8778e-02,-1.3916e-05,3.6539e-02,6.7178e-02,2.2265e-01,-4.3511e-03,2.4283e-03,5.7713e-06,2.3542e-01,4.9828e-03
+39,1.5000e+01,DOWN_FORCE_DETACH,5.7247e-03,3.1654e-02,7.1113e-02,2.6809e+00,-4.1383e-02,3.8846e-02,-1.2094e-05,3.7736e-02,6.8708e-02,2.2504e-01,-4.4167e-03,2.4963e-03,7.5938e-06,2.3830e-01,5.0734e-03
+40,1.5217e+01,DOWN_FORCE_DETACH,5.8729e-03,3.3792e-02,7.4247e-02,2.6944e+00,-4.1576e-02,3.8966e-02,-1.7605e-05,3.9874e-02,7.1843e-02,2.3849e-01,-4.6097e-03,2.6169e-03,2.0822e-06,2.5225e-01,5.3007e-03
+41,1.5433e+01,DOWN_FORCE_DETACH,6.0218e-03,3.1999e-02,7.8519e-02,2.7044e+00,-4.1864e-02,3.8819e-02,-2.6161e-05,3.8080e-02,7.6114e-02,2.4851e-01,-4.8982e-03,2.4696e-03,-6.4736e-06,2.6268e-01,5.4856e-03
+42,1.5583e+01,DOWN_FORCE_DETACH,6.1638e-03,3.8041e-02,7.2546e-02,2.7241e+00,-4.1442e-02,3.9213e-02,-4.0047e-05,4.4122e-02,7.0141e-02,2.6823e-01,-4.4758e-03,2.8633e-03,-2.0359e-05,2.8073e-01,5.3133e-03
+43,1.5750e+01,DOWN_FORCE_DETACH,6.3129e-03,3.6170e-02,7.7994e-02,2.7334e+00,-4.1797e-02,3.9075e-02,-3.7006e-05,4.2251e-02,7.5589e-02,2.7755e-01,-4.8304e-03,2.7256e-03,-1.7319e-05,2.9074e-01,5.5463e-03
+44,1.5950e+01,DOWN_FORCE_DETACH,6.4608e-03,3.4849e-02,7.5261e-02,2.7502e+00,-4.1589e-02,3.8965e-02,-3.5552e-05,4.0931e-02,7.2856e-02,2.9430e-01,-4.6228e-03,2.6160e-03,-1.5865e-05,3.0593e-01,5.3116e-03
+45,1.6133e+01,DOWN_FORCE_DETACH,6.6069e-03,3.4654e-02,7.3639e-02,2.7609e+00,-4.1458e-02,3.8933e-02,-3.5706e-05,4.0736e-02,7.1235e-02,3.0500e-01,-4.4915e-03,2.5838e-03,-1.6019e-05,3.1585e-01,5.1817e-03
+46,1.6317e+01,DOWN_FORCE_DETACH,6.7500e-03,3.1802e-02,7.4871e-02,2.7636e+00,-4.1503e-02,3.8728e-02,-3.8918e-05,3.7884e-02,7.2466e-02,3.0768e-01,-4.5372e-03,2.3788e-03,-1.9230e-05,3.1836e-01,5.1230e-03
+47,1.6500e+01,DOWN_FORCE_DETACH,6.9000e-03,3.0219e-02,7.9464e-02,2.7719e+00,-4.1756e-02,3.8617e-02,-3.8558e-05,3.6300e-02,7.7059e-02,3.1607e-01,-4.7901e-03,2.2673e-03,-1.8870e-05,3.2735e-01,5.2997e-03
+48,1.6700e+01,DOWN_FORCE_DETACH,7.0521e-03,2.9204e-02,8.1179e-02,2.7880e+00,-4.1811e-02,3.8546e-02,-3.5435e-05,3.5285e-02,7.8775e-02,3.3212e-01,-4.8452e-03,2.1967e-03,-1.5747e-05,3.4316e-01,5.3199e-03
+49,1.6833e+01,DOWN_FORCE_DETACH,7.2014e-03,3.0420e-02,8.8949e-02,2.7980e+00,-4.2318e-02,3.8626e-02,-3.2779e-05,3.6502e-02,8.6545e-02,3.4209e-01,-5.3513e-03,2.2768e-03,-1.3092e-05,3.5475e-01,5.8155e-03
+50,1.6983e+01,DOWN_FORCE_DETACH,7.3480e-03,2.7364e-02,8.5833e-02,2.8044e+00,-4.2091e-02,3.8418e-02,-3.0132e-05,3.3445e-02,8.3428e-02,3.4848e-01,-5.1248e-03,2.0689e-03,-1.0445e-05,3.5989e-01,5.5266e-03
+51,1.7150e+01,DOWN_FORCE_DETACH,7.4885e-03,2.7727e-02,8.3889e-02,2.8087e+00,-4.1931e-02,3.8447e-02,-2.3290e-05,3.3809e-02,8.1484e-02,3.5283e-01,-4.9647e-03,2.0980e-03,-3.6030e-06,3.6369e-01,5.3898e-03
+52,1.7300e+01,DOWN_FORCE_DETACH,7.6353e-03,3.2064e-02,8.6941e-02,2.8098e+00,-4.2084e-02,3.8741e-02,-1.0823e-05,3.8145e-02,8.4537e-02,3.5395e-01,-5.1177e-03,2.3921e-03,8.8645e-06,3.6590e-01,5.6492e-03
+53,1.7467e+01,DOWN_FORCE_DETACH,7.7852e-03,3.6837e-02,9.5314e-02,2.8162e+00,-4.2590e-02,3.9056e-02,-3.2755e-06,4.2918e-02,9.2909e-02,3.6033e-01,-5.6241e-03,2.7063e-03,1.6412e-05,3.7458e-01,6.2414e-03
+54,1.7600e+01,DOWN_FORCE_DETACH,7.9423e-03,4.0572e-02,9.0648e-02,2.8297e+00,-4.2240e-02,3.9287e-02,-1.8894e-05,4.6654e-02,8.8243e-02,3.7381e-01,-5.2735e-03,2.9375e-03,7.9327e-07,3.8691e-01,6.0365e-03
+55,1.7750e+01,DOWN_FORCE_DETACH,8.0777e-03,2.9860e-02,9.6837e-02,2.8339e+00,-4.2625e-02,3.8550e-02,-2.6061e-05,3.5941e-02,9.4432e-02,3.7805e-01,-5.6584e-03,2.2011e-03,-6.3731e-06,3.9132e-01,6.0715e-03
+56,1.7883e+01,DOWN_FORCE_DETACH,8.2172e-03,3.4091e-02,9.6446e-02,2.8482e+00,-4.2581e-02,3.8811e-02,-3.1535e-05,4.0173e-02,9.4041e-02,3.9232e-01,-5.6147e-03,2.4616e-03,-1.1847e-05,4.0543e-01,6.1306e-03
+57,1.8033e+01,DOWN_FORCE_DETACH,8.3696e-03,2.9089e-02,8.7941e-02,2.8451e+00,-4.2001e-02,3.8464e-02,-3.0531e-05,3.5170e-02,8.5536e-02,3.8925e-01,-5.0350e-03,2.1143e-03,-1.0843e-05,4.0009e-01,5.4609e-03
+58,1.8167e+01,DOWN_SETTLE,8.5166e-03,3.2445e-02,9.2895e-02,2.8614e+00,-4.2303e-02,3.8680e-02,-2.8576e-05,3.8527e-02,9.0490e-02,4.0553e-01,-5.3367e-03,2.3308e-03,-8.8882e-06,4.1729e-01,5.8234e-03
+59,1.8350e+01,DOWN_SETTLE,8.6640e-03,3.3185e-02,8.9678e-02,2.8150e+00,-4.2056e-02,3.8752e-02,-3.8338e-05,3.9266e-02,8.7274e-02,3.5917e-01,-5.0899e-03,2.4026e-03,-1.8650e-05,3.7170e-01,5.6285e-03
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b8355c5ad6da00132501fc3d0ef6d356d869909c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43fe15bb65127106bf6f14fd6f664933d234d323ac9a1e2aa095f4831269789c
+size 10209280
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..078ce02736116d3dd4223c42e2f1be751f47ed02
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ee9746aab01e1820ae349ce3248c1a1992c537f9
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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+28201,1792046143879399263,18472585000000,1792046143871579308,UP_FORCE_RAMP,6,0.036,0.03601619601249695,0.6760156822341966,-0.004801056493284448,0.09076041968621232,0.999999980030822,9.920116572823856e-05,-0.00014513498823133934,-2.182163559902718e-05,0.6761,-0.0048,0.09100019299349932,1.0,0.0,0.0,0.0,0.0741688436503752,0.059120875262456435,0.030453229679984206,0.004195635266867375,-0.006165944683781106,-6.438239887541488e-05,0.14974382050359394,0.06555016488021119,-0.3118823284837174,0.0023219871022753073,-0.009085964966588962,-0.0019031959102240954,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7420584734605875,-0.048620183568901645,1.8679526323417839,-0.12551035965192134,-1.252343642392261,-0.0677288693562301,0.553278232287496,0.030453229679984206,-1.314674400054288,0.030453229679984206,0.05054655075996425,0,0,3.412953055535388e-06,6.700714630762256e-05
+28229,1792046144112397321,18472818000000,1792046144111567758,UP_FORCE_RAMP,6,0.036,0.036005035042762756,0.6760155852834142,-0.004802782719347774,0.09076249651437752,0.9999999804012223,9.680847344163514e-05,-0.00014423502772199112,-2.1559122361352812e-05,0.6761,-0.0048,0.09100193337728348,1.0,0.0,0.0,0.0,0.09226655381524991,0.081225395992692,0.028762340177259593,0.005296287192283238,-0.00720003208326876,-6.24963211981566e-05,0.16784153066846866,0.08765468561044676,-0.313573217986442,0.0034226390276911704,-0.010120052366076616,-0.0019013098325468371,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7345719482357445,-0.025191179762537378,1.9843993729616272,-0.1294737015487235,-1.3272048738091649,-0.05330621880222864,0.553278232287496,0.028762340177259593,-1.431121140674131,0.028762340177259593,0.0715165507599649,0,0,1.1806606646540213e-05,8.836019002445567e-05
+28261,1792046144379380773,18473085000000,1792046144371578612,UP_FORCE_RAMP,6,0.036,0.036000438034534454,0.6760152747555224,-0.0048058106506114785,0.0907600197514069,0.9999999801938103,9.533967396139325e-05,-0.00014690274504651168,-1.9625838374360423e-05,0.6761,-0.0048,0.09100681057083343,1.0,0.0,0.0,0.0,0.10835475890879061,0.08455258276874235,0.023169111930079034,0.006327636313631146,-0.008230388013715834,-6.22349762870848e-05,0.18392973576200936,0.0909818723864971,-0.31916644623362256,0.0044539881490390796,-0.01115040829652369,-0.0019010484876357653,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7244369899928205,0.00966279157154769,1.8243915294310729,-0.14356594319630042,-1.220500880887536,-0.033945759423863284,0.553278232287496,0.023169111930079034,-1.271113297143577,0.023169111930079034,0.0955465507599667,0,0,2.4728966190072594e-05,9.999999025923074e-05
+28281,1792046144546309322,18473252000000,1792046144543568495,UP_FORCE_RAMP,6,0.036,0.036000438034534454,0.6760160570148335,-0.0048060234751079196,0.09076271403383959,0.9999999801983943,9.771119528128885e-05,-0.00014536959006766382,-1.9138440041557526e-05,0.6761,-0.0048,0.09101163335805053,1.0,0.0,0.0,0.0,0.11057996942630734,0.10465204419174662,0.02280401600022003,0.006347342197580631,-0.008233572000594717,-6.156855754934449e-05,0.18615494627952608,0.11108133380950137,-0.31953154216348156,0.004473694032988564,-0.011153592283402573,-0.001900382068898025,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7439237344400534,0.09080360719921633,1.9706914637557198,-0.15262442651267524,-1.316609930144966,0.023678180886747266,0.553278232287496,0.02280401600022003,-1.417413231468224,0.02280401600022003,0.11057655075996782,0,0,3.307896456336413e-05,9.999999025923074e-05
+28293,1792046144646381768,18473352000000,1792046144639577538,UP_FORCE_RAMP,6,0.036,0.036001093685626984,0.676016086237181,-0.0048051835632674025,0.0907648558292985,0.9999999803571549,9.665854490002826e-05,-0.00014468815578533854,-2.1237174803853013e-05,0.6761,-0.0048,0.09101518875445767,1.0,0.0,0.0,0.0,0.11965703513393612,0.10307585774081619,0.01573897329818197,0.007103831911962828,-0.009263130699858105,-5.8756193783516446e-05,0.19523201198715487,0.10950514735857095,-0.3265965848655196,0.005230183747370761,-0.012183150982665961,-0.001897569705132197,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7722668965421455,0.039802729295865986,1.960941563812843,-0.14220835163097467,-1.3154728953758865,-0.01451564366137632,0.553278232287496,0.01573897329818197,-1.407663331525347,0.01573897329818197,0.1195765507599685,0,0,3.80789635892872e-05,9.999999025923074e-05
+28312,1792046144804416286,18473510000000,1792046144803579409,UP_FORCE_RAMP,6,0.036,0.03600174933671951,0.6760143721235687,-0.004808475406879739,0.0907673043848251,0.9999999799140811,9.501819755817935e-05,-0.00014876895200897263,-2.13082814801184e-05,0.6761,-0.0048,0.09102182538058243,1.0,0.0,0.0,0.0,0.1198212423000405,0.11662541314705639,0.013682242139454848,0.0073978822171814045,-0.009264677672650604,-5.726304878157567e-05,0.19539621915325925,0.12305470276481115,-0.32865331602424674,0.005524234052589337,-0.01218469795545846,-0.0018960765601302562,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.766325118045234,0.030237095526265283,2.0216657912262876,-0.1275588837346329,-1.3563061301626536,-0.014305699667176878,0.553278232287496,0.013682242139454848,-1.4683875589387916,0.013682242139454848,0.13379655075996955,0,0,4.597896205024566e-05,9.999999025923074e-05
+28333,1792046144979395114,18473685000000,1792046144975577707,UP_FORCE_RAMP,6,0.036,0.03600174933671951,0.6760133449827104,-0.004806766117986086,0.09077018746385168,0.9999999797249741,9.318314549735725e-05,-0.00015080117217053886,-2.3850025843760143e-05,0.6761,-0.0048,0.09103063294879121,1.0,0.0,0.0,0.0,0.12491211462462994,0.10799354026477018,0.0037030703234871565,0.007422222153774393,-0.01013963214055646,-3.597254153199503e-05,0.20048709147784868,0.11442282988252493,-0.33863248784021444,0.005548573989182326,-0.013059652423364316,-0.0018747860528806756,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.8015105120215179,0.08970379590149698,2.014047775523862,-0.1529574250224684,-1.3567122916876169,0.023409387123244627,0.553278232287496,0.0037030703234871565,-1.460769543236366,0.0037030703234871565,0.14954655075997073,0,0,5.472896034561104e-05,9.999999025923074e-05
+28345,1792046145079369035,18473785000000,1792046145071574809,UP_FORCE_RAMP,6,0.036,0.03600174933671951,0.6760146962182326,-0.0048067865878518145,0.09077532249458431,0.999999980143003,9.177923097554547e-05,-0.00014893749735130684,-2.3474509780540798e-05,0.6761,-0.0048,0.09103635334477658,1.0,0.0,0.0,0.0,0.1285386534803284,0.11950184783026783,0.0041054055732053785,0.00844788794734322,-0.010294000349016015,-4.7525669454313467e-05,0.20411363033354715,0.1259311374480226,-0.3382301525904962,0.006574239782751154,-0.013214020631823871,-0.001886339180802994,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7805484565634955,0.020340244196522424,1.9917530223503361,-0.13323380961547376,-1.3364248085063162,-0.023083521848936122,0.553278232287496,0.0041054055732053785,-1.4384747900628403,0.0041054055732053785,0.1585465507599714,0,0,5.9728959371534114e-05,9.999999025923074e-05
+28354,1792046145154397708,18473860000000,1792046145147577489,UP_FORCE_RAMP,6,0.036,0.03600174933671951,0.6760125953538759,-0.004812862470615186,0.09077899176229308,0.9999999798687472,9.075378448212149e-05,-0.0001516011545340748,-2.2050175784251078e-05,0.6761,-0.0048,0.09104097176670169,1.0,0.0,0.0,0.0,0.1318663629539944,0.11914492987871399,-0.00592632423912709,0.008448933293598982,-0.010292699595897223,-4.4418094449783776e-05,0.20744133980721313,0.12557421949646874,-0.3482618824028287,0.0065752851290069156,-0.013212719878705079,-0.0018832316057984643,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.7947367237041038,0.21528359927532872,1.9646543910769887,-0.18405047361752455,-1.3236835380165464,0.10859566775652699,0.553278232287496,0.00592632423912709,-1.4113761587894929,0.00592632423912709,0.1652965507599719,0,0,6.347895864097642e-05,9.999999025923074e-05
+28368,1792046145271358820,18473977000000,1792046145267576959,UP_FORCE_RAMP,6,0.036,0.03600174933671951,0.6760140789643787,-0.004805103588547754,0.09078392577832045,0.9999999797054436,9.350326303850259e-05,-0.00015051532612917682,-2.518438414105775e-05,0.6761,-0.0048,0.09104873810479544,1.0,0.0,0.0,0.0,0.12939281207282743,0.1201097544609906,-0.015959970924814715,0.008450918096552492,-0.010290557184170348,-3.6355220705090556e-05,0.20496778892604617,0.12653904407874536,-0.3582955290885163,0.006577269931960424,-0.013210577466978204,-0.001875168732053771,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.8403639681346236,0.13056197381077034,2.0657722644673626,-0.16700839261193193,-1.3980255082275583,0.045999905745351025,0.553278232287496,0.015959970924814715,-1.5124940321798666,0.015959970924814715,0.1758265507599727,0,0,6.932895750130642e-05,9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5cd1b85d375fb2f2d88073363a872ff861765187
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..258e7e8e188b2261dd46f0fb59366b79ea52fd82
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,1.333333333e+00,UP_FORCE_RAMP,1792046146274180075,5.849139885e-06,-7.062345975e-06,9.738906680e-05,2.061990748e-06,-1.091230609e-05,8.219405780e-05,2.711902595e-06,-1.086198584e-05,8.154124114e-05,7.015437206e-01,-5.511384654e-06,8.408383303e-01,7.015399335e-01,-9.361344768e-06,8.408231352e-01,7.017320722e-01,-9.075389424e-06,8.296542938e-01
+23,1.366666667e+00,UP_FORCE_RAMP,1792046146339652881,3.821818708e-06,-1.519579540e-05,1.014282484e-04,2.061990748e-06,-1.091230609e-05,8.219405780e-05,2.717714100e-06,-1.086266035e-05,8.156337914e-05,7.015416933e-01,-1.364483408e-05,8.408423694e-01,7.015399335e-01,-9.361344768e-06,8.408231352e-01,7.017320780e-01,-9.076063933e-06,8.296543160e-01
+24,1.433333333e+00,UP_FORCE_RAMP,1792046146439912040,4.908698803e-06,-1.253179556e-05,1.088460870e-04,5.049301597e-06,-8.461426499e-06,1.054090478e-04,5.867863568e-06,-8.459890244e-06,1.045884689e-04,7.015427802e-01,-1.098083424e-05,8.408497873e-01,7.015429208e-01,-6.910465178e-06,8.408463502e-01,7.017352282e-01,-6.673293830e-06,8.296773410e-01
+25,1.500000000e+00,UP_FORCE_RAMP,1792046146572292726,7.419742351e-06,-9.195857922e-06,1.207862473e-04,5.049301597e-06,-8.461426499e-06,1.054090478e-04,5.880944115e-06,-8.460434366e-06,1.046444355e-04,7.015452912e-01,-7.644896601e-06,8.408617274e-01,7.015429208e-01,-6.910465178e-06,8.408463502e-01,7.017352413e-01,-6.673837953e-06,8.296773970e-01
+26,1.550000000e+00,UP_FORCE_RAMP,1792046146680933985,7.393576372e-06,-1.051867236e-05,1.233668816e-04,5.049301597e-06,-8.461426499e-06,1.054090478e-04,5.890286134e-06,-8.460756772e-06,1.046804019e-04,7.015452651e-01,-8.967711038e-06,8.408643081e-01,7.015429208e-01,-6.910465178e-06,8.408463502e-01,7.017352506e-01,-6.674160359e-06,8.296774330e-01
+27,1.583333333e+00,UP_FORCE_RAMP,1792046146822668064,5.445601052e-06,-6.942758612e-06,1.288935283e-04,5.406647038e-06,-1.750444705e-05,1.236603501e-04,6.281753293e-06,-1.744989456e-05,1.227432653e-04,7.015433171e-01,-5.391797291e-06,8.408698347e-01,7.015432781e-01,-1.595348572e-05,8.408646015e-01,7.017356421e-01,-1.566329815e-05,8.296954958e-01
+28,1.650000000e+00,UP_FORCE_RAMP,1792046146904352047,4.634405233e-06,-1.158492551e-05,1.325313362e-04,5.406647038e-06,-1.750444705e-05,1.236603501e-04,6.292903168e-06,-1.745530374e-05,1.228060154e-04,7.015425059e-01,-1.003396419e-05,8.408734725e-01,7.015432781e-01,-1.595348572e-05,8.408646015e-01,7.017356532e-01,-1.566870733e-05,8.296955586e-01
+29,1.700000000e+00,UP_FORCE_RAMP,1792046147004602825,5.746714884e-06,-1.356890275e-05,1.400225958e-04,5.406647038e-06,-1.750444705e-05,1.236603501e-04,6.301633533e-06,-1.745737642e-05,1.228456703e-04,7.015436182e-01,-1.201794143e-05,8.408809638e-01,7.015432781e-01,-1.595348572e-05,8.408646015e-01,7.017356619e-01,-1.567078000e-05,8.296955982e-01
+30,1.783333333e+00,UP_FORCE_RAMP,1792046147135893121,4.062634914e-06,-8.540064633e-06,1.447818365e-04,5.661027451e-06,-5.462617080e-06,1.401823902e-04,6.645088792e-06,-5.437636837e-06,1.392505798e-04,7.015419341e-01,-6.989103312e-06,8.408857230e-01,7.015435325e-01,-3.911655758e-06,8.408811236e-01,7.017360054e-01,-3.651040424e-06,8.297120032e-01
+31,1.850000000e+00,UP_FORCE_RAMP,1792046147271945532,6.067255269e-06,-1.174007544e-05,1.550576935e-04,5.661027451e-06,-5.462617080e-06,1.401823902e-04,6.656258802e-06,-5.435980969e-06,1.393063167e-04,7.015439387e-01,-1.018911412e-05,8.408959989e-01,7.015435325e-01,-3.911655758e-06,8.408811236e-01,7.017360166e-01,-3.649384556e-06,8.297120589e-01
+32,1.916666667e+00,UP_FORCE_RAMP,1792046147403428407,6.606538004e-06,-1.125885134e-05,1.634490139e-04,6.965722373e-06,-7.197997177e-06,1.605259117e-04,8.128007727e-06,-7.173868275e-06,1.594934365e-04,7.015444780e-01,-9.707890015e-06,8.409043902e-01,7.015448372e-01,-5.647035856e-06,8.409014671e-01,7.017374883e-01,-5.387271861e-06,8.297322460e-01
+33,1.950000000e+00,UP_FORCE_RAMP,1792046147474505420,5.275337794e-06,-1.055214219e-05,1.655642815e-04,6.965722373e-06,-7.197997177e-06,1.605259117e-04,8.133927687e-06,-7.174367444e-06,1.595291035e-04,7.015431468e-01,-9.001180867e-06,8.409065055e-01,7.015448372e-01,-5.647035856e-06,8.409014671e-01,7.017374942e-01,-5.387771031e-06,8.297322817e-01
+34,2.000000000e+00,UP_FORCE_RAMP,1792046147569815722,4.682192301e-06,-7.840358875e-06,1.698075664e-04,6.965722373e-06,-7.197997177e-06,1.605259117e-04,8.142721903e-06,-7.175205811e-06,1.595768252e-04,7.015425537e-01,-6.289397554e-06,8.409107488e-01,7.015448372e-01,-5.647035856e-06,8.409014671e-01,7.017375030e-01,-5.388609398e-06,8.297323294e-01
+35,2.050000000e+00,UP_FORCE_RAMP,1792046147667409630,3.721318508e-06,-4.862014708e-06,1.737007577e-04,6.965722373e-06,-7.197997177e-06,1.605259117e-04,8.151263798e-06,-7.175637821e-06,1.596194094e-04,7.015415928e-01,-3.311053387e-06,8.409146419e-01,7.015448372e-01,-5.647035856e-06,8.409014671e-01,7.017375116e-01,-5.389041407e-06,8.297323720e-01
+36,2.116666667e+00,UP_FORCE_RAMP,1792046147767379214,1.769822115e-06,-4.650549313e-06,1.739359881e-04,6.965722373e-06,-7.197997177e-06,1.605259117e-04,8.162534567e-06,-7.176080551e-06,1.596712863e-04,7.015396413e-01,-3.099587992e-06,8.409148772e-01,7.015448372e-01,-5.647035856e-06,8.409014671e-01,7.017375228e-01,-5.389484137e-06,8.297324239e-01
+37,2.150000000e+00,UP_FORCE_RAMP,1792046147836271898,4.780454281e-06,-1.526090632e-05,1.829158188e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.055364349e-06,-1.523922952e-05,1.819893665e-04,7.015426519e-01,-1.370994500e-05,8.409238570e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354157e-01,-1.345263311e-05,8.297547419e-01
+38,2.183333333e+00,UP_FORCE_RAMP,1792046147904299381,-2.113116560e-07,-7.409041198e-06,1.790254223e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.056831067e-06,-1.524650171e-05,1.820360188e-04,7.015376602e-01,-5.858079877e-06,8.409199666e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354171e-01,-1.345990530e-05,8.297547886e-01
+39,2.216666667e+00,UP_FORCE_RAMP,1792046147968704764,2.186158740e-06,-3.337091325e-06,1.834994759e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.060801762e-06,-1.524882862e-05,1.820718928e-04,7.015400576e-01,-1.786130004e-06,8.409244407e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354211e-01,-1.346223220e-05,8.297548245e-01
+40,2.266666667e+00,UP_FORCE_RAMP,1792046148069551150,2.148570827e-07,-6.127454516e-06,1.869788724e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.067400388e-06,-1.525102099e-05,1.821190426e-04,7.015380863e-01,-4.576493195e-06,8.409279201e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354277e-01,-1.346442457e-05,8.297548716e-01
+41,2.316666667e+00,UP_FORCE_RAMP,1792046148167399263,-1.307224413e-06,-5.095402357e-06,1.872316504e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.074240651e-06,-1.525240323e-05,1.821617258e-04,7.015365643e-01,-3.544441036e-06,8.409281728e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354346e-01,-1.346580682e-05,8.297549143e-01
+42,2.383333333e+00,UP_FORCE_RAMP,1792046148300045292,-3.270581989e-06,-8.736354642e-06,1.877282166e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.083456818e-06,-1.525357020e-05,1.822140540e-04,7.015346009e-01,-7.185393321e-06,8.409286694e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354438e-01,-1.346697379e-05,8.297549666e-01
+43,2.433333333e+00,UP_FORCE_RAMP,1792046148367788298,-1.681978466e-06,-3.407340313e-06,1.927503951e-04,4.869087755e-06,-1.529701235e-05,1.830603842e-04,6.090382498e-06,-1.525418436e-05,1.822506442e-04,7.015361895e-01,-1.856378992e-06,8.409336916e-01,7.015427406e-01,-1.374605102e-05,8.409240016e-01,7.017354507e-01,-1.346758795e-05,8.297550032e-01
+44,2.483333333e+00,UP_FORCE_RAMP,1792046148467437357,-1.242182847e-06,-5.052989606e-07,1.971327278e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.626178601e-07,-7.032802370e-07,1.958811184e-04,7.015366293e-01,1.045662360e-06,8.409380739e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296229e-01,1.083316177e-06,8.297686337e-01
+45,2.516666667e+00,UP_FORCE_RAMP,1792046148536150844,1.051840053e-06,-1.044200810e-05,2.024111166e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.597926638e-07,-6.916208300e-07,1.959155273e-04,7.015389233e-01,-8.891046775e-06,8.409433523e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296201e-01,1.094975584e-06,8.297686681e-01
+46,2.550000000e+00,UP_FORCE_RAMP,1792046148599399025,-1.503392982e-06,-1.224356289e-05,2.030233983e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.610641925e-07,-6.889619472e-07,1.959448310e-04,7.015363681e-01,-1.069260157e-05,8.409439646e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296214e-01,1.097634466e-06,8.297686974e-01
+47,2.583333333e+00,UP_FORCE_RAMP,1792046148668260160,-1.706824036e-06,1.012059228e-06,2.035647452e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.632844174e-07,-6.872736555e-07,1.959716473e-04,7.015361647e-01,2.563020549e-06,8.409445059e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296236e-01,1.099322758e-06,8.297687242e-01
+48,2.616666667e+00,UP_FORCE_RAMP,1792046148735426319,-3.372649460e-08,-1.235774625e-05,2.069119478e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.658535738e-07,-6.861886812e-07,1.959969165e-04,7.015378378e-01,-1.080678492e-05,8.409478531e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296262e-01,1.100407732e-06,8.297687495e-01
+49,2.650000000e+00,UP_FORCE_HOLD,1792046148801380543,-5.561891524e-07,-1.294218751e-05,2.104450578e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.686173055e-07,-6.854464537e-07,1.960210148e-04,7.015373153e-01,-1.139122619e-05,8.409513862e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296289e-01,1.101149960e-06,8.297687736e-01
+50,2.683333333e+00,UP_FORCE_HOLD,1792046148868873979,-4.535247922e-07,-2.612445416e-06,2.119576275e-04,-9.386311325e-07,-6.766316161e-07,1.968687448e-04,2.715062989e-07,-6.849190790e-07,1.960441432e-04,7.015374180e-01,-1.061484095e-06,8.409528988e-01,7.015369329e-01,8.743297049e-07,8.409378099e-01,7.017296318e-01,1.101677335e-06,8.297687967e-01
+51,2.733333333e+00,UP_FORCE_HOLD,1792046148951215403,1.784768337e-06,4.436006060e-07,2.171119913e-04,-4.188725083e-07,-1.259462082e-05,2.144055407e-04,8.925268087e-07,-1.254499537e-05,2.134174143e-04,7.015396562e-01,1.994561927e-06,8.409580532e-01,7.015374526e-01,-1.104365950e-05,8.409553467e-01,7.017302528e-01,-1.075839896e-05,8.297861700e-01
+52,2.766666667e+00,UP_FORCE_HOLD,1792046149001231288,1.681681250e-06,-1.305669192e-05,2.197660909e-04,-4.188725083e-07,-1.259462082e-05,2.144055407e-04,8.955351330e-07,-1.254747069e-05,2.134487087e-04,7.015395532e-01,-1.150573060e-05,8.409607073e-01,7.015374526e-01,-1.104365950e-05,8.409553467e-01,7.017302558e-01,-1.076087428e-05,8.297862013e-01
+53,2.800000000e+00,UP_FORCE_HOLD,1792046149065928908,2.575370644e-06,-3.077013314e-06,2.205161974e-04,-4.188725083e-07,-1.259462082e-05,2.144055407e-04,8.985573816e-07,-1.254907055e-05,2.134769765e-04,7.015404469e-01,-1.526051993e-06,8.409614574e-01,7.015374526e-01,-1.104365950e-05,8.409553467e-01,7.017302589e-01,-1.076247414e-05,8.297862296e-01
+54,2.850000000e+00,UP_FORCE_HOLD,1792046149168583795,6.978773203e-07,-2.147855552e-06,2.226421514e-04,-4.188725083e-07,-1.259462082e-05,2.144055407e-04,9.030892282e-07,-1.255059829e-05,2.135160777e-04,7.015385694e-01,-5.968942308e-07,8.409635833e-01,7.015374526e-01,-1.104365950e-05,8.409553467e-01,7.017302634e-01,-1.076400187e-05,8.297862687e-01
+55,2.900000000e+00,UP_FORCE_HOLD,1792046149266462972,3.705062918e-06,-6.781065463e-06,2.296443570e-04,-4.188725083e-07,-1.259462082e-05,2.144055407e-04,9.076404122e-07,-1.255154796e-05,2.135524113e-04,7.015415765e-01,-5.230104142e-06,8.409705855e-01,7.015374526e-01,-1.104365950e-05,8.409553467e-01,7.017302679e-01,-1.076495154e-05,8.297863050e-01
+56,2.966666667e+00,UP_FORCE_HOLD,1792046149399967174,3.754521992e-06,-5.296941506e-06,2.360152612e-04,2.884976984e-06,-9.340529148e-07,2.319554010e-04,4.289956363e-06,-9.626954443e-07,2.309690521e-04,7.015416260e-01,-3.745980185e-06,8.409769564e-01,7.015407565e-01,6.169084063e-07,8.409728966e-01,7.017336503e-01,8.239009694e-07,8.298037216e-01
+57,3.033333333e+00,UP_FORCE_HOLD,1792046149531889583,3.104433421e-06,-3.088074315e-06,2.357185963e-04,2.884976984e-06,-9.340529148e-07,2.319554010e-04,4.298494146e-06,-9.584626909e-07,2.310307132e-04,7.015409759e-01,-1.537112994e-06,8.409766598e-01,7.015407565e-01,6.169084063e-07,8.409728966e-01,7.017336588e-01,8.281337227e-07,8.298037833e-01
+58,3.100000000e+00,UP_FORCE_HOLD,1792046149632103428,3.924048356e-06,-1.268028763e-06,2.411385373e-04,2.884976984e-06,-9.340529148e-07,2.319554010e-04,4.306795278e-06,-9.566846138e-07,2.310830345e-04,7.015417955e-01,2.829325584e-07,8.409820797e-01,7.015407565e-01,6.169084063e-07,8.409728966e-01,7.017336671e-01,8.299117998e-07,8.298038356e-01
+59,3.166666667e+00,UP_FORCE_HOLD,1792046149766250357,2.614707156e-06,-7.790658062e-06,2.405256288e-04,2.884976984e-06,-9.340529148e-07,2.319554010e-04,4.314773423e-06,-9.557299008e-07,2.311304643e-04,7.015404862e-01,-6.239696741e-06,8.409814668e-01,7.015407565e-01,6.169084063e-07,8.409728966e-01,7.017336751e-01,8.308665128e-07,8.298038830e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3e4c55d5f2a0a0f20499acb5dfb24bd6c4be005
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-5.8229e-03,2.4032e-03,2.4559e+00,-3.6966e-02,3.6368e-02,-1.9786e-05,2.6475e-04,-1.3981e-06,3.7193e-05,2.9802e-08,1.8608e-05,-8.2931e-08,2.6735e-04,1.8608e-05
+1,1.0000e-01,UP_FORCE_RAMP,1.8233e-05,-4.3040e-03,2.3887e-03,2.4561e+00,-3.6965e-02,3.6474e-02,-2.0301e-05,1.7836e-03,-1.5809e-05,2.6703e-04,7.9721e-07,1.2534e-04,-5.9840e-07,1.8035e-03,1.2534e-04
+2,2.1667e-01,UP_FORCE_RAMP,3.4470e-05,-2.6709e-03,2.3657e-03,2.4564e+00,-3.6964e-02,3.6589e-02,-2.0926e-05,3.4167e-03,-3.8838e-05,5.3883e-04,2.3954e-06,2.4008e-04,-1.2233e-06,3.4591e-03,2.4010e-04
+3,3.5000e-01,UP_FORCE_RAMP,5.2204e-05,-9.7169e-04,2.3366e-03,2.4567e+00,-3.6962e-02,3.6708e-02,-2.1694e-05,5.1159e-03,-6.8000e-05,8.4472e-04,4.6901e-06,3.5949e-04,-1.9908e-06,5.1856e-03,3.5953e-04
+4,4.3333e-01,UP_FORCE_RAMP,7.0507e-05,1.1290e-05,2.3183e-03,2.4569e+00,-3.6960e-02,3.6778e-02,-2.2188e-05,6.0989e-03,-8.6295e-05,1.0304e-03,6.2659e-06,4.2859e-04,-2.4854e-06,6.1859e-03,4.2865e-04
+5,4.8333e-01,UP_FORCE_RAMP,8.6224e-05,5.7364e-04,2.3076e-03,2.4570e+00,-3.6959e-02,3.6817e-02,-2.2488e-05,6.6612e-03,-9.6996e-05,1.1389e-03,7.2308e-06,4.6813e-04,-2.7849e-06,6.7586e-03,4.6820e-04
+6,5.6667e-01,UP_FORCE_RAMP,1.0362e-04,1.4685e-03,2.2893e-03,2.4572e+00,-3.6957e-02,3.6880e-02,-2.3001e-05,7.5561e-03,-1.1527e-04,1.3146e-03,8.9183e-06,5.3110e-04,-3.2980e-06,7.6705e-03,5.3119e-04
+7,6.5000e-01,UP_FORCE_RAMP,1.2030e-04,2.3163e-03,2.2720e-03,2.4574e+00,-3.6956e-02,3.6940e-02,-2.3519e-05,8.4039e-03,-1.3252e-04,1.4834e-03,1.0591e-05,5.9077e-04,-3.8160e-06,8.5348e-03,5.9088e-04
+8,7.0000e-01,UP_FORCE_RAMP,1.4111e-04,2.8057e-03,2.2622e-03,2.4575e+00,-3.6955e-02,3.6974e-02,-2.3817e-05,8.8933e-03,-1.4231e-04,1.5812e-03,1.1578e-05,6.2516e-04,-4.1142e-06,9.0339e-03,6.2528e-04
+9,7.5000e-01,UP_FORCE_RAMP,1.5588e-04,3.8932e-03,9.5391e-03,2.4467e+00,-3.7461e-02,3.7055e-02,-1.8690e-05,9.9808e-03,7.1346e-03,-9.1944e-03,-4.9480e-04,7.0623e-04,1.0127e-06,1.5331e-02,8.6232e-04
+10,8.1667e-01,UP_FORCE_RAMP,1.7600e-04,4.4717e-03,9.2262e-03,2.4482e+00,-3.7442e-02,3.7098e-02,-1.8350e-05,1.0559e-02,6.8216e-03,-7.6869e-03,-4.7527e-04,7.4855e-04,1.3534e-06,1.4735e-02,8.8669e-04
+11,8.8333e-01,UP_FORCE_RAMP,1.9291e-04,4.9989e-03,9.0226e-03,2.4491e+00,-3.7427e-02,3.7134e-02,-1.9097e-05,1.1087e-02,6.6180e-03,-6.8064e-03,-4.6049e-04,7.8531e-04,6.0567e-07,1.4596e-02,9.1037e-04
+12,9.1667e-01,UP_FORCE_RAMP,2.0792e-04,5.2575e-03,8.9618e-03,2.4494e+00,-3.7422e-02,3.7152e-02,-1.9421e-05,1.1345e-02,6.5573e-03,-6.4464e-03,-4.5602e-04,8.0337e-04,2.8242e-07,1.4604e-02,9.2377e-04
+13,1.0000e+00,UP_FORCE_RAMP,2.2531e-04,5.7019e-03,5.3005e-03,2.4384e+00,-3.7166e-02,3.7191e-02,-2.3225e-05,1.1790e-02,2.8960e-03,-1.7490e-02,-1.9990e-04,8.4163e-04,-3.5218e-06,2.1290e-02,8.6505e-04
+14,1.0333e+00,UP_FORCE_RAMP,2.4237e-04,5.9566e-03,5.3107e-03,2.4392e+00,-3.7167e-02,3.7208e-02,-2.3511e-05,1.2044e-02,2.9061e-03,-1.6707e-02,-2.0025e-04,8.5931e-04,-3.8080e-06,2.0800e-02,8.8235e-04
+15,1.0833e+00,UP_FORCE_RAMP,2.6152e-04,6.3270e-03,5.3122e-03,2.4402e+00,-3.7166e-02,3.7234e-02,-2.3929e-05,1.2415e-02,2.9076e-03,-1.5703e-02,-1.9984e-04,8.8500e-04,-4.2264e-06,2.0227e-02,9.0730e-04
+16,1.1333e+00,UP_FORCE_RAMP,2.7684e-04,6.6914e-03,5.3066e-03,2.4411e+00,-3.7165e-02,3.7259e-02,-2.4335e-05,1.2779e-02,2.9020e-03,-1.4819e-02,-1.9899e-04,9.1027e-04,-4.6319e-06,1.9782e-02,9.3178e-04
+17,1.1667e+00,UP_FORCE_RAMP,2.9167e-04,6.9689e-03,6.1103e-03,2.4292e+00,-3.7222e-02,3.7285e-02,-2.3743e-05,1.3056e-02,3.7058e-03,-2.6717e-02,-2.5571e-04,9.3647e-04,-4.0406e-06,2.9967e-02,9.7076e-04
+18,1.2167e+00,UP_FORCE_RAMP,3.1646e-04,7.3244e-03,6.0232e-03,2.4311e+00,-3.7215e-02,3.7310e-02,-2.4314e-05,1.3412e-02,3.6186e-03,-2.4782e-02,-2.4913e-04,9.6126e-04,-4.6109e-06,2.8410e-02,9.9302e-04
+19,1.2500e+00,UP_FORCE_RAMP,3.3184e-04,7.5538e-03,5.9896e-03,2.4321e+00,-3.7213e-02,3.7326e-02,-2.4664e-05,1.3641e-02,3.5850e-03,-2.3812e-02,-2.4642e-04,9.7701e-04,-4.9611e-06,2.7676e-02,1.0076e-03
+20,1.2833e+00,UP_FORCE_RAMP,3.5241e-04,6.1970e-03,7.3480e-03,2.4212e+00,-3.7308e-02,3.7236e-02,-2.3690e-05,1.2285e-02,4.9435e-03,-3.4647e-02,-3.4184e-04,8.8697e-04,-3.9869e-06,3.7092e-02,9.5057e-04
+21,1.3167e+00,UP_FORCE_RAMP,3.7328e-04,6.5181e-03,7.2575e-03,2.4229e+00,-3.7302e-02,3.7258e-02,-2.4096e-05,1.2606e-02,4.8530e-03,-3.2995e-02,-3.3530e-04,9.0925e-04,-4.3932e-06,3.5653e-02,9.6911e-04
+22,1.3333e+00,UP_FORCE_RAMP,3.8763e-04,6.6657e-03,7.2254e-03,2.4235e+00,-3.7299e-02,3.7268e-02,-2.4305e-05,1.2753e-02,4.8209e-03,-3.2336e-02,-3.3288e-04,9.1937e-04,-4.6023e-06,3.5093e-02,9.7779e-04
+23,1.3667e+00,UP_FORCE_RAMP,4.0133e-04,6.9390e-03,7.1738e-03,2.4247e+00,-3.7295e-02,3.7287e-02,-2.4705e-05,1.3027e-02,4.7693e-03,-3.1152e-02,-3.2895e-04,9.3807e-04,-5.0025e-06,3.4101e-02,9.9408e-04
+24,1.4333e+00,UP_FORCE_RAMP,4.1990e-04,5.9499e-03,5.8362e-03,2.4140e+00,-3.7202e-02,3.7223e-02,-2.6241e-05,1.2038e-02,3.4316e-03,-4.1920e-02,-2.3570e-04,8.7423e-04,-6.5381e-06,4.3749e-02,9.0547e-04
+25,1.5000e+00,UP_FORCE_RAMP,4.3745e-04,6.5743e-03,5.7947e-03,2.4170e+00,-3.7198e-02,3.7266e-02,-2.7052e-05,1.2662e-02,3.3902e-03,-3.8883e-02,-2.3200e-04,9.1713e-04,-7.3490e-06,4.1033e-02,9.4604e-04
+26,1.5500e+00,UP_FORCE_RAMP,4.5292e-04,7.0084e-03,5.7683e-03,2.4189e+00,-3.7196e-02,3.7296e-02,-2.7636e-05,1.3096e-02,3.3637e-03,-3.6990e-02,-2.2970e-04,9.4678e-04,-7.9327e-06,3.9383e-02,9.7427e-04
+27,1.5833e+00,UP_FORCE_RAMP,4.7222e-04,7.0932e-03,1.0526e-02,2.4092e+00,-3.7528e-02,3.7306e-02,-2.4606e-05,1.3181e-02,8.1214e-03,-4.6721e-02,-5.6140e-04,9.5667e-04,-4.9029e-06,4.9220e-02,1.1092e-03
+28,1.6500e+00,UP_FORCE_RAMP,4.8936e-04,7.6970e-03,1.0267e-02,2.4127e+00,-3.7511e-02,3.7348e-02,-2.4717e-05,1.3785e-02,7.8623e-03,-4.3212e-02,-5.4511e-04,9.9931e-04,-5.0136e-06,4.6034e-02,1.1383e-03
+29,1.7000e+00,UP_FORCE_RAMP,5.0354e-04,8.0996e-03,1.0131e-02,2.4148e+00,-3.7502e-02,3.7376e-02,-2.5488e-05,1.4187e-02,7.7269e-03,-4.1119e-02,-5.3542e-04,1.0266e-03,-5.7846e-06,4.4178e-02,1.1579e-03
+30,1.7833e+00,UP_FORCE_RAMP,5.2575e-04,8.6088e-03,3.8050e-03,2.4090e+00,-3.7058e-02,3.7415e-02,-3.2093e-05,1.4696e-02,1.4004e-03,-4.6920e-02,-9.2242e-05,1.0664e-03,-1.2391e-05,4.9187e-02,1.0705e-03
+31,1.8500e+00,UP_FORCE_RAMP,5.4254e-04,9.1311e-03,3.9044e-03,2.4119e+00,-3.7065e-02,3.7451e-02,-3.2822e-05,1.5219e-02,1.4999e-03,-4.3975e-02,-9.8448e-05,1.1020e-03,-1.3119e-05,4.6558e-02,1.1065e-03
+32,1.9167e+00,UP_FORCE_RAMP,5.5934e-04,8.8678e-03,4.8589e-03,2.4024e+00,-3.7131e-02,3.7436e-02,-3.2851e-05,1.4955e-02,2.4544e-03,-5.3463e-02,-1.6452e-04,1.0867e-03,-1.3148e-05,5.5570e-02,1.0992e-03
+33,1.9500e+00,UP_FORCE_RAMP,5.7638e-04,9.2127e-03,4.8284e-03,2.4045e+00,-3.7129e-02,3.7461e-02,-3.2970e-05,1.5300e-02,2.4238e-03,-5.1419e-02,-1.6291e-04,1.1121e-03,-1.3267e-05,5.3702e-02,1.1241e-03
+34,2.0000e+00,UP_FORCE_RAMP,5.9212e-04,9.6323e-03,4.7744e-03,2.4070e+00,-3.7125e-02,3.7490e-02,-3.3636e-05,1.5720e-02,2.3699e-03,-4.8859e-02,-1.5881e-04,1.1408e-03,-1.3933e-05,5.1380e-02,1.1519e-03
+35,2.0500e+00,UP_FORCE_RAMP,6.1148e-04,1.0034e-02,4.7353e-03,2.4092e+00,-3.7122e-02,3.7517e-02,-3.4319e-05,1.6121e-02,2.3307e-03,-4.6627e-02,-1.5575e-04,1.1680e-03,-1.4616e-05,4.9390e-02,1.1785e-03
+36,2.1167e+00,UP_FORCE_RAMP,6.2660e-04,1.0556e-02,4.6964e-03,2.4119e+00,-3.7119e-02,3.7552e-02,-3.5190e-05,1.6643e-02,2.2918e-03,-4.3932e-02,-1.5271e-04,1.2035e-03,-1.5487e-05,4.7035e-02,1.2133e-03
+37,2.1500e+00,UP_FORCE_RAMP,6.4144e-04,1.0813e-02,4.6801e-03,2.4132e+00,-3.7118e-02,3.7570e-02,-3.5607e-05,1.6901e-02,2.2755e-03,-4.2672e-02,-1.5146e-04,1.2210e-03,-1.5904e-05,4.5953e-02,1.2305e-03
+38,2.1833e+00,UP_FORCE_RAMP,6.6324e-04,1.2185e-02,8.9417e-03,2.4013e+00,-3.7417e-02,3.7674e-02,-3.2174e-05,1.8273e-02,6.5371e-03,-5.4533e-02,-4.5063e-04,1.3245e-03,-1.2471e-05,5.7883e-02,1.3992e-03
+39,2.2167e+00,UP_FORCE_RAMP,6.8236e-04,1.2382e-02,8.7893e-03,2.4035e+00,-3.7406e-02,3.7687e-02,-3.2713e-05,1.8470e-02,6.3848e-03,-5.2379e-02,-4.4002e-04,1.3382e-03,-1.3010e-05,5.5906e-02,1.4087e-03
+40,2.2667e+00,UP_FORCE_RAMP,7.0023e-04,1.2683e-02,8.6455e-03,2.4060e+00,-3.7396e-02,3.7707e-02,-3.3552e-05,1.8771e-02,6.2409e-03,-4.9875e-02,-4.2986e-04,1.3583e-03,-1.3849e-05,5.3655e-02,1.4248e-03
+41,2.3167e+00,UP_FORCE_RAMP,7.1780e-04,1.2996e-02,8.5570e-03,2.4082e+00,-3.7390e-02,3.7728e-02,-3.4321e-05,1.9084e-02,6.1525e-03,-4.7645e-02,-4.2359e-04,1.3793e-03,-1.4618e-05,5.1692e-02,1.4429e-03
+42,2.3833e+00,UP_FORCE_RAMP,7.3488e-04,1.3419e-02,8.4803e-03,2.4109e+00,-3.7384e-02,3.7757e-02,-3.5283e-05,1.9507e-02,6.0758e-03,-4.4932e-02,-4.1814e-04,1.4078e-03,-1.5580e-05,4.9359e-02,1.4687e-03
+43,2.4333e+00,UP_FORCE_RAMP,7.4912e-04,1.3738e-02,8.4391e-03,2.4128e+00,-3.7381e-02,3.7778e-02,-3.5975e-05,1.9826e-02,6.0346e-03,-4.3041e-02,-4.1519e-04,1.4294e-03,-1.6272e-05,4.7770e-02,1.4886e-03
+44,2.4833e+00,UP_FORCE_RAMP,7.6735e-04,1.4057e-02,8.4073e-03,2.4146e+00,-3.7379e-02,3.7800e-02,-3.6653e-05,2.0145e-02,6.0027e-03,-4.1252e-02,-4.1288e-04,1.4510e-03,-1.6950e-05,4.6298e-02,1.5087e-03
+45,2.5167e+00,UP_FORCE_RAMP,7.8582e-04,1.7213e-02,7.3994e-04,2.4078e+00,-3.6842e-02,3.8027e-02,-4.3853e-05,2.3301e-02,-1.6646e-03,-4.8103e-02,1.2426e-04,1.6783e-03,-2.4150e-05,5.3476e-02,1.6831e-03
+46,2.5500e+00,UP_FORCE_RAMP,8.0502e-04,1.7258e-02,9.3196e-04,2.4095e+00,-3.6855e-02,3.8030e-02,-4.4083e-05,2.3345e-02,-1.4726e-03,-4.6377e-02,1.1135e-04,1.6815e-03,-2.4380e-05,5.1942e-02,1.6854e-03
+47,2.5833e+00,UP_FORCE_RAMP,8.1866e-04,1.7352e-02,1.0387e-03,2.4109e+00,-3.6862e-02,3.8037e-02,-4.4333e-05,2.3440e-02,-1.3659e-03,-4.4963e-02,1.0423e-04,1.6877e-03,-2.4630e-05,5.0724e-02,1.6911e-03
+48,2.6167e+00,UP_FORCE_RAMP,8.3517e-04,1.7467e-02,1.1012e-03,2.4122e+00,-3.6866e-02,3.8044e-02,-4.4606e-05,2.3554e-02,-1.3033e-03,-4.3644e-02,1.0015e-04,1.6952e-03,-2.4903e-05,4.9612e-02,1.6984e-03
+49,2.6500e+00,UP_FORCE_HOLD,8.6042e-04,1.7592e-02,1.1401e-03,2.4135e+00,-3.6869e-02,3.8052e-02,-4.4896e-05,2.3679e-02,-1.2644e-03,-4.2394e-02,9.7681e-05,1.7035e-03,-2.5193e-05,4.8575e-02,1.7065e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/fem_node.csv
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+59,2.021667e+01,2817,6.992421e-01,1.049169e-02,8.319005e-01,1.270876e-04,-1.236030e-04,-4.775948e-03,1.264430e-05,9.389698e-05,-6.242719e-05
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+59,2.021667e+01,2819,6.989445e-01,1.255761e-02,8.142674e-01,1.341646e-04,-2.251260e-04,-4.875973e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.021667e+01,2821,6.981444e-01,1.087615e-02,8.323158e-01,1.032522e-04,-1.411644e-04,-4.805951e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2822,6.940280e-01,1.245018e-02,8.291237e-01,8.780868e-05,-1.567958e-04,-4.935752e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2823,7.008778e-01,1.234085e-02,8.138326e-01,1.078984e-04,-2.242893e-04,-4.867640e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2824,6.959124e-01,1.357782e-02,8.159419e-01,1.481397e-04,-2.274600e-04,-4.946019e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2825,6.998743e-01,1.124231e-02,8.156354e-01,1.445975e-04,-1.649893e-04,-4.797222e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2826,6.994129e-01,1.376051e-02,8.362492e-01,1.144600e-04,-9.253234e-05,-4.908716e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2827,6.929510e-01,1.364397e-02,8.229890e-01,1.326253e-04,-1.904899e-04,-4.991591e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2828,6.987585e-01,1.019247e-02,8.216240e-01,2.064957e-04,-5.125317e-05,-4.707757e-03,3.439978e-05,1.219408e-03,8.288172e-04
+59,2.021667e+01,2829,6.949704e-01,1.254852e-02,8.315392e-01,6.748528e-05,-1.451635e-04,-4.913026e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2830,6.940563e-01,1.175308e-02,8.236565e-01,1.658472e-04,-1.696382e-04,-4.920827e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2831,6.972735e-01,1.045431e-02,8.209057e-01,2.258756e-04,-9.210570e-05,-4.780600e-03,2.811138e-07,1.249442e-06,8.310461e-07
+59,2.021667e+01,2832,6.933791e-01,1.366610e-02,8.207926e-01,1.449935e-04,-2.003983e-04,-4.983684e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2833,6.986441e-01,1.121636e-02,8.163814e-01,1.736829e-04,-1.579477e-04,-4.799163e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2834,6.944373e-01,1.252883e-02,8.194756e-01,1.795257e-04,-1.962364e-04,-4.927596e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2835,6.970892e-01,1.099045e-02,8.315071e-01,9.642468e-05,-1.443683e-04,-4.832962e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2836,6.953252e-01,1.155842e-02,8.302408e-01,8.972204e-05,-1.528637e-04,-4.884046e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.021667e+01,2838,6.988879e-01,1.177786e-02,8.152055e-01,1.524621e-04,-1.937029e-04,-4.830821e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.021667e+01,2839,6.927762e-01,1.394125e-02,8.255516e-01,1.121667e-04,-1.769682e-04,-4.999590e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.021667e+01,2841,6.963901e-01,1.151784e-02,8.179811e-01,2.033529e-04,-1.708452e-04,-4.846051e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,2.021667e+01,2844,6.999062e-01,1.270424e-02,8.137439e-01,1.164951e-04,-2.332833e-04,-4.884797e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5137da6eea90783d71b386157857f7ae5361c4ba
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/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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+36055,1792046209276389116,18537982000000,1792046209275576654,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6760448783853945,-0.004808474341285498,0.09061731601239446,0.9999999849055605,0.00012595661650290226,-6.758294915134517e-05,3.46297393805851e-05,0.6761,-0.0048,0.0906350425423903,1.0,0.0,0.0,0.0,0.20659328442683866,0.19130506605191594,0.4474072992552713,0.012950297105829713,-0.014404214702392008,0.0006140890670486845,0.2821682612800574,0.1977343556696707,0.1050717410915697,0.011076648941237645,-0.017324234985199864,-0.001224724444299996,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.46834382482596354,-0.011727132133780061,0.4240216668177508,0.1811054673625479,-0.13638393682791802,-0.05635423848887731,0.553278232287496,0.4474072992552713,0.12925656546974518,0.12925656546974518,0.30872000000000915,0,0,-0.00016052589384554927,9.991286550737328e-05
+36115,1792046209776316583,18538482000000,1792046209771566986,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6760444268041105,-0.00482624972294853,0.09054895309865882,0.9999999850663971,0.00011951146490324135,-6.452276433353467e-05,5.351534952137439e-05,0.6761,-0.0048,0.09055973595116844,1.0,0.0,0.0,0.0,0.20558613263800185,0.18896953977874864,0.5381926312112,0.01253275731377929,-0.014540541887973577,0.0005300475897222713,0.2811611094912206,0.19539882939650338,0.19585707304749844,0.010659109149187222,-0.017460562170781433,-0.0013087659216264092,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.48273879093282085,-0.029251371174613263,0.2262759000365439,0.1977143163823428,-0.006973514228142802,-0.0693723023133711,0.553278232287496,0.5381926312112,0.32700233225095204,0.32700233225095204,0.3487200000000214,0,0,-0.00013893912450127643,9.999999025923074e-05
+36203,1792046210509380070,18539215000000,1792046210503576616,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6760528658914402,-0.004829654226163749,0.09047832205870851,0.9999999846082024,0.00012110467525270756,-5.3501878144254986e-05,6.853952101837985e-05,0.6761,-0.0048,0.09047130747028863,1.0,0.0,0.0,0.0,0.19909323934180145,0.1954292958129255,0.6289801260325936,0.013503025641482156,-0.013575357036715724,0.0004888015498020037,0.2746682161950202,0.20185858543068025,0.2866445678688919,0.011629377476890088,-0.01649537731952358,-0.0013500119615466768,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.5227692959669955,0.01943832828827381,0.15320663986784955,0.17706472487135047,0.04768016564215826,-0.03883417966877227,0.553278232287496,0.6289801260325936,0.4000715924196464,0.4000715924196464,0.40736000000003936,0,0,-0.0001022891316412603,9.999999025923074e-05
+36334,1792046211601320629,18540307000000,1792046211599576290,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6760709563837258,-0.004828035216053964,0.09042062228073111,0.999999984655485,0.00012435176886454126,-3.168389972112908e-05,7.526394874808625e-05,0.6761,-0.0048,0.09038901182532366,1.0,0.0,0.0,0.0,0.19833219780229466,0.20240397993125397,0.7091430268266821,0.014514845792012213,-0.01361184582006483,0.0004354921539943262,0.2739071746555134,0.20883326954900874,0.3668074686629804,0.012641197627420145,-0.016531866102872685,-0.0014033213573543543,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6218657830024737,0.028547054207928472,-0.022776815260114828,0.18110964495336207,0.18410116405239846,-0.032538878588460086,0.553278232287496,0.7091430268266821,0.5760550475476108,0.5760550475476108,0.4947200000000661,0,0,-4.942328269278017e-05,9.999811675787668e-05
+36422,1792046212334342032,18541040000000,1792046212327567146,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6760775851917071,-0.0048353655422810555,0.09040055463694736,0.9999999853238593,0.0001169179493620822,-2.4307352984000197e-05,8.083620050297648e-05,0.6761,-0.0048,0.0903639098463769,1.0,0.0,0.0,0.0,0.1975554628870051,0.21503610357472225,0.7261140764709743,0.015520553432935959,-0.013228165445312967,0.00043900462047814196,0.27313043974022383,0.22146539319247702,0.38377851830727266,0.013646905268343891,-0.016148185728120823,-0.0013998088908705386,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6575300363390036,-0.06741565612135808,0.04215986441947716,0.21503804724086334,0.15120055408486532,-0.09691758865643332,0.553278232287496,0.7261140764709743,0.5111183678680188,0.5111183678680188,0.553360000000047,0,0,-2.3733201552660017e-05,-4.5160218646539365e-05
+36526,1792046213201380484,18541907000000,1792046213195576699,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6760910576462915,-0.004832189929234954,0.09039155003862,0.9999999856859874,0.00011624779947649672,-9.681392247627182e-06,8.039657426621093e-05,0.6761,-0.0048,0.09034011565582926,1.0,0.0,0.0,0.0,0.18336642017845362,0.22526469072882127,0.7279160272164864,0.015643223556919182,-0.012625477743582879,0.0004460861173783022,0.25894139703167235,0.23169398034657604,0.38558046905278487,0.013769575392327114,-0.015545498026390735,-0.0013927273939703783,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6954675332536043,0.02740922001626049,-0.08807829720456874,0.18561442287122623,0.24432449868323,-0.037564619904309496,0.553278232287496,0.7279160272164864,0.6413565294920647,0.6413565294920647,0.6227200000000201,0,0,-3.5503536434362874e-05,9.999994862586731e-05
+36610,1792046213901385486,18542607000000,1792046213895577143,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6760946334587766,-0.004834071652361381,0.09036732474848497,0.999999986062362,0.00011221667581013711,-3.265138391346361e-06,8.194447410350185e-05,0.6761,-0.0048,0.09030855303615395,1.0,0.0,0.0,0.0,0.18388755840512488,0.2289543940942465,0.7604761036522986,0.01643705290207463,-0.0126022967050675,0.0004310635887209205,0.2594625352583436,0.23538368371200125,0.41814054548859697,0.014563404737482565,-0.015522316987875356,-0.00140774992262776,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7045008677848472,0.035995849001384146,-0.021717274975556384,0.1909098741390159,0.20080753872729895,-0.028985900291719095,0.553278232287496,0.7604761036522986,0.5749955072630524,0.5749955072630524,0.6787199999999984,0,0,-5.255157221470264e-05,-9.999861635823776e-05
+36729,1792046214893386596,18543599000000,1792046214891566715,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6760984009496556,-0.0048356085488176145,0.09032307732528243,0.9999999877011708,9.94831559709331e-05,3.268587623567745e-06,7.831309237832476e-05,0.6761,-0.0048,0.09025055926488057,1.0,0.0,0.0,0.0,0.18395496815011303,0.23132255604856822,0.820549079847927,0.016483898025275216,-0.01167951545359084,0.0003870025314463585,0.25952994500333176,0.23775184566632296,0.47821352168422543,0.01461024986068315,-0.014599535736398696,-0.001451810979902322,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7590374159549219,-0.008368544441324165,-0.09838851566472072,0.21034292033093802,0.25666813668565647,-0.05994435348267843,0.553278232287496,0.820549079847927,0.6516667479522167,0.6516667479522167,0.7580799999999677,0,0,-6.200094467975615e-05,-9.975275746943452e-05
+36821,1792046215659394306,18544365000000,1792046215655576647,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761055085451533,-0.004830399170188985,0.090278515566529,0.9999999952490506,1.560565780380596e-05,2.1429277248441142e-05,1.555675808976275e-05,0.6761,-0.0048,0.09019578618215733,1.0,0.0,0.0,0.0,0.1922949831779015,0.24614539077672037,0.8909050956220976,0.01751762214517335,-0.01269712926332606,0.00033795918946298315,0.26786996003112024,0.2525746803944751,0.548569537458396,0.01564397398058128,-0.015617149546133916,-0.0015008543218856974,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7824248437620759,0.00887949776042727,0.010598921753291161,0.1264674230858559,0.21022066201214484,-0.03065581364786082,0.553278232287496,0.8909050956220976,0.5426793105342048,0.5426793105342048,0.8193599999999439,0,0,-7.712211195639996e-05,-9.99644076112915e-05
+36929,1792046216559385022,18545265000000,1792046216555577893,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761104542103572,-0.004831573707157995,0.09022044297082124,0.9999999942301817,3.1719452142581966e-05,2.8592705659508125e-05,3.40416577313003e-05,0.6761,-0.0048,0.09013373407090886,1.0,0.0,0.0,0.0,0.17775857699835862,0.243829064774281,0.9611622736485137,0.01646381772320016,-0.011681408635823029,0.00028388396753441735,0.25333355385157735,0.25025835439203575,0.618826715484812,0.014590169558608094,-0.014601428918630885,-0.0015549295438142632,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8022996728057258,0.03752727133935595,-0.28551068590011436,0.17304572521011632,0.39127220369155014,-0.023705715021797663,0.553278232287496,0.9611622736485137,0.8387889181876103,0.8387889181876103,0.891359999999916,0,0,-5.945422134193278e-05,9.906201833687617e-05
+37061,1792046217659386157,18546365000000,1792046217651567532,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761158639085592,-0.004842566168140797,0.0901787273939394,0.9999999929837187,4.305203737553625e-05,3.521841586280289e-05,4.880176408602817e-05,0.6761,-0.0048,0.09007921804466598,1.0,0.0,0.0,0.0,0.1860239724042998,0.2471561697547352,1.0217421055341172,0.01744713602885259,-0.01171168118434129,0.0002472655113936427,0.26159894925751853,0.25358545937248994,0.6794065473704155,0.015573487864260523,-0.014631701467149146,-0.0015915479999550378,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7904867730088107,0.02677004993719128,-0.3646660271141967,0.21497033347655306,0.4329207810924374,-0.03556706747381426,0.553278232287496,1.0217421055341172,0.9179442594016927,0.9179442594016927,0.9793599999998819,0,0,-4.227527841402934e-05,-6.926579863153575e-05
+37176,1792046218618386866,18547324000000,1792046218615567319,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761162002285557,-0.0048442923597410426,0.09014167497883384,0.9999999913950536,6.742513722343792e-05,3.4408794385682336e-05,5.4061474395902054e-05,0.6761,-0.0048,0.09003772172188446,1.0,0.0,0.0,0.0,0.177533638266954,0.2391124406231579,1.0515448761701898,0.016439320598557225,-0.011699000779467712,0.00021083538216739488,0.25310861512017274,0.24554173024091264,0.7092093180064881,0.014565672433965157,-0.014619021062275568,-0.0016279781291812857,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8291191176822709,0.004145756628814341,-0.4485244545440579,0.2374257991415189,0.4925565497212996,-0.043889263583775054,0.553278232287496,1.0515448761701898,1.001802686831554,1.001802686831554,1.05607999999993,0,0,-4.788188694832067e-05,4.505087286484686e-05
+37316,1792046219784314257,18548490000000,1792046219779577565,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761172856394498,-0.0048471133569216755,0.09008949060836488,0.9999999902993633,7.396605873195309e-05,3.669359355405844e-05,6.345660188024959e-05,0.6761,-0.0048,0.08997394256491462,1.0,0.0,0.0,0.0,0.1773832242434319,0.2313643105200353,1.1116592162066237,0.01642610749430711,-0.011711760608200927,0.0002343297960418491,0.2529582010966506,0.23779360013779005,0.769323658042922,0.014552459329715044,-0.014631780891008783,-0.0016044837153068314,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8480302992798794,0.0005781338386738717,-0.49025360662484174,0.24096574515292193,0.5194946817808808,-0.0491060817547366,0.553278232287496,1.1116592162066237,1.0435318389123376,1.0435318389123376,1.1493600000000233,0,0,-6.407051425102862e-05,-9.841595180327118e-05
+37420,1792046220651379614,18549357000000,1792046220647577053,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761209481350464,-0.0048501469940663315,0.09003969799925214,0.9999999900165906,6.897356514748757e-05,4.24253605717127e-05,6.965931002952024e-05,0.6761,-0.0048,0.08991712336287776,1.0,0.0,0.0,0.0,0.17657291548545717,0.23599602413916876,1.1726196926250811,0.017374989612102123,-0.01166588759036866,0.00115356695431027,0.2521478923386759,0.2424253137569235,0.8302841344613795,0.015501341447510057,-0.014585907873176516,-0.0006852465570384103,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8542355312624207,-0.017433593622355928,-0.6070101228718786,0.26598885350760043,0.5936596334097344,-0.061570756815370956,0.553278232287496,1.1726196926250811,1.1602883551593746,1.1602883551593746,1.2187200000000926,0,0,-6.542650609201039e-05,8.202106635402657e-05
+37516,1792046221451308030,18550157000000,1792046221447567026,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761253216514582,-0.004846256575007195,0.08999308439386774,0.9999999904420463,6.0232687566339566e-05,5.107489273985294e-05,6.574306420278062e-05,0.6761,-0.0048,0.08986486050965406,1.0,0.0,0.0,0.0,0.16716678145286307,0.2418337510915013,1.23162059964654,0.017390717209923547,-0.0107473106843722,0.0011137619311044492,0.2427417583060818,0.24826304070925606,0.8892850414828384,0.015517069045331481,-0.013667330967180057,-0.0007250515802442313,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8422100025771643,0.025905139054998312,-0.5486715441718845,0.25441662494512685,0.5497673590489849,-0.03618225702559853,0.553278232287496,1.23162059964654,1.1019497764593804,1.1019497764593804,1.2827200000001566,0,0,-6.261093952605735e-05,-9.999338443223422e-05
+37632,1792046222418380765,18551124000000,1792046222411567336,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761357284936802,-0.004851493642450647,0.08995273810023983,0.9999999899738687,4.780159148685521e-05,6.941609681591715e-05,6.626869638296538e-05,0.6761,-0.0048,0.08980461212455457,1.0,0.0,0.0,0.0,0.16702724459772061,0.24895320373403784,1.2756585205608537,0.017384944169661652,-0.010757189424362944,0.0001944037400634941,0.24260222145093935,0.2553824933517926,0.9333229623971521,0.015511296005069584,-0.0136772097071708,-0.0016444097712851864,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9236377468785986,0.03288544389305959,-0.7207819066647915,0.25402338700427357,0.6794513437980598,-0.03638554220947045,0.553278232287496,1.2756585205608537,1.2740601389522874,1.2740601389522874,1.360080000000234,0,0,-6.375970386264162e-05,-5.1072575512279205e-05
+37743,1792046223343286691,18552049000000,1792046223335576321,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761351473228989,-0.004857985518527893,0.08989698724125879,0.9999999902317541,3.7767485717594115e-05,6.961543800005843e-05,6.860513073157006e-05,0.6761,-0.0048,0.08974429197007003,1.0,0.0,0.0,0.0,0.16689788624659513,0.2502039348241552,1.3331312844748044,0.017370459990239555,-0.010771193705656107,0.0010365356724172524,0.2424728630998139,0.25663322444190995,0.9907957263111029,0.015496811825647489,-0.013691213988463962,-0.0008022778389314282,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9263700562957723,0.007377959059886007,-0.7674051148938716,0.2622779725990999,0.7059602691767913,-0.05374723913745685,0.553278232287496,1.3331312844748044,1.3206833471813675,1.3206833471813675,1.434080000000308,0,0,-6.66250434086787e-05,-9.820749355261e-05
+37851,1792046224243285017,18552949000000,1792046224239567006,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761380087361486,-0.004854180660978542,0.089843357437713,0.9999999905594776,2.581353531501337e-05,7.399998443861012e-05,6.46650821830791e-05,0.6761,-0.0048,0.08968428778057216,1.0,0.0,0.0,0.0,0.16675150607799405,0.24332430730523869,1.383280962322813,0.017359861308600764,-0.010781382889271354,0.0009959972871993183,0.24232648293121278,0.24975359692299345,1.0409454041591115,0.015486213144008698,-0.01370140317207921,-0.0008428162241493623,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8842893223046839,-0.049413958462231206,-0.8272086828790679,0.2836995816910657,0.733884950966102,-0.09287519421253444,0.553278232287496,1.383280962322813,1.3804869151665637,1.3804869151665637,1.50608000000038,0,0,-6.623378106670875e-05,-9.706431078194128e-05
+37975,1792046225276382989,18553982000000,1792046225275577140,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761458927822399,-0.004854466349681516,0.08978435507042955,0.9999999896961526,1.9116442750813285e-05,8.482079890719428e-05,6.701158874174855e-05,0.6761,-0.0048,0.089609731055897,1.0,0.0,0.0,0.0,0.16577859789547866,0.25440829909108176,1.435577273289447,0.01732635019119974,-0.00986206816399608,0.0009692160114183528,0.2413535747486974,0.2608375887088365,1.0932417151257454,0.015452702026607673,-0.012782088446803936,-0.0008695974999303278,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.978944320613698,0.03016547965322707,-0.998616722351866,0.26964447536154695,0.863003741506292,-0.03687332788962795,0.553278232287496,1.435577273289447,1.5518949546393621,1.5518949546393621,1.5887200000004627,0,0,-7.624327915259498e-05,9.999999025923074e-05
+38111,1792046226409320182,18555115000000,1792046226403576290,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761497385106864,-0.004854936520507987,0.08970131901422695,0.9999999880854629,4.94656007193734e-05,8.826340069938768e-05,7.095537302018786e-05,0.6761,-0.0048,0.08952236494742172,1.0,0.0,0.0,0.0,0.16621256329801087,0.24807485817991876,1.5136611244865315,0.017308069422936945,-0.009796623609494104,0.0009062241598124217,0.24178754015122964,0.2545041477976735,1.17132556632283,0.015434421258344877,-0.01271664389230196,-0.0009325893515362588,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9726178693515718,0.0470671613522658,-1.00820295735836,0.27225390585955994,0.8640678806029425,-0.01627785947402824,0.553278232287496,1.5136611244865315,1.561481189645856,1.561481189645856,1.6793600000005533,0,0,-7.802312076562868e-05,-8.24873045132179e-05
+38250,1792046227568379955,18556274000000,1792046227567567333,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761561086584218,-0.00486068893956291,0.08962500429890317,0.9999999869348756,5.0144176385891264e-05,0.00010104646166128488,6.962964419790351e-05,0.6761,-0.0048,0.08943079115160901,1.0,0.0,0.0,0.0,0.16607960136108457,0.25597058883395307,1.5738784179865406,0.01730272190078168,-0.010022991178843218,0.0008549116344163299,0.24165457821430333,0.2623998784517078,1.231542859822839,0.015429073736189612,-0.012943011461651074,-0.0009839018769323507,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9726047580436477,-0.019103365890951355,-1.1160645836853789,0.30809905202952426,0.9297996477391796,-0.05963262247445764,0.553278232287496,1.5738784179865406,1.669342815972875,1.669342815972875,1.772080000000646,0,0,-8.044390650821776e-05,-1.763475468685992e-05
+38350,1792046228401345146,18557107000000,1792046228399576461,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761592501071432,-0.004862697715451364,0.08956057199646476,0.9999999870878912,4.41465066442436e-05,0.00010427673560523653,6.666731000801612e-05,0.6761,-0.0048,0.08935987464482624,1.0,0.0,0.0,0.0,0.16532013662312844,0.2546071441340434,1.6230709586481302,0.018307611987202627,-0.00983938398170001,0.0008293390138206542,0.24089511347634718,0.26103643375179814,1.2807354004844287,0.01643396382261056,-0.012759404264507865,-0.0010094744975280264,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0274218235609456,0.014506004914887564,-1.2049327937018202,0.3008652488610563,0.9987448903555859,-0.03945869465601942,0.553278232287496,1.6230709586481302,1.7582110259893162,1.7582110259893162,1.8387200000007127,0,0,-8.839905134697267e-05,8.703604090077306e-05
+38454,1792046229268341008,18557974000000,1792046229267566838,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761638575963844,-0.00485997445434183,0.08949165627003254,0.999999987191032,2.992545602933521e-05,0.00011310295775806039,5.807743272812684e-05,0.6761,-0.0048,0.08928294046854253,1.0,0.0,0.0,0.0,0.16581575989230168,0.25410672324190053,1.6720728223596795,0.017361131250431778,-0.009832987915317727,0.0007781427149843086,0.24139073674552045,0.2605360128596553,1.329737264195978,0.01548748308583971,-0.012753008198125583,-0.001060670796364372,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0508027642120161,-0.030486762740026846,-1.2307369529846903,0.3232658334052057,1.0144149282706436,-0.07224181686743952,0.553278232287496,1.6720728223596795,1.7840151852721862,1.7840151852721862,1.908080000000782,0,0,-8.99681471689233e-05,-9.37747940803374e-05
+38550,1792046230068389044,18558774000000,1792046230067576923,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761658726301795,-0.004862139072396892,0.08942437721793886,0.9999999871376424,2.121149915431477e-05,0.00011537828111318205,5.8356695286364875e-05,0.6761,-0.0048,0.0892097588160802,1.0,0.0,0.0,0.0,0.16575145019173199,0.24563802781987149,1.7144200837300978,0.01727479776484631,-0.009839731462106684,0.0007441530658416034,0.24132642704495075,0.2520673174376262,1.3720845255663963,0.015401149600254243,-0.01275975174491454,-0.001094660445507077,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0606234218688266,-0.005806095095141789,-1.3891202153870112,0.3206298262859697,1.1220815944278362,-0.053856190413785206,0.553278232287496,1.7144200837300978,1.942398447674507,1.942398447674507,1.972080000000846,0,0,-9.430381535805032e-05,9.986910884241524e-05
+38646,1792046230868323559,18559574000000,1792046230867567003,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761671775999395,-0.004863297050825045,0.08934714908195204,0.9999999868161147,1.8473640689977438e-05,0.00011714948417036789,6.11993280843271e-05,0.6761,-0.0048,0.08913248756385272,1.0,0.0,0.0,0.0,0.1646966265929835,0.24671001354901845,1.7523747111672703,0.017262283234759233,-0.009847946364877985,0.0007121581591353469,0.24027160344620227,0.2531393031667732,1.4100391530035687,0.015388635070167167,-0.012767966647685841,-0.0011266553522133336,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0323655252847108,-0.05997919744582374,-1.3625142351843873,0.34917634797715547,1.0934804867962378,-0.08969901045217779,0.553278232287496,1.7523747111672703,1.9157924674718831,1.9157924674718831,2.03608000000091,0,0,-0.00010067580397918892,4.490684804007465e-05
+38741,1792046231659313397,18560365000000,1792046231651576627,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761710740475395,-0.004862932744534938,0.08927215697967995,0.9999999857591925,1.887961564862143e-05,0.0001238897431553123,6.495668620125602e-05,0.6761,-0.0048,0.08905066892750582,1.0,0.0,0.0,0.0,0.15643358871622748,0.2379517136661392,1.7858607066154961,0.017255073362174814,-0.009854271578292861,0.0006854835662556155,0.2320085655694462,0.24438100328389398,1.4435251484517946,0.015381425197582746,-0.012774291861100717,-0.001153329945093065,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0546053215399214,-0.03930691240192473,-1.3957847834417227,0.35663044030534885,1.1159119132776274,-0.07081702645948296,0.553278232287496,1.7858607066154961,1.9490630157292186,1.9490630157292186,2.0993600000009733,0,0,-0.00010695085637532487,-9.999999025923074e-05
+38837,1792046232459396667,18561165000000,1792046232451576820,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761741489717719,-0.004869236207550057,0.08918628753011834,0.9999999848287983,2.5541268231908972e-05,0.00012581329278469916,7.282806320498281e-05,0.6761,-0.0048,0.08896143035272913,1.0,0.0,0.0,0.0,0.15803991218158658,0.2390848784922207,1.8246228316468713,0.01716778737824795,-0.009861205572652534,0.000653570088583818,0.23361488903480535,0.24551416810997548,1.4822872734831698,0.015294139213655885,-0.01278122585546039,-0.0011852434227648625,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0496881599009045,-0.05333467753891508,-1.4812255541517743,0.3632347644971267,1.1646646871319644,-0.08213345860723881,0.553278232287496,1.8246228316468713,2.03450378643927,2.03450378643927,2.1633600000010373,0,0,-0.00011571351961750664,5.1957767281624003e-05
+38929,1792046233226399141,18561932000000,1792046233223567050,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761733157342686,-0.004874027115017304,0.08909494322124206,0.9999999843741103,3.554525331486253e-05,0.00012364153104242755,7.838335539661414e-05,0.6761,-0.0048,0.08887002615762099,1.0,0.0,0.0,0.0,0.15882790356232707,0.23645848843302691,1.8343100090151456,0.016226093615150042,-0.009845928915129651,0.000634764434166215,0.23440288041554583,0.24288777805078168,1.491974450851444,0.014352445450557976,-0.012765949197937507,-0.0012040490771824655,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0604175592706224,0.0917571542226487,-1.4140229663047545,0.3347576959240185,1.1246735067854117,0.015928860541358038,0.553278232287496,1.8343100090151456,1.9673011985922506,1.9673011985922506,2.2247200000010987,0,0,-0.000125346513747708,-9.997390001815205e-05
+39025,1792046234026369973,18562732000000,1792046234023568289,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.676172131012962,-0.0048758529266781925,0.08898410661543019,0.9999999838952378,4.421231299674257e-05,0.00012071070911823611,8.441910125372022e-05,0.6761,-0.0048,0.0887620191822624,1.0,0.0,0.0,0.0,0.17159858228509667,0.23203370219283703,1.8544195707794193,0.016236841878516758,-0.01041351703725857,0.0006114321230252669,0.2471735591383154,0.2384629918105918,1.5120840126157178,0.014363193713924692,-0.013333537320066426,-0.0012273813883234136,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0639931763927746,0.007940770391332114,-1.573641345573809,0.3701379266263652,1.217975333949733,-0.036494430072952,0.553278232287496,1.8544195707794193,2.126919577861305,2.126919577861305,2.2887200000011627,0,0,-0.00014511818237775286,7.94318458493592e-05
+39108,1792046234718392623,18563424000000,1792046234715576994,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.676172155582759,-0.004876063303050307,0.0888760164370868,0.9999999841344119,3.951730912194771e-05,0.00011888149072379317,8.648476065414294e-05,0.6761,-0.0048,0.0886547589440393,1.0,0.0,0.0,0.0,0.1661717081263031,0.21791186483342484,1.8644349243676903,0.016245282081518427,-0.01086348823392937,0.0005956963376295555,0.24174668497952187,0.2243411544511796,1.5220993662039888,0.014371633916926361,-0.013783508516737226,-0.001243117173719125,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1236545150996031,-0.15024082788997403,-1.564448742000046,0.42759346630048284,1.225744539306509,-0.1429378488149098,0.553278232287496,1.8644349243676903,2.117726974287542,2.117726974287542,2.344080000001218,0,0,-0.00016433812903146461,-6.377936653668143e-05
+39192,1792046235418376250,18564124000000,1792046235411567470,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761745366281149,-0.004877489932572243,0.08875884196434482,0.9999999838566946,3.083894336527075e-05,0.00012350955382334672,8.673998282539566e-05,0.6761,-0.0048,0.08853129670829647,1.0,0.0,0.0,0.0,0.1754151682577051,0.21732424916376258,1.8844979429560171,0.01615886461297281,-0.01086600480335432,0.0005796727577670813,0.2509901451109238,0.22375353878151735,1.5421623847923156,0.014285216448380742,-0.013786025086162177,-0.0012591407535815992,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.086387181805464,-0.00690067052257311,-1.6354884644804706,0.40336240625093067,1.257942750915271,-0.0465536182313932,0.553278232287496,1.8844979429560171,2.1887666967679666,2.1887666967679666,2.400080000001274,0,0,-0.0001867983564676504,9.565316180649148e-05
+39264,1792046236018318576,18564724000000,1792046236015567267,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761768636478899,-0.0048742062125477405,0.08864560966236544,0.9999999841675503,2.0194645264967967e-05,0.00012686932378177265,8.126570504940658e-05,0.6761,-0.0048,0.08841501896173973,1.0,0.0,0.0,0.0,0.18490423486794932,0.21724259753575603,1.924808753814521,0.015213988966950583,-0.010859120143492133,0.0005379112040477653,0.26047921172116806,0.2236718871535108,1.5824731956508196,0.013340340802358516,-0.013779140426299989,-0.0013009023073009152,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0830666597160215,-0.06066611790228979,-1.686788816535226,0.43324931722393695,1.2835246858828557,-0.08048132896093363,0.553278232287496,1.924808753814521,2.240067048822722,2.240067048822722,2.448080000001322,0,0,-0.00019974190964136695,9.97903662743937e-05
+39340,1792046236651390343,18565357000000,1792046236647576592,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761769835894688,-0.0048702777551574115,0.08851796254998498,0.9999999830831399,4.2084112327825907e-05,0.00012614022843861466,8.714444769511793e-05,0.6761,-0.0048,0.08828412590763789,1.0,0.0,0.0,0.0,0.18986781987175022,0.2188393065449999,1.9441971800751014,0.015211825701528185,-0.010863493247482463,0.0005225612924565591,0.26544279672496895,0.22526859616275466,1.6018616219114,0.013338177536936117,-0.01378351353029032,-0.0013162522188921214,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.055503003369701,-0.09356524620856795,-1.7097558219171838,0.445516525082331,1.2893536818332307,-0.10144656889426829,0.553278232287496,1.9441971800751014,2.2630340542046796,2.2630340542046796,2.4987200000013727,0,0,-0.00021414893557472758,8.890658628602494e-05
+39404,1792046237184389591,18565890000000,1792046237183567070,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761759029940639,-0.004870537063478218,0.0884003281453951,0.9999999818996128,6.217561767132582e-05,0.000122304841373126,9.391143082537436e-05,0.6761,-0.0048,0.08816703747854134,1.0,0.0,0.0,0.0,0.19437327350501915,0.218394891767982,1.9544766624224392,0.015232341962704574,-0.01174348222070053,0.0005011959014763873,0.2699482503582379,0.22482418138573676,1.6121411042587377,0.013358693798112506,-0.014663502503508386,-0.0013376176098722932,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1074661896945088,-0.007637622714281774,-1.7042116687225224,0.43973169444923643,1.291803661155207,-0.04023236683506952,0.553278232287496,1.9544766624224392,2.2574899010100182,2.2574899010100182,2.5413600000014154,0,0,-0.0002264104174006108,-6.925876691989206e-06
+39460,1792046237651348952,18566357000000,1792046237643576434,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761741037526366,-0.0048744388082612895,0.08828948434146087,0.9999999824184528,5.685606215806487e-05,0.0001182946765765565,9.68489352942447e-05,0.6761,-0.0048,0.08805843860056833,1.0,0.0,0.0,0.0,0.19326320605878178,0.21757667117545387,1.9544508784420351,0.015235828227233518,-0.011878959961361008,0.0004990186274990295,0.2688381829120005,0.22400596079320864,1.6121153202783336,0.01336218006264145,-0.014798980244168864,-0.001339794883849651,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1078333084573704,-0.020865458269589042,-1.738306261095606,0.4474514925148347,1.3096371854376172,-0.052093459626920566,0.553278232287496,1.9544508784420351,2.2915844933831018,2.2915844933831018,2.5787200000014527,0,0,-0.00024021183645387,7.261477116682897e-05
+39520,1792046238151346281,18566857000000,1792046238147566804,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761698654366654,-0.004873657490457347,0.08816060693541987,0.9999999836714465,4.779899543364164e-05,0.00011172651977297036,9.66044100437886e-05,0.6761,-0.0048,0.08793535518961071,1.0,0.0,0.0,0.0,0.18578751947541472,0.20522914712528684,1.9440152927591619,0.014210753419558249,-0.011639273875577089,0.0004983045785393967,0.26136249632863345,0.2116584367430416,1.6016797345954603,0.012337105254966181,-0.014559294158384944,-0.0013405089328092838,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0639706953998431,-0.12463829801715248,-1.5926513827976827,0.49464581758702686,1.198798050135828,-0.11692735571219959,0.553278232287496,1.9440152927591619,2.1459296150851785,2.1459296150851785,2.6187200000014927,0,0,-0.00025369868094790436,-9.999999025923074e-05
+39579,1792046238643287007,18567349000000,1792046238639576610,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761704396721003,-0.004873490990314574,0.08803513552186704,0.9999999833809499,4.789894468080153e-05,0.00011161262388457989,9.96457615894891e-05,0.6761,-0.0048,0.08780551161714492,1.0,0.0,0.0,0.0,0.19378806612277866,0.2050682860114491,1.9379478343573286,0.014201313912202005,-0.011244473243993107,0.0005103738590290566,0.2693630429759974,0.21149757562920388,1.595612276193627,0.012327665747609937,-0.014164493526800962,-0.001328439652319624,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0935139999702548,-0.01835551849907642,-1.6997527071507224,0.4813718147065685,1.2681501454129938,-0.04960952989891541,0.553278232287496,1.9379478343573286,2.253030939438218,2.253030939438218,2.658080000001532,0,0,-0.00027362509824188495,-9.999999025923074e-05
+39623,1792046239009390691,18567715000000,1792046239007576881,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761672554640877,-0.004880311024571472,0.08792404744093765,0.9999999835544287,4.4570137217354506e-05,0.00010637440017011083,0.00010503331233751671,0.6761,-0.0048,0.08770351455535505,1.0,0.0,0.0,0.0,0.1862875568517114,0.18426484380099167,1.973515880293005,0.013188515089018596,-0.011842976344012442,0.0004596357348540087,0.2618625337049301,0.19069413341874644,1.6311803221293035,0.011314866924426528,-0.014762996626820298,-0.0013791777764946718,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0852573514318442,-0.015051765222407719,-1.644795755734448,0.48151541842965506,1.233647772427405,-0.045853852620687405,0.553278232287496,1.973515880293005,2.1980739880219438,2.1980739880219438,2.6873600000015614,0,0,-0.00028450971037016624,-9.999999025923074e-05
+39679,1792046239476391042,18568182000000,1792046239475576567,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761654365157131,-0.004883868973794299,0.08778667452377982,0.9999999831165393,5.626950180883437e-05,0.00010195450192699219,0.00010792964595191535,0.6761,-0.0048,0.08756597225373744,1.0,0.0,0.0,0.0,0.18361922372595657,0.18448907585659613,1.9797508073538959,0.013185698798208308,-0.011764093219452503,0.00045753578073546566,0.2591942005791753,0.1909183654743509,1.6374152491901943,0.01131205063361624,-0.014684113502260359,-0.0013812777306132149,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1221232099854148,-0.1682865925699414,-1.7178614607109193,0.5505150939985674,1.283949193175086,-0.13592568708180322,0.553278232287496,1.9797508073538959,2.2711396929984153,2.2711396929984153,2.7247200000015988,0,0,-0.0003033741990635371,-9.999999025923074e-05
+39727,1792046239877355253,18568582000000,1792046239875567672,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761666154865319,-0.004884082762426196,0.08766623237476094,0.999999982520028,5.800296999908937e-05,0.00010356644732768454,0.00011096150142526925,0.6761,-0.0048,0.0874411054780317,1.0,0.0,0.0,0.0,0.1954999766549385,0.18355785453339996,1.9737053340353148,0.013188274703513804,-0.011843040731247673,0.0004606864348308897,0.27107495350815725,0.1899871441511547,1.6313697758716132,0.011314626538921737,-0.014763061014055529,-0.0013781270765177908,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1232719599477419,-0.02445709338300052,-1.734817461782394,0.5154942265993968,1.2917774213569113,-0.04319621139829488,0.553278232287496,1.9737053340353148,2.2880956940698898,2.2880956940698898,2.7567200000016308,0,0,-0.00032095785408167563,-9.999990699250389e-05
+39771,1792046240243285301,18568949000000,1792046240239575866,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761607487325346,-0.004886571538354457,0.08754101573025073,0.9999999837713693,4.969730990934728e-05,9.409004880885018e-05,0.00011214885532325158,0.6761,-0.0048,0.08732029170253819,1.0,0.0,0.0,0.0,0.1954087874208879,0.17717840394709905,1.9736385506954433,0.01305483315639033,-0.011840123832728578,0.00045919713993708704,0.27098376427410664,0.18360769356485382,1.6313029925317417,0.011181184991798262,-0.014760144115536434,-0.0013796163714115935,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0939575267967387,-0.08546293067458435,-1.7724362690208106,0.5455020977803597,1.3037198029513468,-0.07940166128471107,0.553278232287496,1.9736385506954433,2.3257145013083065,2.3257145013083065,2.78608000000166,0,0,-0.0003372715983538096,-9.99999347480795e-05
+39815,1792046240609347779,18569315000000,1792046240607576439,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761619288183929,-0.004891225444505706,0.0874197407925971,0.9999999837857467,4.311919553563396e-05,9.752274612741414e-05,0.00011180974772109183,0.6761,-0.0048,0.08719373032193906,1.0,0.0,0.0,0.0,0.18680409311960433,0.17083867184217866,1.9767882126939584,0.01216563479171592,-0.011824049952188283,0.00044280509859838347,0.26237906997282306,0.17726796145993343,1.634452654530257,0.010291986627123852,-0.014744070234996139,-0.001396008412750297,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0782313187996366,-0.04335806130528153,-1.703030257161763,0.5457116544854197,1.253558841989065,-0.05541616681305417,0.553278232287496,1.9767882126939584,2.256308489449259,2.256308489449259,2.8153600000016894,0,0,-0.00035426254308831693,-9.999999025923074e-05
+39859,1792046240976383343,18569682000000,1792046240975576832,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761660690941186,-0.004893026229826184,0.0872921378364647,0.9999999821475366,4.8515249235204874e-05,0.00010504721081191728,0.00011729938268245349,0.6761,-0.0048,0.08706057506353747,1.0,0.0,0.0,0.0,0.18686686792573493,0.1700938409714164,1.9854270062448602,0.012163655582170002,-0.011827096794808034,0.00043865037981144625,0.26244184477895366,0.17652313058917116,1.6430914480811587,0.010290007417577934,-0.01474711707761589,-0.0014001631315372343,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1599814901603218,-0.10941560017620412,-1.7827108245849743,0.5713631702302153,1.3250190746572383,-0.09156710401862175,0.553278232287496,1.9854270062448602,2.3359890568724704,2.3359890568724704,2.8447200000017188,0,0,-0.0003715819664837624,-9.999999025923074e-05
+39903,1792046241343390975,18570049000000,1792046241339567565,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761678074240244,-0.0048992846334574335,0.08716055238773347,0.9999999826044051,4.44117234261523e-05,0.00010357412605808648,0.00011633594946221212,0.6761,-0.0048,0.08692119772218192,1.0,0.0,0.0,0.0,0.18530722183447562,0.1764841643265116,2.002842935071394,0.012134588602999773,-0.010816728911474338,0.00044020184715313983,0.26088219868769436,0.18291345394426634,1.6605073769076921,0.010260940438407706,-0.013736749194282194,-0.0013986116641955407,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1904393452966675,-0.10726842995428912,-1.8399349042254745,0.5882905200326396,1.3726164003519497,-0.08591314610297947,0.553278232287496,2.002842935071394,2.3932131365129705,2.3932131365129705,2.874080000001748,0,0,-0.0003883040614322615,3.647041051756952e-05
+39943,1792046241676365142,18570382000000,1792046241671576922,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761721356775073,-0.004897921914602471,0.08703154454075121,0.999999980841417,4.6182476374569084e-05,0.00011474407641433711,0.00012025392345118668,0.6761,-0.0048,0.08678979359117348,1.0,0.0,0.0,0.0,0.17728016848871658,0.17167141918698758,1.9932739402570203,0.012135927602446903,-0.010814117626275334,0.00044685807155142587,0.2528551453419353,0.17810070880474232,1.6509383820933188,0.010262279437854835,-0.01373413790908319,-0.0013919554397972547,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1384288185453593,-0.05708706242301791,-1.7631619170739339,0.5805383474657385,1.3061699463756808,-0.05357093366489912,0.553278232287496,1.9932739402570203,2.31644014936143,2.31644014936143,2.9007200000017748,0,0,-0.0004026744027482972,-9.999999025923074e-05
+39979,1792046241976379347,18570682000000,1792046241975567276,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761655985290885,-0.0049092628051312474,0.08690302639298834,0.9999999814062274,4.2290948435835324e-05,0.00010671816869282637,0.0001243105691204871,0.6761,-0.0048,0.08666684272872975,1.0,0.0,0.0,0.0,0.17059657868711303,0.16862130447297674,1.9928799333738252,0.011116213341292112,-0.010795036928052528,0.00043476264914330074,0.24617155554033177,0.17505059409073148,1.6505443752101236,0.009242565176700045,-0.013715057210860384,-0.0014040508622053798,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1474088858250586,-0.21434516524352268,-1.6961780080087918,0.6315416923092503,1.2661824632095315,-0.15152366240654266,0.553278232287496,1.9928799333738252,2.2494562402962877,2.2494562402962877,2.9247200000017988,0,0,-0.0004172205506456069,-9.999999025923074e-05
+40015,1792046242276367975,18570982000000,1792046242275576282,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761604551974111,-0.00490939073436876,0.08677163526475765,0.9999999824847763,3.810414023354998e-05,9.958122456584564e-05,0.00012290226120991279,0.6761,-0.0048,0.08653943406397586,1.0,0.0,0.0,0.0,0.16931763794183624,0.15912515297404728,2.0028737968766204,0.01111362445643491,-0.01079559212122392,0.0004302523566102755,0.24489261479505497,0.16555444259180205,1.6605382387129188,0.009239976291842842,-0.013715612404031775,-0.001408561154738405,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1841700263053958,-0.17545480512211536,-1.7381775194421534,0.6254236785232369,1.3090344103067815,-0.13185665040251626,0.553278232287496,2.0028737968766204,2.291455751729649,2.291455751729649,2.9487200000018228,0,0,-0.0004322205477233761,-9.999999025923074e-05
+40051,1792046242576396789,18571282000000,1792046242575578075,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761640353617414,-0.004909121628609519,0.08664585662893316,0.9999999822452516,2.6484695433739684e-05,0.00010612869425614165,0.0001224239459078462,0.6761,-0.0048,0.08640753075175688,1.0,0.0,0.0,0.0,0.16835198204935337,0.16721585713304826,1.9929157461188556,0.011088507911122486,-0.009788266046015449,0.00045018895541148736,0.2439269589025721,0.17364514675080303,1.650580187955154,0.009214859746530418,-0.012708286328823305,-0.0013886245559371932,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1919889197907227,-0.1101362991663297,-1.6792457594818138,0.6212952613570036,1.275876041499547,-0.08185733390902386,0.553278232287496,1.9929157461188556,2.23252399176931,2.23252399176931,2.9727200000018468,0,0,-0.0004471186654628464,-9.999999025923074e-05
+40087,1792046242876389995,18571582000000,1792046242875576932,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.67616598824244,-0.004912539203304129,0.08651709557178257,0.9999999825147243,1.2555707596250198e-05,0.00010814070415709893,0.0001206704512289253,0.6761,-0.0048,0.08627115265255782,1.0,0.0,0.0,0.0,0.15949405369915431,0.15645000472014886,2.0025724270147487,0.010499277706983601,-0.0097711572776411,0.00043447524616782866,0.23506903055237305,0.16287929433790363,1.660236868851047,0.008625629542391534,-0.012691177560448956,-0.0014043382651808519,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2421306305477782,-0.2036949057102925,-1.6883896277558155,0.6507003222225536,1.295903643649028,-0.1447155343302021,0.553278232287496,2.0025724270147487,2.2416678600433113,2.2416678600433113,2.9967200000018708,0,0,-0.0004621186625406156,-9.999999025923074e-05
+40118,1792046243134392630,18571840000000,1792046243131576218,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761584722002851,-0.004923643628049224,0.08638944703772813,0.9999999815485223,6.77239415760264e-06,0.0001008962178536426,0.00013461020539672305,0.6761,-0.0048,0.08615026838794779,1.0,0.0,0.0,0.0,0.16881173206359168,0.15038373161538365,2.0124789079531724,0.010061571763143819,-0.009767104053904347,0.0004229924057479583,0.24438670891681044,0.1568130212331384,1.6701433497894709,0.008187923598551751,-0.012687124336712203,-0.0014158211056007222,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1856976241365493,-0.1401036530069646,-1.7200146172090345,0.6293459142156076,1.3074289683925395,-0.10302238600835337,0.553278232287496,2.0124789079531724,2.2732928494965305,2.2732928494965305,3.0173600000018914,0,0,-0.00047501866002749713,-9.999999025923074e-05
+40146,1792046243368414377,18572074000000,1792046243367576648,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761516727870085,-0.0049277677727581305,0.08627264569241382,0.9999999806484065,6.729205923877736e-06,9.440751718778884e-05,0.00014556094803896963,0.6761,-0.0048,0.08603775098982405,1.0,0.0,0.0,0.0,0.16809824921918198,0.14652437305694777,2.0224323269786684,0.010034073081472611,-0.00976749408993217,0.00041494238758815337,0.24367322607240072,0.15295366267470253,1.6800967688149668,0.008160424916880543,-0.012687514372740025,-0.0014238711237605272,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.268004597479013,-0.18884907248718216,-1.7329079659191344,0.6478140274484309,1.3379586861524475,-0.13179088116099116,0.553278232287496,2.0224323269786684,2.2861861982066305,2.2861861982066305,3.03608000000191,0,0,-0.00048671665189434075,-9.999607672306893e-05
+40178,1792046243634322181,18572340000000,1792046243631576934,DOWN_FORCE_DETACH,7,0.0355,0.035502027720212936,0.6761486034855864,-0.0049297399501946875,0.08613864525806844,0.999999981077817,-7.470083635487981e-07,8.720048973211514e-05,0.0001472506254838209,0.6761,-0.0048,0.08590652211074956,1.0,0.0,0.0,0.0,0.160696135193088,0.13421982421419926,2.0215729527425945,0.00903920247765995,-0.009747768517094083,0.0004028012359424474,0.23627111204630677,0.140649113831954,1.679237394578893,0.007165554313067882,-0.012667788799901939,-0.0014360122754062332,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.309759555862786,-0.22430712697034344,-1.7046550623926398,0.6705292397963531,1.3356335344534125,-0.15531370918816664,0.553278232287496,2.0215729527425945,2.257933294680136,2.257933294680136,3.0573600000019314,0,0,-0.0005000166493588073,-9.999999025923074e-05
+40206,1792046243868376340,18572574000000,1792046243867576482,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.67616778297528,-0.004924476781946178,0.0860372946884825,0.9999999807769415,5.7460569281124535e-05,0.0001153706791735666,0.0001152253021996346,0.6761,-0.0048,0.0857881999678014,1.0,0.0,0.0,0.0,0.1517008633712738,0.16293362704816944,2.0027423613189077,0.011075833527048362,-0.009382751155941482,0.0004469272374657998,0.22727584022449254,0.1693629166659242,1.660406803155206,0.009202185362456294,-0.012302771438749338,-0.0013918862738828807,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2739689927763584,-0.145871944067622,-1.6624070036121597,0.6235927020809413,1.3029502041140026,-0.14527216806357418,0.553278232287496,2.0027423613189077,2.2156852358996555,2.2156852358996555,3.07608000000195,0,0,-0.0005115096576261121,-9.999999025923074e-05
+40238,1792046244134369244,18572840000000,1792046244127576724,DOWN_FORCE_DETACH,7,0.0355,0.03550136834383011,0.6761675757004036,-0.004933311889433618,0.08590315585215746,0.9999999810117073,2.5607919013030014e-05,0.0001197982348225673,0.00012005026851387428,0.6761,-0.0048,0.08565037614921876,1.0,0.0,0.0,0.0,0.15010102635556122,0.15691592940445104,2.0222689664058255,0.010034381596206635,-0.008754897591688883,0.00042852208035988127,0.22567600320877995,0.1633452190222058,1.679933408242124,0.008160733431614567,-0.011674917874496739,-0.0014102914309887993,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.360411322577495,-0.19311276545683312,-1.7598197044611554,0.6616496800576985,1.383009235345415,-0.13826959976865177,0.553278232287496,2.0222689664058255,2.3130979367486515,2.3130979367486515,3.0973600000019714,0,0,-0.0005248096550350675,-9.999999025923074e-05
+40291,1792046244570384998,18573276000000,1792046244563567641,DOWN_SETTLE,7,0.0355,0.03550136834383011,0.6761572512193401,-0.004932543314455437,0.08578910278622384,0.9999999828942284,2.823414945329108e-05,9.739391626118664e-05,0.00012398251941295695,0.6761,-0.0048,0.08557130375832606,1.0,0.0,0.0,0.0,0.15619321325124402,0.15250847435518178,1.9227568956009868,0.010054620443249838,-0.008813851251218785,0.0005089007977951722,0.23176819010446276,0.15893776397293655,1.5804213374372853,0.00818097227865777,-0.01173387153402664,-0.0013299127135535083,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3107771807419033,-0.19375244927281043,-1.5044167902333303,0.6635118037629726,1.2224208668444638,-0.1291368426504249,0.553278232287496,1.9227568956009868,2.0576950225208264,0.0,0.0,0,0,-1.1475068375341086e-05,0.00011590978156910188
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3550e0d13b197d3c0b2df1691d4dff4867120dd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a465cc80dae3a5cdca7240a38ab7cea0d73aa718
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,1.700000000e+00,DOWN_FORCE_DETACH,1792046208676008121,2.758866216e-06,-4.264637367e-05,-1.954824013e-04,-4.101240461e-07,-4.794787340e-05,-1.939524127e-04,-7.898395031e-07,-4.771215750e-05,-1.923174031e-04,7.015406303e-01,-4.109541235e-05,8.405454588e-01,7.015374614e-01,-4.639691208e-05,8.405469888e-01,7.017285795e-01,-4.593037277e-05,8.293805015e-01
+5,2.000000000e+00,DOWN_FORCE_DETACH,1792046209276113857,6.833263220e-07,-5.389709950e-05,-2.774309258e-04,7.424935143e-07,-6.130435707e-05,-2.687955308e-04,1.370655094e-07,-6.099922754e-05,-2.666773236e-04,7.015385548e-01,-5.234613818e-05,8.404635103e-01,7.015386140e-01,-5.975339575e-05,8.404721457e-01,7.017295064e-01,-5.921744281e-05,8.293061416e-01
+6,2.250000000e+00,DOWN_FORCE_DETACH,1792046209774016926,1.744894860e-06,-6.712299083e-05,-3.434667910e-04,-2.988156888e-06,-5.775479948e-05,-3.322702769e-04,-3.854862473e-06,-5.745557859e-05,-3.299214936e-04,7.015396164e-01,-6.557202951e-05,8.403974744e-01,7.015348833e-01,-5.620383815e-05,8.404086709e-01,7.017255145e-01,-5.567379386e-05,8.292428974e-01
+7,2.616666667e+00,DOWN_FORCE_DETACH,1792046210506930059,9.062102656e-06,-7.419362413e-05,-4.169148546e-04,5.400259740e-06,-7.256019456e-05,-4.183507874e-04,4.368092625e-06,-7.221857331e-05,-4.157570726e-04,7.015469336e-01,-7.264266281e-05,8.403240263e-01,7.015432717e-01,-7.100923324e-05,8.403225904e-01,7.017337374e-01,-7.043678858e-05,8.291570618e-01
+8,3.166666667e+00,DOWN_FORCE_DETACH,1792046211604033705,2.586540937e-05,-7.405010217e-05,-4.744502438e-04,2.128654438e-05,-7.532738149e-05,-4.701626764e-04,2.050019655e-05,-7.499088117e-05,-4.680863571e-04,7.015637369e-01,-7.249914085e-05,8.402664909e-01,7.015591580e-01,-7.377642017e-05,8.402707785e-01,7.017498695e-01,-7.320909644e-05,8.291047325e-01
+9,3.566666667e+00,DOWN_FORCE_DETACH,1792046212336579301,3.343369745e-05,-8.008984421e-05,-4.955088351e-04,2.551601317e-05,-7.524257639e-05,-4.907778036e-04,2.484775135e-05,-7.490403933e-05,-4.891512027e-04,7.015713052e-01,-7.853888289e-05,8.402454324e-01,7.015633875e-01,-7.369161507e-05,8.402501634e-01,7.017542171e-01,-7.312225460e-05,8.290836677e-01
+10,4.016666667e+00,DOWN_FORCE_DETACH,1792046213203405983,4.896988676e-05,-7.805635255e-05,-5.023658315e-04,4.462561166e-05,-7.264262087e-05,-4.965916258e-04,4.453331611e-05,-7.232713578e-05,-4.954784016e-04,7.015868414e-01,-7.650539123e-05,8.402385754e-01,7.015824971e-01,-7.109165955e-05,8.402443496e-01,7.017739027e-01,-7.054535105e-05,8.290773405e-01
+11,4.383333333e+00,DOWN_FORCE_DETACH,1792046213898157534,4.880941270e-05,-7.550063731e-05,-5.297094872e-04,4.976989252e-05,-8.207316185e-05,-5.182155645e-04,4.979993812e-05,-8.175302553e-05,-5.171884443e-04,7.015866809e-01,-7.394967599e-05,8.402112317e-01,7.015876414e-01,-8.052220053e-05,8.402227256e-01,7.017791693e-01,-7.997124080e-05,8.290556304e-01
+12,4.916666667e+00,DOWN_FORCE_DETACH,1792046214896942883,5.444631792e-05,-7.963422543e-05,-5.745248445e-04,4.993302494e-05,-7.941262131e-05,-5.583531818e-04,4.991128905e-05,-7.908567888e-05,-5.573733300e-04,7.015923178e-01,-7.808326411e-05,8.401664163e-01,7.015878045e-01,-7.786165998e-05,8.401825880e-01,7.017792806e-01,-7.730389415e-05,8.290154456e-01
+13,5.316666667e+00,DOWN_FORCE_DETACH,1792046215662324612,6.125341363e-05,-7.173488821e-05,-6.191437003e-04,6.383818138e-05,-7.172434407e-05,-6.128575402e-04,6.397927786e-05,-7.145404146e-05,-6.116116888e-04,7.015991249e-01,-7.018392688e-05,8.401217975e-01,7.016017097e-01,-7.017338275e-05,8.401280836e-01,7.017933486e-01,-6.967225673e-05,8.289612072e-01
+14,5.783333333e+00,DOWN_FORCE_DETACH,1792046216560111016,6.692801463e-05,-7.638429252e-05,-6.746064854e-04,6.413297611e-05,-7.773006815e-05,-6.553195229e-04,6.423908331e-05,-7.740965410e-05,-6.539817029e-04,7.016047995e-01,-7.483333120e-05,8.400663347e-01,7.016020045e-01,-7.617910683e-05,8.400856217e-01,7.017936084e-01,-7.562786937e-05,8.289188372e-01
+15,6.333333333e+00,DOWN_FORCE_DETACH,1792046217656067628,7.165007418e-05,-8.532229183e-05,-7.180679919e-04,6.987388461e-05,-7.917951126e-05,-7.166019357e-04,6.996256775e-05,-7.889240659e-05,-7.151428986e-04,7.016095216e-01,-8.377133051e-05,8.400228732e-01,7.016077454e-01,-7.762854994e-05,8.400243393e-01,7.017993319e-01,-7.711062186e-05,8.288576760e-01
+16,6.816666667e+00,DOWN_FORCE_DETACH,1792046218622196064,7.047643791e-05,-8.549255504e-05,-7.569840350e-04,7.040487230e-05,-8.548503016e-05,-7.566777083e-04,7.044487086e-05,-8.515713991e-05,-7.552024679e-04,7.016083479e-01,-8.394159372e-05,8.399839572e-01,7.016082764e-01,-8.393406883e-05,8.399842635e-01,7.017998142e-01,-8.337535518e-05,8.288176164e-01
+17,7.400000000e+00,DOWN_FORCE_DETACH,1792046219788154940,7.347262254e-05,-9.034381828e-05,-8.058799498e-04,7.214849211e-05,-8.813965963e-05,-7.985967982e-04,7.213840835e-05,-8.780571433e-05,-7.971395122e-04,7.016113441e-01,-8.879285696e-05,8.399350612e-01,7.016100200e-01,-8.658869831e-05,8.399423444e-01,7.018015078e-01,-8.602392960e-05,8.287756794e-01
+18,7.866666667e+00,DOWN_FORCE_DETACH,1792046220652157671,7.722278001e-05,-9.485561736e-05,-8.557514883e-04,7.379747190e-05,-9.364308097e-05,-8.401578279e-04,7.373773006e-05,-9.327872329e-05,-8.387466494e-04,7.016150943e-01,-9.330465604e-05,8.398851897e-01,7.016116690e-01,-9.209211965e-05,8.399007834e-01,7.018031071e-01,-9.149693856e-05,8.287340722e-01
+19,8.283333333e+00,DOWN_FORCE_DETACH,1792046221450389282,8.180331336e-05,-9.413865338e-05,-9.022115737e-04,8.151124676e-05,-9.407377785e-05,-9.023846521e-04,8.138747985e-05,-9.371199801e-05,-9.007585834e-04,7.016196748e-01,-9.258769206e-05,8.398387296e-01,7.016193827e-01,-9.252281653e-05,8.398385565e-01,7.018107568e-01,-9.193021328e-05,8.286720603e-01
+20,8.783333333e+00,DOWN_FORCE_DETACH,1792046222414259272,9.011760299e-05,-9.599500758e-05,-9.461699321e-04,8.877225731e-05,-9.502896912e-05,-9.435018771e-04,8.878378610e-05,-9.463674227e-05,-9.420707321e-04,7.016279891e-01,-9.444404626e-05,8.397947713e-01,7.016266437e-01,-9.347800780e-05,8.397974393e-01,7.018181531e-01,-9.285495754e-05,8.286307481e-01
+21,9.283333333e+00,DOWN_FORCE_DETACH,1792046223346163511,9.136403495e-05,-1.007123887e-04,-9.993648451e-04,9.184126169e-05,-9.611365849e-05,-9.851155812e-04,9.176720637e-05,-9.570729978e-05,-9.838550991e-04,7.016292355e-01,-9.916142742e-05,8.397415763e-01,7.016297127e-01,-9.456269717e-05,8.397558256e-01,7.018211366e-01,-9.392551505e-05,8.285889638e-01
+22,9.750000000e+00,DOWN_FORCE_DETACH,1792046224244905673,9.367258320e-05,-9.974038321e-05,-1.053126800e-03,9.357910193e-05,-9.989938087e-05,-1.052858787e-03,9.331604525e-05,-9.946648348e-05,-1.051346714e-03,7.016315441e-01,-9.818942189e-05,8.396878144e-01,7.016314506e-01,-9.834841955e-05,8.396880824e-01,7.018226854e-01,-9.768469875e-05,8.285214722e-01
+23,1.028333333e+01,DOWN_FORCE_DETACH,1792046225274183125,1.004782887e-04,-1.018808227e-04,-1.114359896e-03,1.002055674e-04,-1.018318649e-04,-1.114076637e-03,9.985933037e-05,-1.014265944e-04,-1.112560806e-03,7.016383498e-01,-1.003298614e-04,8.396265813e-01,7.016380770e-01,-1.002809036e-04,8.396268646e-01,7.018292287e-01,-9.964480969e-05,8.284602581e-01
+24,1.085000000e+01,DOWN_FORCE_DETACH,1792046226406157718,1.041669413e-04,-1.029740449e-04,-1.191865862e-03,1.036411244e-04,-1.008322681e-04,-1.180797935e-03,1.031976045e-04,-1.004063808e-04,-1.179284481e-03,7.016420384e-01,-1.014230836e-04,8.395490753e-01,7.016415126e-01,-9.928130679e-05,8.395601433e-01,7.018325670e-01,-9.862459612e-05,8.283935344e-01
+25,1.143333333e+01,DOWN_FORCE_DETACH,1792046227572266174,1.115782085e-04,-1.057331119e-04,-1.271314064e-03,1.103295344e-04,-1.008666183e-04,-1.261279197e-03,1.097008594e-04,-1.004739466e-04,-1.259631438e-03,7.016494497e-01,-1.041821505e-04,8.394696271e-01,7.016482010e-01,-9.931565697e-05,8.394796620e-01,7.018390702e-01,-9.869216183e-05,8.283131874e-01
+26,1.186666667e+01,DOWN_FORCE_DETACH,1792046228400179507,1.173040566e-04,-1.004388298e-04,-1.331381350e-03,1.139827803e-04,-1.069569740e-04,-1.328654427e-03,1.131964036e-04,-1.065241422e-04,-1.326913285e-03,7.016551755e-01,-9.888786847e-05,8.394095598e-01,7.016518543e-01,-1.054060126e-04,8.394122868e-01,7.018425658e-01,-1.047423574e-04,8.282459056e-01
+27,1.231666667e+01,DOWN_FORCE_DETACH,1792046229266212819,1.162460386e-04,-1.041148738e-04,-1.409514584e-03,1.187577489e-04,-1.048206318e-04,-1.392684898e-03,1.177780537e-04,-1.044404004e-04,-1.390845754e-03,7.016541175e-01,-1.025639125e-04,8.393314266e-01,7.016566292e-01,-1.032696705e-04,8.393482563e-01,7.018471474e-01,-1.026586157e-04,8.281819731e-01
+28,1.273333333e+01,DOWN_FORCE_DETACH,1792046230064208961,1.229095387e-04,-1.094551758e-04,-1.469193471e-03,1.186499433e-04,-1.061984640e-04,-1.455783846e-03,1.174955981e-04,-1.057442206e-04,-1.453885281e-03,7.016607810e-01,-1.079042145e-04,8.392717477e-01,7.016565214e-01,-1.046475027e-04,8.392851573e-01,7.018468649e-01,-1.039624359e-04,8.281189336e-01
+29,1.316666667e+01,DOWN_FORCE_DETACH,1792046230864198730,1.251948070e-04,-1.049353551e-04,-1.545195344e-03,1.226547242e-04,-1.089005577e-04,-1.531029976e-03,1.213403223e-04,-1.084554504e-04,-1.528924100e-03,7.016630663e-01,-1.033843938e-04,8.391957458e-01,7.016605262e-01,-1.073495964e-04,8.392099112e-01,7.018507097e-01,-1.066736657e-04,8.280438948e-01
+30,1.358333333e+01,DOWN_FORCE_DETACH,1792046231662331188,1.285530723e-04,-1.095896206e-04,-1.622784357e-03,1.265754721e-04,-1.104997849e-04,-1.616832576e-03,1.249842903e-04,-1.100317012e-04,-1.614450296e-03,7.016664246e-01,-1.080386592e-04,8.391181568e-01,7.016644470e-01,-1.089488236e-04,8.391241086e-01,7.018543536e-01,-1.082499165e-04,8.279583686e-01
+31,1.400000000e+01,DOWN_FORCE_DETACH,1792046232460325408,1.304236167e-04,-1.139448308e-04,-1.709161957e-03,1.284307744e-04,-1.158398299e-04,-1.709086194e-03,1.265701158e-04,-1.153256716e-04,-1.706397620e-03,7.016682951e-01,-1.123938695e-04,8.390317792e-01,7.016663023e-01,-1.142888686e-04,8.390318550e-01,7.018559395e-01,-1.135438869e-04,8.278664213e-01
+32,1.440000000e+01,DOWN_FORCE_DETACH,1792046233224300763,1.313357000e-04,-1.181774337e-04,-1.797466694e-03,1.297047392e-04,-1.181891787e-04,-1.795795264e-03,1.276147442e-04,-1.176955038e-04,-1.792958944e-03,7.016692072e-01,-1.166264724e-04,8.389434745e-01,7.016675762e-01,-1.166382174e-04,8.389451459e-01,7.018569841e-01,-1.159137191e-04,8.277798599e-01
+33,1.480000000e+01,DOWN_FORCE_DETACH,1792046234024333722,1.291850265e-04,-1.202615763e-04,-1.909777481e-03,1.304177484e-04,-1.196924113e-04,-1.903679398e-03,1.279693345e-04,-1.191961672e-04,-1.900594655e-03,7.016670565e-01,-1.187106150e-04,8.388311637e-01,7.016682892e-01,-1.181414500e-04,8.388372618e-01,7.018573387e-01,-1.174143824e-04,8.276722242e-01
+34,1.515000000e+01,DOWN_FORCE_DETACH,1792046234722277620,1.281114018e-04,-1.242938816e-04,-2.018440042e-03,1.271812689e-04,-1.192794605e-04,-2.016054061e-03,1.242774977e-04,-1.187622094e-04,-2.012652252e-03,7.016659829e-01,-1.227429203e-04,8.387225011e-01,7.016650528e-01,-1.177284991e-04,8.387248871e-01,7.018536468e-01,-1.169804247e-04,8.275601666e-01
+35,1.550000000e+01,DOWN_FORCE_DETACH,1792046235421114745,1.320671176e-04,-1.239142958e-04,-2.137376591e-03,1.294295787e-04,-1.257878178e-04,-2.122738055e-03,1.261309037e-04,-1.252316430e-04,-2.119278095e-03,7.016699386e-01,-1.223633345e-04,8.386035646e-01,7.016673011e-01,-1.242368565e-04,8.386182031e-01,7.018555003e-01,-1.234498583e-04,8.274535408e-01
+36,1.580000000e+01,DOWN_FORCE_DETACH,1792046236020458632,1.317541016e-04,-1.193568643e-04,-2.253491908e-03,1.307161137e-04,-1.182041251e-04,-2.246422424e-03,1.270634827e-04,-1.177017968e-04,-2.242573488e-03,7.016696256e-01,-1.178059030e-04,8.384874493e-01,7.016685876e-01,-1.166531637e-04,8.384945188e-01,7.018564328e-01,-1.159200120e-04,8.273302454e-01
+37,1.613333333e+01,DOWN_FORCE_DETACH,1792046236653269618,1.350200605e-04,-1.157902971e-04,-2.376244261e-03,1.333222188e-04,-1.135643197e-04,-2.363361227e-03,1.293162467e-04,-1.130785030e-04,-2.359353737e-03,7.016728915e-01,-1.142393357e-04,8.383646969e-01,7.016711937e-01,-1.120133584e-04,8.383775800e-01,7.018586856e-01,-1.112967182e-04,8.272134651e-01
+38,1.640000000e+01,DOWN_FORCE_DETACH,1792046237184305122,1.324159416e-04,-1.156273878e-04,-2.495430374e-03,1.320302016e-04,-1.154880847e-04,-2.495645514e-03,1.275372334e-04,-1.150219857e-04,-2.491120029e-03,7.016702874e-01,-1.140764265e-04,8.382455108e-01,7.016699017e-01,-1.139371234e-04,8.382452957e-01,7.018569066e-01,-1.132402010e-04,8.270816989e-01
+39,1.665000000e+01,DOWN_FORCE_DETACH,1792046237650361740,1.295398118e-04,-1.207997475e-04,-2.604946191e-03,1.298826458e-04,-1.185837956e-04,-2.591733067e-03,1.250852150e-04,-1.180416600e-04,-2.587167742e-03,7.016674113e-01,-1.192487862e-04,8.381359950e-01,7.016677541e-01,-1.170328343e-04,8.381492081e-01,7.018544546e-01,-1.162598752e-04,8.269856511e-01
+40,1.691666667e+01,DOWN_FORCE_DETACH,1792046238148286605,1.260788395e-04,-1.178857092e-04,-2.736224789e-03,1.286888591e-04,-1.188329799e-04,-2.716621382e-03,1.234447948e-04,-1.182496823e-04,-2.711782214e-03,7.016639503e-01,-1.163347478e-04,8.380047164e-01,7.016665603e-01,-1.172820186e-04,8.380243198e-01,7.018528141e-01,-1.164678976e-04,8.268610367e-01
+41,1.718333333e+01,DOWN_FORCE_DETACH,1792046238646321154,1.275712989e-04,-1.194403327e-04,-2.858308276e-03,1.290880165e-04,-1.199769577e-04,-2.844661910e-03,1.234046103e-04,-1.193163393e-04,-2.839632878e-03,7.016654428e-01,-1.178893714e-04,8.378826329e-01,7.016669595e-01,-1.184259964e-04,8.378962793e-01,7.018527740e-01,-1.175345545e-04,8.267331860e-01
+42,1.736666667e+01,DOWN_FORCE_DETACH,1792046239013207619,1.244835728e-04,-1.264516750e-04,-2.971643850e-03,1.214005394e-04,-1.238782517e-04,-2.967670904e-03,1.150310043e-04,-1.232463750e-04,-2.962214557e-03,7.016623551e-01,-1.249007137e-04,8.377692973e-01,7.016592720e-01,-1.223272904e-04,8.377732703e-01,7.018444004e-01,-1.214645902e-04,8.266106043e-01
+43,1.761666667e+01,DOWN_FORCE_DETACH,1792046239478320882,1.230761047e-04,-1.219792713e-04,-3.106457143e-03,1.240130015e-04,-1.248337902e-04,-3.096714360e-03,1.172583287e-04,-1.242497440e-04,-3.091125754e-03,7.016609476e-01,-1.204283100e-04,8.376344840e-01,7.016618845e-01,-1.232828289e-04,8.376442268e-01,7.018466277e-01,-1.224679593e-04,8.264816931e-01
+44,1.783333333e+01,DOWN_FORCE_DETACH,1792046239876313408,1.224672686e-04,-1.314089254e-04,-3.228610456e-03,1.242598550e-04,-1.314242912e-04,-3.209547838e-03,1.170469557e-04,-1.307985855e-04,-3.203826923e-03,7.016603388e-01,-1.298579641e-04,8.375123307e-01,7.016621313e-01,-1.298733299e-04,8.375313933e-01,7.018464163e-01,-1.290168007e-04,8.263689920e-01
+45,1.801666667e+01,DOWN_FORCE_DETACH,1792046240244351361,1.212713366e-04,-1.313943329e-04,-3.348318851e-03,1.188264032e-04,-1.302312436e-04,-3.329920926e-03,1.111223088e-04,-1.296236460e-04,-3.323898227e-03,7.016591428e-01,-1.298433716e-04,8.373926223e-01,7.016566979e-01,-1.286802823e-04,8.374110203e-01,7.018404917e-01,-1.278418613e-04,8.262489207e-01
+46,1.821666667e+01,DOWN_FORCE_DETACH,1792046240610705430,1.183954813e-04,-1.362777242e-04,-3.475328147e-03,1.181841050e-04,-1.362878732e-04,-3.475081084e-03,1.098753455e-04,-1.356240965e-04,-3.468554385e-03,7.016562670e-01,-1.347267629e-04,8.372656130e-01,7.016560556e-01,-1.347369119e-04,8.372658601e-01,7.018392447e-01,-1.338423118e-04,8.261042645e-01
+47,1.840000000e+01,DOWN_FORCE_DETACH,1792046240976383473,1.231636314e-04,-1.399932209e-04,-3.600558810e-03,1.231986127e-04,-1.398886047e-04,-3.600297285e-03,1.144993118e-04,-1.391600888e-04,-3.593516290e-03,7.016610351e-01,-1.384422596e-04,8.371403824e-01,7.016610701e-01,-1.383376433e-04,8.371406439e-01,7.018438687e-01,-1.373783041e-04,8.259793026e-01
+48,1.860000000e+01,DOWN_FORCE_DETACH,1792046241341022699,1.215809187e-04,-1.420335307e-04,-3.736923946e-03,1.195741553e-04,-1.445421427e-04,-3.728414029e-03,1.103432448e-04,-1.437983446e-04,-3.721542347e-03,7.016594524e-01,-1.404825694e-04,8.370040172e-01,7.016574456e-01,-1.429911814e-04,8.370125272e-01,7.018397126e-01,-1.420165598e-04,8.258512765e-01
+49,1.876666667e+01,DOWN_FORCE_DETACH,1792046241676369470,1.290599967e-04,-1.462541224e-04,-3.861754915e-03,1.303139158e-04,-1.495444743e-04,-3.848115424e-03,1.207877148e-04,-1.487882763e-04,-3.841073354e-03,7.016669315e-01,-1.447031611e-04,8.368791863e-01,7.016681854e-01,-1.479935130e-04,8.368928258e-01,7.018501571e-01,-1.470064916e-04,8.257317455e-01
+50,1.891666667e+01,DOWN_FORCE_DETACH,1792046241974812647,1.229011417e-04,-1.495255135e-04,-3.990547444e-03,1.226490394e-04,-1.495159511e-04,-3.990145527e-03,1.124877450e-04,-1.487634623e-04,-3.982705869e-03,7.016607726e-01,-1.479745522e-04,8.367503937e-01,7.016605205e-01,-1.479649898e-04,8.367507957e-01,7.018418571e-01,-1.469816776e-04,8.255901130e-01
+51,1.906666667e+01,DOWN_FORCE_DETACH,1792046242272400322,1.170120641e-04,-1.539005823e-04,-4.122681400e-03,1.169080315e-04,-1.538689170e-04,-4.122743944e-03,1.061890361e-04,-1.531571291e-04,-4.115049132e-03,7.016548835e-01,-1.523496210e-04,8.366182598e-01,7.016547795e-01,-1.523179556e-04,8.366181972e-01,7.018355584e-01,-1.513753444e-04,8.254577697e-01
+52,1.921666667e+01,DOWN_FORCE_DETACH,1792046242572446679,1.181474679e-04,-1.536887617e-04,-4.251304379e-03,1.152785965e-04,-1.555157826e-04,-4.242143607e-03,1.041273418e-04,-1.547667352e-04,-4.234329156e-03,7.016560189e-01,-1.521378003e-04,8.364896368e-01,7.016531501e-01,-1.539648212e-04,8.364987976e-01,7.018334967e-01,-1.529849505e-04,8.253384897e-01
+53,1.936666667e+01,DOWN_FORCE_DETACH,1792046242873013738,1.223214847e-04,-1.569107322e-04,-4.375751367e-03,1.192800241e-04,-1.601641572e-04,-4.366646679e-03,1.077410839e-04,-1.593428706e-04,-4.358670628e-03,7.016601930e-01,-1.553597709e-04,8.363651898e-01,7.016571515e-01,-1.586131959e-04,8.363742945e-01,7.018371104e-01,-1.575610859e-04,8.252141483e-01
+54,1.950000000e+01,DOWN_FORCE_DETACH,1792046243136411056,1.136792809e-04,-1.691486722e-04,-4.508410904e-03,1.136501003e-04,-1.692949462e-04,-4.508129307e-03,1.015566548e-04,-1.683439896e-04,-4.499826526e-03,7.016515508e-01,-1.675977109e-04,8.362325303e-01,7.016515216e-01,-1.677439849e-04,8.362328119e-01,7.018309260e-01,-1.665622048e-04,8.250729924e-01
+55,1.961666667e+01,DOWN_FORCE_DETACH,1792046243370409119,1.064149485e-04,-1.720102850e-04,-4.627211913e-03,1.095108714e-04,-1.684261897e-04,-4.607918566e-03,9.693599196e-05,-1.675098677e-04,-4.599559877e-03,7.016442864e-01,-1.704593237e-04,8.361137293e-01,7.016473824e-01,-1.668752284e-04,8.361330226e-01,7.018263053e-01,-1.657280830e-04,8.249732590e-01
+56,1.975000000e+01,DOWN_FORCE_DETACH,1792046243636421750,1.075089056e-04,-1.732587155e-04,-4.754670425e-03,9.862631924e-05,-1.783391971e-04,-4.747693866e-03,8.529324204e-05,-1.773799942e-04,-4.739079734e-03,7.016453804e-01,-1.717077542e-04,8.359862708e-01,7.016364978e-01,-1.767882358e-04,8.359932473e-01,7.018146626e-01,-1.755982095e-04,8.248337391e-01
+57,1.986666667e+01,DOWN_FORCE_DETACH,1792046243868375789,1.211825910e-04,-1.699516938e-04,-4.863847226e-03,1.219747850e-04,-1.692425770e-04,-4.844856442e-03,1.087989347e-04,-1.683939122e-04,-4.836214533e-03,7.016590541e-01,-1.684007325e-04,8.358770940e-01,7.016598463e-01,-1.676916157e-04,8.358960847e-01,7.018381683e-01,-1.666121274e-04,8.247366043e-01
+58,2.000000000e+01,DOWN_FORCE_DETACH,1792046244136373825,1.241695486e-04,-1.784559560e-04,-4.992000566e-03,1.195442931e-04,-1.742818790e-04,-4.983102862e-03,1.058064156e-04,-1.734189184e-04,-4.974331436e-03,7.016620410e-01,-1.769049946e-04,8.357489406e-01,7.016574158e-01,-1.727309177e-04,8.357578383e-01,7.018351758e-01,-1.716371337e-04,8.245984874e-01
+59,2.021666667e+01,DOWN_SETTLE,1792046244568992671,1.135673086e-04,-1.771440365e-04,-5.106404886e-03,1.176208582e-04,-1.772907559e-04,-5.091171679e-03,1.034055607e-04,-1.763722819e-04,-5.083263776e-03,7.016514388e-01,-1.755930752e-04,8.356345363e-01,7.016554923e-01,-1.757397946e-04,8.356497695e-01,7.018327749e-01,-1.745904972e-04,8.244895551e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb1c05d03ec03935018baee652d61e91cf812605
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-7.8870e-03,2.4541e-03,2.4585e+00,-3.6965e-02,3.6214e-02,-2.2043e-05,2.9738e-04,1.0026e-06,6.2466e-05,-9.3132e-08,2.0809e-05,-7.8959e-08,3.0387e-04,2.0810e-05
+1,3.1667e-01,DOWN_FORCE_DETACH,1.3063e-04,-2.8537e-03,2.4757e-03,2.4597e+00,-3.6966e-02,3.6566e-02,-2.3572e-05,5.3306e-03,2.2681e-05,1.2517e-03,-1.0617e-06,3.7340e-04,-1.6079e-06,5.4757e-03,3.7341e-04
+2,8.0000e-01,DOWN_FORCE_DETACH,2.6693e-04,3.3239e-03,1.0384e-02,2.4700e+00,-3.7515e-02,3.6994e-02,-2.0108e-05,1.1508e-02,7.9306e-03,1.1531e-02,-5.5023e-04,8.0098e-04,1.8563e-06,1.8119e-02,9.7177e-04
+3,1.2500e+00,DOWN_FORCE_DETACH,4.0252e-04,1.1540e-02,1.7571e-02,2.5139e+00,-3.8009e-02,3.7549e-02,-1.8559e-05,1.9724e-02,1.5118e-02,5.5459e-02,-1.0449e-03,1.3559e-03,3.4049e-06,6.0772e-02,1.7119e-03
+4,1.7000e+00,DOWN_FORCE_DETACH,5.3715e-04,9.9643e-03,2.8271e-02,2.5462e+00,-3.8747e-02,3.7416e-02,-1.2167e-05,1.8149e-02,2.5818e-02,8.7718e-02,-1.7828e-03,1.2226e-03,9.7969e-06,9.3222e-02,2.1617e-03
+5,2.0000e+00,DOWN_FORCE_DETACH,6.7180e-04,1.1049e-02,3.5740e-02,2.5669e+00,-3.9260e-02,3.7478e-02,-5.3206e-06,1.9234e-02,3.3287e-02,1.0845e-01,-2.2957e-03,1.2849e-03,1.6643e-05,1.1506e-01,2.6309e-03
+6,2.2500e+00,DOWN_FORCE_DETACH,8.0447e-04,1.4246e-02,3.3125e-02,2.5803e+00,-3.9069e-02,3.7698e-02,-6.5619e-06,2.2431e-02,3.0672e-02,1.2187e-01,-2.1048e-03,1.5047e-03,1.5402e-05,1.2766e-01,2.5874e-03
+7,2.6167e+00,DOWN_FORCE_DETACH,9.3921e-04,1.2012e-02,4.1613e-02,2.5930e+00,-3.9648e-02,3.7548e-02,3.3730e-06,2.0196e-02,3.9160e-02,1.3456e-01,-2.6835e-03,1.3548e-03,2.5337e-05,1.4159e-01,3.0062e-03
+8,3.1667e+00,DOWN_FORCE_DETACH,1.0782e-03,1.0395e-02,4.2509e-02,2.5671e+00,-3.9700e-02,3.7467e-02,1.3229e-05,1.8579e-02,4.0056e-02,1.0869e-01,-2.7359e-03,1.2745e-03,3.5193e-05,1.1731e-01,3.0184e-03
+9,3.5667e+00,DOWN_FORCE_DETACH,1.2082e-03,1.3377e-02,4.1791e-02,2.5442e+00,-3.9652e-02,3.7709e-02,1.5022e-05,2.1561e-02,3.9338e-02,8.5752e-02,-2.6878e-03,1.5165e-03,3.6986e-05,9.6777e-02,3.0863e-03
+10,4.0167e+00,DOWN_FORCE_DETACH,1.3452e-03,1.0050e-02,3.9752e-02,2.5184e+00,-3.9524e-02,3.7505e-02,1.1153e-05,1.8234e-02,3.7299e-02,5.9899e-02,-2.5598e-03,1.3126e-03,3.3117e-05,7.2880e-02,2.8769e-03
+11,4.3833e+00,DOWN_FORCE_DETACH,1.4772e-03,1.3156e-02,4.4621e-02,2.5127e+00,-3.9875e-02,3.7735e-02,1.0487e-05,2.1341e-02,4.2168e-02,5.4240e-02,-2.9105e-03,1.5418e-03,3.2451e-05,7.1941e-02,3.2938e-03
+12,4.9167e+00,DOWN_FORCE_DETACH,1.6139e-03,2.0027e-02,4.2586e-02,2.5111e+00,-3.9745e-02,3.8224e-02,-1.0756e-06,2.8212e-02,4.0133e-02,5.2639e-02,-2.7806e-03,2.0310e-03,2.0888e-05,7.1954e-02,3.4435e-03
+13,5.3167e+00,DOWN_FORCE_DETACH,1.7478e-03,1.7368e-02,3.8275e-02,2.5258e+00,-3.9449e-02,3.8033e-02,-1.0598e-05,2.5552e-02,3.5822e-02,6.7380e-02,-2.4843e-03,1.8405e-03,1.1366e-05,8.0475e-02,3.0918e-03
+14,5.7833e+00,DOWN_FORCE_DETACH,1.8850e-03,2.2261e-02,4.1094e-02,2.5265e+00,-3.9641e-02,3.8374e-02,-1.3320e-05,3.0446e-02,3.8641e-02,6.8030e-02,-2.6765e-03,2.1812e-03,8.6440e-06,8.3953e-02,3.4527e-03
+15,6.3333e+00,DOWN_FORCE_DETACH,2.0173e-03,2.4185e-02,4.1247e-02,2.5356e+00,-3.9642e-02,3.8502e-02,-1.6936e-05,3.2369e-02,3.8794e-02,7.7146e-02,-2.6779e-03,2.3092e-03,5.0283e-06,9.2219e-02,3.5360e-03
+16,6.8167e+00,DOWN_FORCE_DETACH,2.1523e-03,2.8424e-02,4.4167e-02,2.5246e+00,-3.9838e-02,3.8802e-02,-1.6886e-05,3.6608e-02,4.1714e-02,6.6113e-02,-2.8733e-03,2.6096e-03,5.0784e-06,8.6320e-02,3.8815e-03
+17,7.4000e+00,DOWN_FORCE_DETACH,2.2870e-03,2.9751e-02,4.5826e-02,2.5331e+00,-3.9939e-02,3.8881e-02,-1.7370e-05,3.7935e-02,4.3373e-02,7.4660e-02,-2.9746e-03,2.6884e-03,4.5937e-06,9.4310e-02,4.0095e-03
+18,7.8667e+00,DOWN_FORCE_DETACH,2.4216e-03,3.1538e-02,4.8906e-02,2.5319e+00,-4.0142e-02,3.8996e-02,-1.6277e-05,3.9722e-02,4.6453e-02,7.3446e-02,-3.1772e-03,2.8027e-03,5.6874e-06,9.5551e-02,4.2367e-03
+19,8.2833e+00,DOWN_FORCE_DETACH,2.5577e-03,3.0300e-02,4.8682e-02,2.5300e+00,-4.0117e-02,3.8896e-02,-1.9384e-05,3.8484e-02,4.6229e-02,7.1557e-02,-3.1525e-03,2.7028e-03,2.5805e-06,9.3480e-02,4.1525e-03
+20,8.7833e+00,DOWN_FORCE_DETACH,2.6904e-03,2.9695e-02,5.0799e-02,2.5353e+00,-4.0257e-02,3.8830e-02,-2.5723e-05,3.7880e-02,4.8346e-02,7.6808e-02,-3.2925e-03,2.6373e-03,-3.7585e-06,9.8345e-02,4.2185e-03
+21,9.2833e+00,DOWN_FORCE_DETACH,2.8215e-03,3.1391e-02,5.1524e-02,2.5259e+00,-4.0309e-02,3.8935e-02,-3.5751e-05,3.9576e-02,4.9071e-02,6.7482e-02,-3.3443e-03,2.7425e-03,-1.3787e-05,9.2347e-02,4.3250e-03
+22,9.7500e+00,DOWN_FORCE_DETACH,2.9587e-03,3.2420e-02,5.4010e-02,2.5210e+00,-4.0486e-02,3.8997e-02,-4.3944e-05,4.0605e-02,5.1557e-02,6.2516e-02,-3.5217e-03,2.8037e-03,-2.1980e-05,9.0637e-02,4.5015e-03
+23,1.0283e+01,DOWN_FORCE_DETACH,3.0954e-03,2.9745e-02,5.6370e-02,2.5244e+00,-4.0656e-02,3.8800e-02,-4.8891e-05,3.7929e-02,5.3917e-02,6.5938e-02,-3.6914e-03,2.6066e-03,-2.6927e-05,9.3239e-02,4.5190e-03
+24,1.0850e+01,DOWN_FORCE_DETACH,3.2284e-03,2.9621e-02,5.4336e-02,2.5374e+00,-4.0523e-02,3.8782e-02,-5.1752e-05,3.7805e-02,5.1883e-02,7.8969e-02,-3.5587e-03,2.5895e-03,-2.9788e-05,1.0177e-01,4.4012e-03
+25,1.1433e+01,DOWN_FORCE_DETACH,3.3633e-03,2.7295e-02,5.3689e-02,2.5440e+00,-4.0488e-02,3.8619e-02,-4.5866e-05,3.5479e-02,5.1236e-02,8.5545e-02,-3.5240e-03,2.4260e-03,-2.3902e-05,1.0584e-01,4.2784e-03
+26,1.1867e+01,DOWN_FORCE_DETACH,3.4948e-03,2.5846e-02,5.6752e-02,2.5514e+00,-4.0703e-02,3.8515e-02,-3.6240e-05,3.4030e-02,5.4299e-02,9.2933e-02,-3.7388e-03,2.3225e-03,-1.4276e-05,1.1288e-01,4.4015e-03
+27,1.2317e+01,DOWN_FORCE_DETACH,3.6356e-03,2.4243e-02,5.5739e-02,2.5543e+00,-4.0631e-02,3.8402e-02,-3.0373e-05,3.2428e-02,5.3286e-02,9.5858e-02,-3.6668e-03,2.2088e-03,-8.4094e-06,1.1437e-01,4.2806e-03
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+29,1.3167e+01,DOWN_FORCE_DETACH,3.9001e-03,2.3320e-02,5.8428e-02,2.5694e+00,-4.0795e-02,3.8315e-02,-2.1454e-05,3.1505e-02,5.5975e-02,1.1095e-01,-3.8307e-03,2.1217e-03,5.1054e-07,1.2820e-01,4.3790e-03
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+57,1.9867e+01,DOWN_FORCE_DETACH,7.6696e-03,3.4321e-02,9.1098e-02,2.9145e+00,-4.2276e-02,3.8782e-02,-4.4918e-05,4.2505e-02,8.8645e-02,4.5606e-01,-5.3119e-03,2.5891e-03,-2.2954e-05,4.6654e-01,5.9093e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..76be7b56a5392340de63ff6113f05d6044c5a153
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68e55c6dd7584467150cf55a9cdcbbe0329958df12251a9ed54bfac7f62eb33b
+size 9850880
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..15c56d39a147500e000ed2a330134dbd305cd422
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ce9b79c5989e6a27dcc81373ca4d5cfe6fed7fd6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..34c52501dd8fda8f4514a0c0687e6d2abc426bb8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c62eb02be3192d31faeb51d4136f75eddadba6ce
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+48,2.366666667e+00,UP_FORCE_RAMP,1792046199594111521,-3.361784612e-06,-9.328723216e-06,1.775175278e-04,4.493212885e-07,-1.455726197e-05,1.687253861e-04,1.604075788e-06,-1.448057390e-05,1.678350461e-04,7.015345097e-01,-7.777761895e-06,8.409184587e-01,7.015383208e-01,-1.300630065e-05,8.409096666e-01,7.017309735e-01,-1.269878249e-05,8.297406538e-01
+49,2.416666667e+00,UP_FORCE_RAMP,1792046199695919326,-3.311604932e-06,-9.235640543e-06,1.779598913e-04,4.493212885e-07,-1.455726197e-05,1.687253861e-04,1.610306522e-06,-1.448136057e-05,1.678703096e-04,7.015345599e-01,-7.684679222e-06,8.409189011e-01,7.015383208e-01,-1.300630065e-05,8.409096666e-01,7.017309798e-01,-1.269956916e-05,8.297406891e-01
+50,2.500000000e+00,UP_FORCE_RAMP,1792046199865194607,-2.739918437e-06,-1.492209256e-05,1.866599552e-04,4.493212885e-07,-1.455726197e-05,1.687253861e-04,1.620767525e-06,-1.448237875e-05,1.679250940e-04,7.015351316e-01,-1.337113124e-05,8.409276011e-01,7.015383208e-01,-1.300630065e-05,8.409096666e-01,7.017309902e-01,-1.270058735e-05,8.297407439e-01
+51,2.550000000e+00,UP_FORCE_RAMP,1792046199960060736,-2.201715562e-06,-1.259229242e-05,1.905546165e-04,1.137148149e-06,-1.134509775e-05,1.919285460e-04,2.424104010e-06,-1.133325940e-05,1.908836714e-04,7.015356698e-01,-1.104133110e-05,8.409314958e-01,7.015390086e-01,-9.794136430e-06,8.409328697e-01,7.017317936e-01,-9.551467990e-06,8.297637024e-01
+52,2.583333333e+00,UP_FORCE_HOLD,1792046200027928392,-1.539379646e-06,-3.729543966e-06,1.930662020e-04,1.137148149e-06,-1.134509775e-05,1.919285460e-04,2.428354379e-06,-1.133299745e-05,1.909169440e-04,7.015363321e-01,-2.178582645e-06,8.409340074e-01,7.015390086e-01,-9.794136430e-06,8.409328697e-01,7.017317978e-01,-9.551206041e-06,8.297637357e-01
+53,2.633333333e+00,UP_FORCE_HOLD,1792046200128222272,-8.726212560e-07,-9.473072513e-06,1.979889845e-04,1.137148149e-06,-1.134509775e-05,1.919285460e-04,2.434756569e-06,-1.133315239e-05,1.909602269e-04,7.015369989e-01,-7.922111192e-06,8.409389302e-01,7.015390086e-01,-9.794136430e-06,8.409328697e-01,7.017318042e-01,-9.551360984e-06,8.297637790e-01
+54,2.700000000e+00,UP_FORCE_HOLD,1792046200260109703,-2.663559399e-06,-9.416584248e-06,2.003348517e-04,1.137148149e-06,-1.134509775e-05,1.919285460e-04,2.443130674e-06,-1.133351681e-05,1.910116902e-04,7.015352079e-01,-7.865622926e-06,8.409412760e-01,7.015390086e-01,-9.794136430e-06,8.409328697e-01,7.017318126e-01,-9.551725408e-06,8.297638305e-01
+55,2.783333333e+00,UP_FORCE_HOLD,1792046200428142902,-1.233702431e-06,-1.371707620e-05,2.084844574e-04,1.137148149e-06,-1.134509775e-05,1.919285460e-04,2.453497356e-06,-1.133400508e-05,1.910699082e-04,7.015366378e-01,-1.216611488e-05,8.409494256e-01,7.015390086e-01,-9.794136430e-06,8.409328697e-01,7.017318230e-01,-9.552213670e-06,8.297638887e-01
+56,2.850000000e+00,UP_FORCE_HOLD,1792046200560080191,2.802136654e-06,-1.290237631e-05,2.186899174e-04,2.159888374e-07,-1.288475568e-05,2.119038376e-04,1.581363543e-06,-1.281797981e-05,2.108307708e-04,7.015406736e-01,-1.135141499e-05,8.409596311e-01,7.015380875e-01,-1.133379436e-05,8.409528450e-01,7.017309508e-01,-1.103618840e-05,8.297836495e-01
+57,2.900000000e+00,UP_FORCE_HOLD,1792046200660376696,2.894611659e-07,-1.332475893e-05,2.191010526e-04,2.159888374e-07,-1.288475568e-05,2.119038376e-04,1.586657403e-06,-1.281892556e-05,2.108753630e-04,7.015381609e-01,-1.177379761e-05,8.409600422e-01,7.015380875e-01,-1.133379436e-05,8.409528450e-01,7.017309561e-01,-1.103713416e-05,8.297836941e-01
+58,3.000000000e+00,UP_FORCE_HOLD,1792046200858603791,3.209029624e-06,-1.018781196e-05,2.258235052e-04,2.159888374e-07,-1.288475568e-05,2.119038376e-04,1.597526015e-06,-1.282021403e-05,2.109523124e-04,7.015410805e-01,-8.636850634e-06,8.409667647e-01,7.015380875e-01,-1.133379436e-05,8.409528450e-01,7.017309670e-01,-1.103842262e-05,8.297837711e-01
+59,3.066666667e+00,UP_FORCE_HOLD,1792046200992187720,4.266211345e-06,-1.376547866e-05,2.301389912e-04,2.159888374e-07,-1.288475568e-05,2.119038376e-04,1.604838094e-06,-1.282080527e-05,2.109984086e-04,7.015421377e-01,-1.221451734e-05,8.409710802e-01,7.015380875e-01,-1.133379436e-05,8.409528450e-01,7.017309743e-01,-1.103901387e-05,8.297838172e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..09227f7066de0af838a1f7e1ea572b93a8369a80
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-7.8816e-03,2.4538e-03,2.4585e+00,-3.6964e-02,3.6214e-02,-2.2066e-05,2.9732e-04,1.0056e-06,6.2466e-05,-8.9407e-08,2.0802e-05,-7.8711e-08,3.0382e-04,2.0802e-05
+1,1.0000e-01,UP_FORCE_RAMP,2.0585e-05,-6.1808e-03,2.4679e-03,2.4589e+00,-3.6966e-02,3.6333e-02,-2.2479e-05,1.9980e-03,1.5045e-05,4.3011e-04,-1.1921e-06,1.3997e-04,-4.9120e-07,2.0439e-03,1.3998e-04
+2,1.3333e-01,UP_FORCE_RAMP,4.1247e-05,-5.6423e-03,2.4732e-03,2.4590e+00,-3.6966e-02,3.6371e-02,-2.2596e-05,2.5366e-03,2.0340e-05,5.5027e-04,-1.5795e-06,1.7776e-04,-6.0834e-07,2.5957e-03,1.7777e-04
+3,2.1667e-01,UP_FORCE_RAMP,5.8333e-05,-4.3354e-03,2.4803e-03,2.4593e+00,-3.6966e-02,3.6463e-02,-2.2999e-05,3.8434e-03,2.7495e-05,8.6546e-04,-1.8924e-06,2.6932e-04,-1.0110e-06,3.9398e-03,2.6932e-04
+4,3.1667e-01,UP_FORCE_RAMP,7.6311e-05,-2.8491e-03,2.4755e-03,2.4597e+00,-3.6965e-02,3.6567e-02,-2.3592e-05,5.3298e-03,2.2723e-05,1.2531e-03,-1.0766e-06,3.7334e-04,-1.6042e-06,5.4752e-03,3.7335e-04
+5,3.6667e-01,UP_FORCE_RAMP,9.4469e-05,-2.1397e-03,2.4716e-03,2.4599e+00,-3.6965e-02,3.6616e-02,-2.3912e-05,6.0392e-03,1.8805e-05,1.4458e-03,-5.0291e-07,4.2297e-04,-1.9239e-06,6.2099e-03,4.2297e-04
+6,4.8333e-01,UP_FORCE_RAMP,1.1803e-04,-5.6842e-04,2.4589e-03,2.4603e+00,-3.6963e-02,3.6726e-02,-2.4679e-05,7.6105e-03,6.1132e-06,1.8835e-03,1.2219e-06,5.3291e-04,-2.6914e-06,7.8401e-03,5.3291e-04
+7,5.1667e-01,UP_FORCE_RAMP,1.3426e-04,-1.3357e-04,2.4538e-03,2.4605e+00,-3.6963e-02,3.6757e-02,-2.4888e-05,8.0453e-03,1.0321e-06,2.0037e-03,1.8291e-06,5.6325e-04,-2.9002e-06,8.2911e-03,5.6326e-04
+8,5.5000e-01,UP_FORCE_RAMP,1.5301e-04,2.7827e-04,2.4490e-03,2.4606e+00,-3.6962e-02,3.6785e-02,-2.5117e-05,8.4571e-03,-3.7781e-06,2.1253e-03,2.4326e-06,5.9217e-04,-3.1290e-06,8.7201e-03,5.9218e-04
+9,5.8333e-01,UP_FORCE_RAMP,1.7323e-04,2.5929e-03,1.4897e-02,2.4585e+00,-3.7833e-02,3.6950e-02,-1.4874e-05,1.0772e-02,1.2444e-02,5.0068e-05,-8.6853e-04,7.5663e-04,7.1139e-06,1.6459e-02,1.1519e-03
+10,6.3333e-01,UP_FORCE_RAMP,1.9493e-04,3.0378e-03,1.4245e-02,2.4589e+00,-3.7787e-02,3.6981e-02,-1.5717e-05,1.1217e-02,1.1792e-02,4.4775e-04,-8.2240e-04,7.8776e-04,6.2712e-06,1.6281e-02,1.1388e-03
+11,7.0000e-01,UP_FORCE_RAMP,2.1541e-04,3.6826e-03,1.3894e-02,2.4593e+00,-3.7762e-02,3.7026e-02,-1.6572e-05,1.1862e-02,1.1441e-02,8.4782e-04,-7.9739e-04,8.3277e-04,5.4157e-06,1.6502e-02,1.1530e-03
+12,7.6667e-01,UP_FORCE_RAMP,2.3416e-04,4.3307e-03,1.3710e-02,2.4596e+00,-3.7748e-02,3.7071e-02,-1.7297e-05,1.2510e-02,1.1257e-02,1.1919e-03,-7.8394e-04,8.7806e-04,4.6911e-06,1.6871e-02,1.1771e-03
+13,8.1667e-01,UP_FORCE_RAMP,2.5751e-04,4.8067e-03,1.3618e-02,2.4599e+00,-3.7741e-02,3.7105e-02,-1.7800e-05,1.2986e-02,1.1165e-02,1.4286e-03,-7.7711e-04,9.1137e-04,4.1873e-06,1.7185e-02,1.1977e-03
+14,8.6667e-01,UP_FORCE_RAMP,2.7607e-04,4.5165e-03,6.9803e-03,2.4491e+00,-3.7277e-02,3.7090e-02,-2.3684e-05,1.2695e-02,4.5275e-03,-9.3212e-03,-3.1262e-04,8.9637e-04,-1.6965e-06,1.6388e-02,9.4933e-04
+15,9.1667e-01,UP_FORCE_RAMP,2.9245e-04,5.0326e-03,7.1447e-03,2.4501e+00,-3.7288e-02,3.7126e-02,-2.3982e-05,1.3211e-02,4.6919e-03,-8.3423e-03,-3.2381e-04,9.3257e-04,-1.9945e-06,1.6314e-02,9.8719e-04
+16,1.0000e+00,UP_FORCE_RAMP,3.1185e-04,5.8236e-03,7.2206e-03,2.4513e+00,-3.7293e-02,3.7181e-02,-2.4657e-05,1.4002e-02,4.7678e-03,-7.1602e-03,-3.2815e-04,9.8787e-04,-2.6693e-06,1.6434e-02,1.0409e-03
+17,1.0667e+00,UP_FORCE_RAMP,3.3317e-04,6.3779e-03,1.2042e-02,2.4411e+00,-3.7630e-02,3.7226e-02,-2.1039e-05,1.4557e-02,9.5897e-03,-1.7365e-02,-6.6560e-04,1.0326e-03,9.4910e-07,2.4605e-02,1.2286e-03
+18,1.1000e+00,UP_FORCE_RAMP,3.4921e-04,6.6745e-03,1.1924e-02,2.4419e+00,-3.7621e-02,3.7246e-02,-2.1463e-05,1.4853e-02,9.4713e-03,-1.6508e-02,-6.5704e-04,1.0532e-03,5.2476e-07,2.4142e-02,1.2413e-03
+19,1.1500e+00,UP_FORCE_RAMP,3.7187e-04,7.1045e-03,1.1811e-02,2.4430e+00,-3.7613e-02,3.7276e-02,-2.2085e-05,1.5283e-02,9.3580e-03,-1.5423e-02,-6.4856e-04,1.0830e-03,-9.6828e-08,2.3644e-02,1.2624e-03
+20,1.2000e+00,UP_FORCE_RAMP,3.9078e-04,6.4427e-03,8.9044e-03,2.4300e+00,-3.7409e-02,3.7236e-02,-2.4830e-05,1.4622e-02,6.4515e-03,-2.8433e-02,-4.4488e-04,1.0427e-03,-2.8420e-06,3.2617e-02,1.1337e-03
+21,1.2333e+00,UP_FORCE_RAMP,4.0883e-04,6.8119e-03,8.9483e-03,2.4315e+00,-3.7412e-02,3.7262e-02,-2.5159e-05,1.4991e-02,6.4955e-03,-2.6911e-02,-4.4777e-04,1.0686e-03,-3.1710e-06,3.1482e-02,1.1586e-03
+22,1.3000e+00,UP_FORCE_RAMP,4.2829e-04,7.4306e-03,8.9482e-03,2.4337e+00,-3.7411e-02,3.7305e-02,-2.5878e-05,1.5609e-02,6.4954e-03,-2.4785e-02,-4.4695e-04,1.1115e-03,-3.8900e-06,3.0003e-02,1.1980e-03
+23,1.3667e+00,UP_FORCE_RAMP,4.5251e-04,6.2489e-03,1.0235e-02,2.4205e+00,-3.7501e-02,3.7228e-02,-2.5492e-05,1.4428e-02,7.7818e-03,-3.7933e-02,-5.3631e-04,1.0345e-03,-3.5047e-06,4.1323e-02,1.1652e-03
+24,1.4000e+00,UP_FORCE_RAMP,4.6454e-04,6.6481e-03,1.0158e-02,2.4223e+00,-3.7495e-02,3.7256e-02,-2.5774e-05,1.4827e-02,7.7056e-03,-3.6118e-02,-5.3108e-04,1.0625e-03,-3.7862e-06,3.9796e-02,1.1878e-03
+25,1.4667e+00,UP_FORCE_RAMP,4.8939e-04,7.3194e-03,1.0055e-02,2.4249e+00,-3.7488e-02,3.7302e-02,-2.6674e-05,1.5498e-02,7.6025e-03,-3.3517e-02,-5.2315e-04,1.1089e-03,-4.6859e-06,3.7702e-02,1.2261e-03
+26,1.5000e+00,UP_FORCE_RAMP,5.0397e-04,5.6399e-03,1.1005e-02,2.4105e+00,-3.7553e-02,3.7189e-02,-2.6485e-05,1.3819e-02,8.5518e-03,-4.7964e-02,-5.8827e-04,9.9565e-04,-4.4973e-06,5.0642e-02,1.1565e-03
+27,1.5500e+00,UP_FORCE_RAMP,5.2869e-04,6.2345e-03,1.0923e-02,2.4134e+00,-3.7548e-02,3.7232e-02,-2.6676e-05,1.4413e-02,8.4705e-03,-4.5064e-02,-5.8367e-04,1.0386e-03,-4.6880e-06,4.8066e-02,1.1914e-03
+28,1.6000e+00,UP_FORCE_RAMP,5.5098e-04,6.7779e-03,1.0834e-02,2.4157e+00,-3.7541e-02,3.7269e-02,-2.7414e-05,1.4957e-02,8.3807e-03,-4.2728e-02,-5.7686e-04,1.0762e-03,-5.4259e-06,4.6039e-02,1.2210e-03
+29,1.6333e+00,UP_FORCE_RAMP,5.6455e-04,7.1190e-03,1.0786e-02,2.4171e+00,-3.7537e-02,3.7293e-02,-2.7924e-05,1.5298e-02,8.3329e-03,-4.1352e-02,-5.7309e-04,1.0996e-03,-5.9364e-06,4.4871e-02,1.2400e-03
+30,1.7000e+00,UP_FORCE_RAMP,5.8480e-04,7.7730e-03,1.0709e-02,2.4196e+00,-3.7531e-02,3.7338e-02,-2.8913e-05,1.5952e-02,8.2567e-03,-3.8862e-02,-5.6691e-04,1.1445e-03,-6.9251e-06,4.2812e-02,1.2773e-03
+31,1.7500e+00,UP_FORCE_RAMP,6.0602e-04,8.2466e-03,1.0664e-02,2.4213e+00,-3.7528e-02,3.7370e-02,-2.9622e-05,1.6425e-02,8.2108e-03,-3.7156e-02,-5.6313e-04,1.1771e-03,-7.6344e-06,4.1446e-02,1.3049e-03
+32,1.7667e+00,UP_FORCE_RAMP,6.1840e-04,8.4019e-03,1.0650e-02,2.4218e+00,-3.7526e-02,3.7381e-02,-2.9853e-05,1.6581e-02,8.1969e-03,-3.6612e-02,-5.6198e-04,1.1877e-03,-7.8656e-06,4.1019e-02,1.3140e-03
+33,1.7833e+00,UP_FORCE_RAMP,6.4166e-04,9.0002e-03,3.0162e-03,2.4084e+00,-3.6994e-02,3.7428e-02,-3.5316e-05,1.7179e-02,5.6336e-04,-5.0059e-02,-3.0089e-05,1.2347e-03,-1.3328e-05,5.2928e-02,1.2352e-03
+34,1.8167e+00,UP_FORCE_RAMP,6.6287e-04,1.1021e-02,1.6441e-02,2.4108e+00,-3.7932e-02,3.7573e-02,-2.5769e-05,1.9200e-02,1.3988e-02,-4.7674e-02,-9.6780e-04,1.3792e-03,-3.7815e-06,5.3264e-02,1.6849e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e629a7079baef700c94e70d625ebd8e1206fe3ab
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+59,2.216667e+01,2838,6.989280e-01,1.163609e-02,8.152260e-01,1.927785e-04,-1.918380e-04,-4.803915e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2839,6.927941e-01,1.379680e-02,8.255567e-01,1.477200e-04,-1.763832e-04,-4.996346e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2840,7.006147e-01,1.376144e-02,8.366173e-01,1.608760e-04,-7.256245e-05,-4.900570e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2841,6.964348e-01,1.138405e-02,8.180010e-01,2.509738e-04,-1.658242e-04,-4.821850e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2842,6.933749e-01,1.240740e-02,8.243747e-01,1.804222e-04,-1.758483e-04,-4.946780e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2843,6.999433e-01,1.183383e-02,8.144927e-01,1.635562e-04,-2.077545e-04,-4.817835e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.216667e+01,2844,6.999420e-01,1.255424e-02,8.137532e-01,1.519876e-04,-2.372809e-04,-4.864506e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..489a6214c150056cd93d1e2e8a79ea752014d523
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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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+42312,1792046261371332157,18590077000000,1792046261367567277,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6760425466419976,-0.004783127713111828,0.09088292230099972,0.9999999860900141,-9.652451537155802e-05,-9.329269766482339e-05,-3.524665255902014e-05,0.6761,-0.0048,0.09097065065546457,1.0,0.0,0.0,0.0,0.15205387264463882,0.14452261078593653,0.025141337945842335,0.009483155637354546,-0.011335137763131326,0.0009059537937030572,0.22762884949785755,0.1509519004036913,-0.31719422021785926,0.007609507472762478,-0.014255158045939182,-0.0009328597176456233,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.1659685912196363,-0.012959617579417172,1.0765259303213839,0.03904484169444554,-0.5947091779629631,-0.03725227707669219,0.553278232287496,0.025141337945842335,-0.5232476980338879,-0.5232476980338879,0.08671999999999781,0,0,-5.419998968666929e-05,-9.999999025923074e-05
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+42503,1792046262963390048,18591669000000,1792046262955567074,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6760406427829061,-0.0047952112443534495,0.09076452794716332,0.9999999916162106,1.623132610067411e-05,-8.914534208041165e-05,3.0877120765549515e-07,0.6761,-0.0048,0.09082104248423496,1.0,0.0,0.0,0.0,0.1917164157816985,0.17784308502865642,0.21721012873524626,0.012593521638585908,-0.014473678111916646,0.0007933427381476607,0.26729139263491725,0.18427237464641116,-0.12512542942845534,0.01071987347399384,-0.017393698394724502,-0.0010454707732010199,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.3599523129373459,-0.0186560274606277,0.6911896122548448,0.1278853976598489,-0.31820528288828814,-0.07487392133043971,0.553278232287496,0.21721012873524626,-0.1379113799673488,-0.1379113799673488,0.21407999999999264,0,0,-0.00013379997417936463,-9.999999025923074e-05
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+42799,1792046265429367367,18594135000000,1792046265427566881,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6760637931200293,-0.004839683794239722,0.09048831666014831,0.9999999915654485,1.0862751765082397e-05,-4.08532857979068e-05,8.077733048084212e-05,0.6761,-0.0048,0.09046852665570161,1.0,0.0,0.0,0.0,0.19849490431711336,0.20895320386935684,0.6494226240340417,0.014516197399763998,-0.013599508806290978,0.0004837505700846852,0.2740698811703321,0.21538249348711158,0.3070870658703401,0.01264254923517193,-0.016519529089098834,-0.0013550629412639953,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.5718926887479412,0.02303750009552599,0.1754760961066958,0.18575247132545233,0.046202340864901326,-0.020536022826327233,0.553278232287496,0.6494226240340417,0.37780213618080016,0.37780213618080016,0.4113600000000406,0,0,-9.781197141536945e-05,9.999999025923074e-05
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+43042,1792046267454403037,18596160000000,1792046267451576166,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.676088808076389,-0.004835162372737388,0.09041644808029625,0.9999999909363936,1.9417344741083645e-05,-1.2488650212836558e-05,9.506354524316905e-05,0.6761,-0.0048,0.09036610484994241,1.0,0.0,0.0,0.0,0.18774322083410377,0.23424899744559202,0.7404927008401576,0.01652544872549552,-0.012645225696310897,0.0004476507646582271,0.2633181976873225,0.24067828706334676,0.39815714267645597,0.014651800560903453,-0.015565245979118753,-0.0013911627466904534,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6419401519898532,-0.016129718328562147,0.07023025255169058,0.20130592110332807,0.12856858969711565,-0.04953874013742554,0.553278232287496,0.7404927008401576,0.4830479797358054,0.4830479797358054,0.5733600000000393,0,0,-1.629599010874306e-05,-9.611384885055969e-05
+43166,1792046268488384399,18597194000000,1792046268487567058,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6760927223194934,-0.004845524195766148,0.09039407659649384,0.9999999901977222,1.6423710706918947e-05,-1.0094836408502126e-05,0.00010332364722630704,0.6761,-0.0048,0.09034107508841689,1.0,0.0,0.0,0.0,0.18392870518572696,0.2346797992715247,0.7601178139329561,0.016521819139101206,-0.012648866435055804,0.00043106731148607807,0.2595036820389457,0.24110908888927945,0.4177822557692545,0.01464817097450914,-0.01556888671786366,-0.0014077461998626025,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6820204285743715,-0.04767234890686009,-0.05226063164201831,0.2167339890699835,0.2130571279174615,-0.06886435493756336,0.553278232287496,0.7601178139329561,0.6055388639295143,0.6055388639295143,0.6560800000000072,0,0,-3.5149111710811945e-05,-5.337168833921615e-05
+43313,1792046269713367404,18598419000000,1792046269711567329,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6760991702675064,-0.004847662295803184,0.09035648043671805,0.9999999905427012,1.2033365253022175e-05,2.4168082811464416e-06,0.00010102880420449763,0.6761,-0.0048,0.09028264792294954,1.0,0.0,0.0,0.0,0.17777765858501082,0.2432305779026372,0.8110959259222746,0.017525865234586345,-0.012668993072799038,0.0004009373000266644,0.25335263543822956,0.24965986752039196,0.46876036775857305,0.015652217069994277,-0.015589013355606893,-0.0014378762113220161,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7241556228476452,0.018003261336480156,-0.13382010530455424,0.20788303114185563,0.2729938866754896,-0.021203882502166843,0.553278232287496,0.8110959259222746,0.6870983375920502,0.6870983375920502,0.7540799999999692,0,0,-5.924949506022907e-05,5.721378923125097e-05
+43433,1792046270713407728,18599419000000,1792046270707576881,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761042203761508,-0.004846893165354766,0.09030521353974459,0.9999999762490737,0.00016922175015034126,1.0403471347920232e-05,0.00010099744261697451,0.6761,-0.0048,0.09021877416418944,1.0,0.0,0.0,0.0,0.17741107257452549,0.2498438708276693,0.8852381848100559,0.017355579806184494,-0.01168173492275244,0.00035620264930756596,0.2529860494277442,0.25627316044542403,0.5429026266463544,0.015481931641592426,-0.014601755205560295,-0.0014826108620411146,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7533582419937033,0.0034709775488802152,-0.23085968612861585,0.20454361260460552,0.3436516840893712,-0.05308444811478183,0.553278232287496,0.8852381848100559,0.7841379184161118,0.7841379184161118,0.8340799999999382,0,0,-6.472162123319502e-05,9.990619029143772e-05
+43533,1792046271546393601,18600252000000,1792046271539576824,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.676110483219506,-0.004830336160165412,0.09025450392144037,0.999999993455017,5.7583938712281335e-05,3.1575406089416266e-05,1.482950492848724e-05,0.6761,-0.0048,0.09016718896956859,1.0,0.0,0.0,0.0,0.19080094625812294,0.261606718629272,0.962042119937051,0.018526793030511995,-0.012732326682614117,0.0002920984394143996,0.2663759231113417,0.2680360082470267,0.6197065617733494,0.016653144865919928,-0.015652346965421973,-0.001546715071934281,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7699069707399769,0.0003459259320592185,-0.2554767746770073,0.12474038646968896,0.37956232882153507,-0.009514463764172202,0.553278232287496,0.962042119937051,0.8087550069645033,0.8087550069645033,0.9007199999999124,0,0,-6.578439562144838e-05,-7.866261421089768e-05
+43653,1792046272546377535,18601252000000,1792046272539567942,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761171907363013,-0.0048420361510653435,0.09020243266868101,0.999999992678895,5.7439541591107834e-05,4.136395619584058e-05,3.27840856065509e-05,0.6761,-0.0048,0.09010177113784323,1.0,0.0,0.0,0.0,0.18571467652853896,0.25973675258729906,1.0422389392084594,0.01849587212105494,-0.012213254119090819,0.00023499475976106426,0.2612896533817577,0.2661660422050538,0.6999033810447579,0.016622223956462873,-0.015133274401898674,-0.0016038187515876163,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8286608805544198,-0.0399128804453687,-0.3831261407270616,0.17973059052137538,0.4662046408834716,-0.028473311167649173,0.553278232287496,1.0422389392084594,0.9364043730145575,0.9364043730145575,0.9807199999998814,0,0,-5.948866225039128e-05,8.860818609258132e-05
+43788,1792046273671310695,18602377000000,1792046273667576863,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761169000136978,-0.004846915535508737,0.09015120990496805,0.9999999917819506,6.458638125814572e-05,3.728180468439858e-05,4.814176457512358e-05,0.6761,-0.0048,0.09004474972444688,1.0,0.0,0.0,0.0,0.17673273735872458,0.26043065233574203,1.1114822278687144,0.01846889512732041,-0.011751299282710119,0.0009859478375552778,0.2523077142119433,0.26685994195349677,0.7691466697050128,0.016595246962728342,-0.014671319565517975,-0.0008528656737934028,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8178682685132673,-0.08593540586255052,-0.4256969404378465,0.2515453576601809,0.4784255984401844,-0.07139255521865853,0.553278232287496,1.1114822278687144,0.9789751727253424,0.9789751727253424,1.0707199999999446,0,0,-4.385967391637292e-05,-9.999829716911818e-05
+43904,1792046274638376450,18603344000000,1792046274631577267,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761208778002711,-0.004849659789231183,0.09012299839899804,0.9999999911673897,6.512382600053896e-05,4.3177308316032044e-05,5.479682737924369e-05,0.6761,-0.0048,0.09000487681283295,1.0,0.0,0.0,0.0,0.1788743885270339,0.2580761959011331,1.1425527174357273,0.01846357884690643,-0.011757502803674862,0.00016170051369792456,0.25444936538025265,0.26450548551888786,0.8002171592720257,0.016589930682314364,-0.014677523086482718,-0.001677112997650756,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8540302388830074,-0.11611806305321308,-0.5415436931630797,0.2956176640690745,0.5550937060830163,-0.09524409209922638,0.553278232287496,1.1425527174357273,1.0948219254505758,1.0948219254505758,1.148080000000022,0,0,-4.1841679354073865e-05,-7.72505338871814e-06
+44024,1792046275638384169,18604344000000,1792046275635576705,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761237290717714,-0.004848481699498006,0.09008622392531122,0.9999999902932639,6.84091498544866e-05,4.803563510572028e-05,6.220211116582416e-05,0.6761,-0.0048,0.08995797027123943,1.0,0.0,0.0,0.0,0.168965066596223,0.2589894936812984,1.183884574736512,0.018447299470945037,-0.011771536227194974,0.0011518920350342449,0.24454004344944175,0.26541878329905316,0.8415490165728104,0.01657365130635297,-0.01469155651000283,-0.0006869214763144358,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8694405712928982,-0.03769182430056243,-0.5843958441186016,0.2805076177358942,0.5836894492965783,-0.04791946589750224,0.553278232287496,1.183884574736512,1.1376740764060975,1.1376740764060975,1.228080000000102,0,0,-5.265723384692412e-05,-9.910381823375331e-05
+44148,1792046276671313554,18605377000000,1792046276667567299,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761311828718715,-0.00485141966303126,0.09004159693192715,0.9999999892666428,6.567352452633028e-05,6.0056331929595106e-05,7.063854412482821e-05,0.6761,-0.0048,0.08989835256116233,1.0,0.0,0.0,0.0,0.1739776676412912,0.2699117127773617,1.2528780888240378,0.01841701186770356,-0.01076897894318448,8.898959498429278e-05,0.24955264449450995,0.27634100239511644,0.9105425306603363,0.01654336370311149,-0.013688999225992336,-0.0017498239163643878,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8594147966866259,-0.00706840384914625,-0.7381868302661134,0.2779877131961472,0.6728171883172167,-0.030316610107338642,0.553278232287496,1.2528780888240378,1.2914650625536095,1.2914650625536095,1.3107200000001846,0,0,-5.707199872831558e-05,9.990993729414583e-05
+44263,1792046277629298882,18606335000000,1792046277627567086,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761351653249947,-0.004857208023699554,0.0899925440040694,0.9999999893629499,5.237038764667284e-05,6.75285308892229e-05,7.358127820878024e-05,0.6761,-0.0048,0.08984323247216616,1.0,0.0,0.0,0.0,0.1662213262650698,0.2636340311077869,1.3134753124120746,0.018395569947637,-0.010786614555252379,0.0010638602817178637,0.24179630311828856,0.2700633207255416,0.971139754248373,0.016521921783044933,-0.013706634838060235,-0.0007749532296308168,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8994663587840159,0.01059267340930715,-0.8080426602644195,0.28440209990820686,0.7273999767188734,-0.017753338384094264,0.553278232287496,1.3134753124120746,1.3613208925519156,1.3613208925519156,1.3873600000002613,0,0,-5.6647717382148126e-05,9.999999025923074e-05
+44391,1792046278696400295,18607402000000,1792046278691577109,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761410723218844,-0.004860333286731263,0.08994163910638553,0.9999999895074059,3.6122569695598995e-05,7.888923891930998e-05,6.999786076282757e-05,0.6761,-0.0048,0.08978340542972453,1.0,0.0,0.0,0.0,0.1570715831344927,0.26584343741610106,1.3736646177642262,0.01838464153540511,-0.010799590727720852,0.0010141299322425608,0.23264655998771147,0.2722727270338558,1.0313290596005247,0.01651099337081304,-0.013719611010528708,-0.0008246835791061197,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9492083297532657,-0.0880600598981177,-0.8051274591493546,0.32375953124128243,0.7334641728797849,-0.0796293707945583,0.553278232287496,1.3736646177642262,1.3584056914368505,1.3584056914368505,1.4727200000003466,0,0,-5.686939951873716e-05,-9.999675673467152e-05
+44531,1792046279863357449,18608569000000,1792046279855576394,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761462326266425,-0.004860263195027393,0.0898864831850571,0.9999999894635853,2.4551009444648703e-05,8.689418959491863e-05,6.604802553973586e-05,0.6761,-0.0048,0.0897111258896337,1.0,0.0,0.0,0.0,0.1566202885172877,0.2808375861077468,1.4341107869436274,0.019394077748072603,-0.01083229351491566,0.0009788860661518574,0.23219526537050647,0.2872668757255015,1.0917752287799258,0.017520429583480535,-0.013752313797723516,-0.0008599274451968231,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.983557607123155,-0.15650135502325394,-1.0173636100978702,0.3443195446156554,0.8806705694183888,-0.13121882557062153,0.553278232287496,1.4341107869436274,1.570641842385366,1.570641842385366,1.56608000000044,0,0,-6.759081061927385e-05,9.967175282200031e-05
+44646,1792046280821386359,18609527000000,1792046280819576957,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761493945888387,-0.0048631434685322125,0.08982426628721302,0.9999999890926753,1.2724706095896456e-05,9.09041768995654e-05,6.951277788234161e-05,0.6761,-0.0048,0.08964517471107157,1.0,0.0,0.0,0.0,0.15785219903430764,0.273636139693563,1.5122401409456547,0.01935163532168004,-0.009834974056879251,0.000929500177982611,0.23342717588752637,0.2800654293113177,1.1699045827819532,0.01747798715708797,-0.012754994339687107,-0.0009093133333660696,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0064671555641995,-0.12988524600641974,-1.1046341574788847,0.3287605913512035,0.9364522161711121,-0.11584704856143938,0.553278232287496,1.5122401409456547,1.6579123897663806,1.6579123897663806,1.6427200000005167,0,0,-6.89551137341996e-05,9.97882290950713e-05
+44770,1792046281854394871,18610560000000,1792046281851576696,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761543538948739,-0.004865842570758816,0.08976473846730872,0.9999999882739131,7.679527500357226e-06,9.743299900873894e-05,7.30949628361005e-05,0.6761,-0.0048,0.08957532287557698,1.0,0.0,0.0,0.0,0.15576575694770994,0.2759018605004899,1.574675056665294,0.019339736738435497,-0.009849048368696394,0.0008788214396271123,0.23134073380092868,0.28233115011824467,1.2323394985015925,0.01746608857384343,-0.01276906865150425,-0.0009599920717215683,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9287663667990779,-0.06395658011960693,-1.0632262548109295,0.3180558864343284,0.8885553856411578,-0.07205215035214618,0.553278232287496,1.574675056665294,1.6165044870984255,1.6165044870984255,1.7253600000005993,0,0,-6.591276712905459e-05,-9.706604550541726e-05
+44890,1792046282854309016,18611560000000,1792046282851575782,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761594662172226,-0.004869007659810136,0.08970723649632176,0.9999999871395382,9.60519339878e-06,0.00010466503751026665,7.82097055990783e-05,0.6761,-0.0048,0.08950790874748846,1.0,0.0,0.0,0.0,0.1555678349642216,0.278064048401617,1.634858585872258,0.019328048694631627,-0.009861870247337614,0.0008301663586834031,0.23114281181744034,0.28449333801937177,1.2925230277085564,0.01745440053003956,-0.01278189053014547,-0.0010086471526652774,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9751080636572491,-0.12617281799337624,-1.1731333331947307,0.3564980288986964,0.9661346202594336,-0.1061904200636915,0.553278232287496,1.634858585872258,1.7264115654822265,1.7264115654822265,1.8053600000006793,0,0,-6.734315039871437e-05,4.226669478739532e-05
+44959,1792046283429382543,18612135000000,1792046283423577224,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761619681228925,-0.004873438581874624,0.08967405651111086,0.9999999860812485,3.114680286360111e-05,0.00010994060876377882,7.888793604458484e-05,0.6761,-0.0048,0.08946848644074655,1.0,0.0,0.0,0.0,0.16178214434261595,0.2916175880678793,1.665370800416601,0.020292147834762752,-0.009869687586455962,0.0008190739268455472,0.23735712119583469,0.29804687768563404,1.3230352422528995,0.018418499670170684,-0.012789707869263818,-0.0010197395845031334,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0051749341397715,-0.05125637893659103,-1.1322506076077257,0.3380562353896536,0.9449635227381871,-0.05281554812888482,0.553278232287496,1.665370800416601,1.6855288398952215,1.6855288398952215,1.8513600000007253,0,0,-6.802186519191811e-05,-9.99443403301214e-05
+45082,1792046284454363653,18613160000000,1792046284451576467,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761687531311381,-0.00486550000819409,0.08961301087643735,0.9999999850556709,3.826042550919327e-05,0.0001214523770537529,7.153308591513034e-05,0.6761,-0.0048,0.08939630533766468,1.0,0.0,0.0,0.0,0.15177635603708128,0.27170792794397347,1.7251642855163758,0.019360516511412452,-0.009881973674326801,0.0007573130372605752,0.22735133289030002,0.2781372175617282,1.3828287273526743,0.017486868346820384,-0.012801993957134657,-0.0010815004740881054,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0757925463101887,-0.02042212219777934,-1.256237418900757,0.3359257647142566,1.0419481419222267,-0.03793254977625874,0.553278232287496,1.7251642855163758,1.8095156511882529,1.8095156511882529,1.9333600000008073,0,0,-7.218429970009955e-05,-9.368888584238561e-05
+45194,1792046285388401778,18614094000000,1792046285387567194,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761707613510877,-0.004865119389652212,0.08954970949598089,0.9999999848570792,3.462271838547429e-05,0.00012506104893574273,6.992644161288768e-05,0.6761,-0.0048,0.08932654300727691,1.0,0.0,0.0,0.0,0.15206458379919519,0.2735413176941897,1.7853502875812923,0.01929933215760975,-0.009884669178361432,0.0007083041609696663,0.22763956065241392,0.27997060731194445,1.4430147294175908,0.017425683993017683,-0.012804689461169288,-0.0011305093503790142,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0849537534441311,-0.1846031008936377,-1.415444492178662,0.37782453528766385,1.1472196764794265,-0.14936341992654803,0.553278232287496,1.7853502875812923,1.9687227244661578,1.9687227244661578,2.008080000000882,0,0,-7.590274825744624e-05,9.985413470937061e-05
+45293,1792046286213356412,18614919000000,1792046286211577057,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761782384552065,-0.004867225804346309,0.08949810907347666,0.9999999842120885,1.9794565147405572e-05,0.00013742367268966278,6.116859141807704e-05,0.6761,-0.0048,0.08926346502104171,1.0,0.0,0.0,0.0,0.1618080361328499,0.28805256533034795,1.8359128044135884,0.020310746865080186,-0.009924682821452284,0.000680012502171418,0.23738301298606862,0.2944818549481027,1.4935772462498869,0.018437098700488118,-0.01284470310426014,-0.0011588010091772626,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0836935442325595,-0.05712222710679924,-1.4244255202545328,0.3617094090586627,1.1486608048238878,-0.06482201689455333,0.553278232287496,1.8359128044135884,1.9777037525420287,1.9777037525420287,2.074080000000948,0,0,-7.823799761808511e-05,1.1484844959086938e-05
+45413,1792046287213406518,18615919000000,1792046287211576698,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761794920834652,-0.004867594228201573,0.08942164090893194,0.9999999844609502,1.1940845440542341e-05,0.00013650814795162624,6.118746378098762e-05,0.6761,-0.0048,0.08918384084432314,1.0,0.0,0.0,0.0,0.16427622342077997,0.26978100656329873,1.8957385646802565,0.01932740774047147,-0.00991867883591115,0.0006210253841900163,0.2398512002739987,0.27621029618105347,1.553403006516555,0.017453759575879402,-0.012838699118719005,-0.0012177881271586643,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0324895478030665,-0.049651348754724114,-1.4619118445860553,0.3673841208006029,1.1567372027099927,-0.05947511089977542,0.553278232287496,1.8957385646802565,2.015190076873551,2.015190076873551,2.154080000001028,0,0,-8.244151080835505e-05,-6.062845644828059e-05
+45521,1792046288113355655,18616819000000,1792046288111576891,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761868076354616,-0.004872865840164682,0.08935396191083309,0.9999999824805148,6.164839652441734e-06,0.0001490378527003898,6.505034730392669e-05,0.6761,-0.0048,0.08910508920004707,1.0,0.0,0.0,0.0,0.1543680172273858,0.2853513051447816,1.9362430094466245,0.020275649219837138,-0.009352579179890186,0.0005993237370670256,0.22994299408060453,0.2917805947625363,1.593907451282923,0.01840200105524507,-0.012272599462698042,-0.001239489774281655,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1353055892909785,-0.09618272473640185,-1.5472781812076128,0.3921071408541106,1.235775839381288,-0.0906451234207156,0.553278232287496,1.9362430094466245,2.100556413495109,2.100556413495109,2.2260800000011,0,0,-9.273607518135812e-05,-7.760398003469503e-05
+45621,1792046288946415344,18617652000000,1792046288939576465,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.676188746686916,-0.004868783194707862,0.08927781490634357,0.9999999818746004,1.012664049124435e-05,0.0001513102634971698,6.852969240472388e-05,0.6761,-0.0048,0.08902508871523421,1.0,0.0,0.0,0.0,0.14795886006001047,0.27343784005503674,1.983233068750413,0.019460083866895777,-0.008974234821173831,0.0005619210224432436,0.2235338369132292,0.2798671296727915,1.6408975105867114,0.01758643570230371,-0.011894255103981687,-0.001276892488905437,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.122050555443867,-0.05560687340384327,-1.5717359411736231,0.3917633000878297,1.2422943719543822,-0.06185068459298118,0.553278232287496,1.983233068750413,2.125014173461119,2.125014173461119,2.2927200000011667,0,0,-0.00010164544786003672,-9.99981583912401e-05
+45710,1792046289688351284,18618394000000,1792046289687568228,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761910655127816,-0.00488246556570243,0.08920554246876537,0.9999999807693184,9.464514652573135e-06,0.00015418470005027117,7.772855596984954e-05,0.6761,-0.0048,0.08895035619560406,1.0,0.0,0.0,0.0,0.1554133962821888,0.28008365336464647,2.0263411716389403,0.019844928851149236,-0.008993667157805951,0.0005357005831169528,0.23098837313540757,0.2865129429824012,1.6840056134752388,0.017971280686557168,-0.011913687440613807,-0.0013031129282317277,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1184066512762287,-0.08451523725373827,-1.628809040533458,0.4056119752625756,1.2777316932714233,-0.08041372422358914,0.553278232287496,2.0263411716389403,2.182087272820954,2.182087272820954,2.352080000001226,0,0,-0.00010343282747934802,-9.999871350275242e-05
+45808,1792046290504364335,18619210000000,1792046290503576850,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761962585141331,-0.004878883996379133,0.08913037076544546,0.9999999793458906,2.2708983548023326e-05,0.00016047696099845798,8.051416014586783e-05,0.6761,-0.0048,0.08886728124772132,1.0,0.0,0.0,0.0,0.15443766286639038,0.273693614183589,2.066237268869157,0.01921886858349893,-0.008941919400087685,0.0004972663106993522,0.2300126397196091,0.28012290380134375,1.7239017107054553,0.017345220418906862,-0.01186193968289554,-0.0013415472006493283,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1004120773973838,-0.09545212503668667,-1.6752593791720078,0.40931601677924706,1.2981427103167684,-0.08585902456695105,0.553278232287496,2.066237268869157,2.2285376114595037,2.2285376114595037,2.4173600000012914,0,0,-0.00010474999221773829,-9.995406865937468e-05
+45904,1792046291304306085,18620010000000,1792046291303567071,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.676196897377843,-0.004882622377500006,0.08904576310992236,0.9999999787553617,2.9712393888046243e-05,0.00016106461376874198,8.430601565742208e-05,0.6761,-0.0048,0.08877879146115843,1.0,0.0,0.0,0.0,0.16354441149029875,0.27645668342461993,2.086281674846795,0.019213562872432085,-0.008945518466289094,0.00048213980529210896,0.23911938834351748,0.28288597304237467,1.7439461166830934,0.017339914707840017,-0.01186553874909695,-0.0013566737060565716,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1683890586162446,-0.035937011828124685,-1.7346760335417142,0.40534604464801177,1.3543015360022452,-0.04521124352853269,0.553278232287496,2.086281674846795,2.2879542658292102,2.2879542658292102,2.4813600000013554,0,0,-0.00011885247210993567,-9.999999025923074e-05
+45996,1792046292071376798,18620777000000,1792046292063576496,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761984429923384,-0.004878604456361931,0.08894994543389671,0.9999999781531218,3.605287538460183e-05,0.00016179651238433187,8.751399464195993e-05,0.6761,-0.0048,0.08868420113407624,1.0,0.0,0.0,0.0,0.16368422552591388,0.2697587996653256,2.11641852057955,0.019082962785887874,-0.009350987291678298,0.000569227734967151,0.23925920237913265,0.27618808928308036,1.7740829624158485,0.017209314621295806,-0.012271007574486154,-0.0012695857763815295,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1301690280668986,-0.19754250664315376,-1.815382706425849,0.45220414918606655,1.3908486584842958,-0.15796945504595614,0.553278232287496,2.11641852057955,2.368660938713345,2.368660938713345,2.5427200000014167,0,0,-0.00013123212561812688,-8.096084254879276e-05
+46080,1792046292771379904,18621477000000,1792046292767567424,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761972232556506,-0.004879714360791174,0.08885175778095332,0.9999999784897193,3.144627405207804e-05,0.00015939935595539858,8.981315306889461e-05,0.6761,-0.0048,0.08858580891067692,1.0,0.0,0.0,0.0,0.16401407372183097,0.2735515122548605,2.146132364833501,0.018184953171627116,-0.008970363476782227,0.00042461159232498147,0.2395890505750497,0.27998080187261526,1.8037968066697994,0.016311305007035048,-0.011890383759590083,-0.001414201919023699,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1020180263085246,-0.011291689117270794,-1.7741054302710497,0.4131543910776207,1.3500017707110434,-0.032989490666370705,0.553278232287496,2.146132364833501,2.3273836625585456,2.3273836625585456,2.5987200000014727,0,0,-0.00014717611960676636,-9.975249379146617e-05
+46168,1792046293504376693,18622210000000,1792046293503566967,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761980271283925,-0.0048776630190384765,0.08874231844680182,0.9999999784874101,2.2009091318390867e-05,0.00016169514057973045,8.853431702378785e-05,0.6761,-0.0048,0.08847085811340355,1.0,0.0,0.0,0.0,0.1769658117606116,0.27660825626530194,2.1765642025999776,0.01886350034340859,-0.009971937604492508,0.00039315030791754247,0.25254078861383034,0.2830375458830567,1.8342286444362759,0.016989852178816524,-0.012891957887300364,-0.001445663203431138,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1034532396714032,-0.07234769238207206,-1.8973446088379213,0.4383884079334408,1.427137030258779,-0.078311734054925,0.553278232287496,2.1765642025999776,2.4506228411254174,2.4506228411254174,2.6573600000015314,0,0,-0.00016703449459150028,1.6613813036455284e-05
+46255,1792046294229411406,18622935000000,1792046294227567108,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6762007792408312,-0.004876148588726813,0.08861866093552148,0.9999999781836997,1.707784400309227e-05,0.00016609946686755033,8.482204285783619e-05,0.6761,-0.0048,0.08834452246974067,1.0,0.0,0.0,0.0,0.1823354560947325,0.2675840584891983,2.186997162607011,0.019227901928764453,-0.010997516369406917,0.0010229109594477631,0.25791043294795124,0.27401334810695305,1.844661604443309,0.017354253764172385,-0.013917536652214773,-0.0008159025519009173,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.116548393522174,-0.022538643662810973,-1.929553912283024,0.4367744912479284,1.4470927215014222,-0.04485890151087599,0.553278232287496,2.186997162607011,2.48283214457052,2.48283214457052,2.7153600000015894,0,0,-0.00018306106236020268,-2.991133317831017e-05
+46331,1792046294863412098,18623569000000,1792046294859576724,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6762011318598237,-0.0048735939686273344,0.08850314871676788,0.9999999767553512,4.7721395419879585e-05,0.00016523565797075735,9.138931763505848e-05,0.6761,-0.0048,0.08822324511071208,1.0,0.0,0.0,0.0,0.19081185722511312,0.26845869328764066,2.206859998298546,0.019162460017014885,-0.010997489120049638,0.0005637593407798924,0.26638683407833186,0.2748879829053954,1.8645244401348444,0.017288811852422818,-0.013917509402857494,-0.0012750541705687881,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.151530367951968,0.05163591501681373,-1.9461185826849325,0.4291903601350956,1.4634913599672423,0.004775203327758298,0.553278232287496,2.206859998298546,2.4993968149724286,2.4993968149724286,2.76608000000164,0,0,-0.00020003629041673155,-9.99999347480795e-05
+46399,1792046295429370854,18624135000000,1792046295423576786,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6762002351813016,-0.0048774995171626135,0.08838344412136562,0.9999999764096582,5.301432206324257e-05,0.00016226594085095035,9.737963603222675e-05,0.6761,-0.0048,0.08810554270206228,1.0,0.0,0.0,0.0,0.18277143923829092,0.2563762951600962,2.2369701405457567,0.018210829203506623,-0.010990861218912348,0.0012999008385351602,0.25834641609150966,0.26280558477785093,1.8946345823820552,0.016337181038914555,-0.013910881501720204,-0.0005389126728135202,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1512304163422271,-0.03517817206499225,-2.0035833521997617,0.47212786703676174,1.4936991585164536,-0.051648925342928934,0.553278232287496,2.2369701405457567,2.5568615844872578,2.5568615844872578,2.8113600000016854,0,0,-0.0002162546993602924,9.157178767894009e-05
+46467,1792046295996312225,18624702000000,1792046295991567336,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761986969351268,-0.004881197029578082,0.08825666565512115,0.9999999774173421,4.496474504894725e-05,0.00015926340584060432,9.60287399038703e-05,0.6761,-0.0048,0.08798101114546368,1.0,0.0,0.0,0.0,0.1917542726104629,0.2548998408206,2.2562625630924047,0.017195053468645027,-0.01097111363402547,0.000294904684817161,0.26732924946368164,0.26132913043835476,1.913927004928703,0.01532140530405296,-0.013891133916833326,-0.0015439088265315195,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.149981765814798,-0.038998143832722855,-1.8915782896806796,0.4870612558546763,1.415861063681898,-0.05425440646745301,0.553278232287496,2.2562625630924047,2.4448565219681755,2.4448565219681755,2.8567200000017308,0,0,-0.00022381405799107158,-9.999999025923074e-05
+46531,1792046296529410324,18625235000000,1792046296527576455,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761970841561125,-0.0048827372456185,0.08813027828319331,0.9999999777283877,4.0179360718073334e-05,0.00015469825986078167,0.00010217708209741751,0.6761,-0.0048,0.08785902724901312,1.0,0.0,0.0,0.0,0.18433413289348505,0.2527668684613321,2.256237533824101,0.017195212523977384,-0.010970738115425075,0.0002929211968890756,0.2599091097467038,0.25919615807908686,1.9139019756603992,0.015321564359385316,-0.01389075839823293,-0.001545892314459605,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1401924093977276,-0.16312431332851507,-2.041075365208589,0.529141664435467,1.5050920540540496,-0.1332201225802143,0.553278232287496,2.256237533824101,2.594353597496085,2.594353597496085,2.8993600000017734,0,0,-0.00023679023762540315,-7.287761999138999e-05
+46579,1792046296929425940,18625635000000,1792046296927576432,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761916328723254,-0.004888270549331913,0.08802129804054783,0.9999999793335331,3.351487571492318e-05,0.00014350582290891605,0.00010516001914424264,0.6761,-0.0048,0.0877618586624265,1.0,0.0,0.0,0.0,0.18424633159193254,0.2439503762960622,2.245216246281858,0.017188197901526,-0.010973155541704546,0.0010975356487907873,0.2598213084451513,0.25037966591381694,1.9028806881181566,0.01531454973693393,-0.013893175824512402,-0.0007412778625578932,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1597139510041583,-0.12302297507896717,-2.015707734485581,0.5221762130036663,1.4906911138248566,-0.11221363608758636,0.553278232287496,2.245216246281858,2.5689859667730772,2.5689859667730772,2.9313600000018054,0,0,-0.0002513492829661886,-9.999999025923074e-05
+46638,1792046297421350391,18626127000000,1792046297419576506,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761960915476849,-0.004886921475124951,0.08790518129019884,0.9999999774764415,4.51159128837507e-05,0.00015197427434162175,0.00010657558512757544,0.6761,-0.0048,0.08763523020200277,1.0,0.0,0.0,0.0,0.1932113718259154,0.23583417994940775,2.2469527253641015,0.016197277593275987,-0.011594054730723537,0.0004127124160161154,0.26878634867913415,0.2422634695671625,1.9046171672004,0.014323629428683921,-0.014514075013531393,-0.0014261010953325651,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1375461798801176,0.029153121698090808,-2.0051392911251056,0.49809931540083935,1.472267406638583,-0.002904662235713111,0.553278232287496,2.2469527253641015,2.5584175234126016,2.5584175234126016,2.9707200000018448,0,0,-0.0002677295711337165,-9.999999025923074e-05
+46698,1792046297921413834,18626627000000,1792046297919567121,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761944424103856,-0.004890129330984057,0.08776704455165078,0.9999999775070467,5.082775735938716e-05,0.0001493820180988329,0.00010737933757020718,0.6761,-0.0048,0.08749600763164263,1.0,0.0,0.0,0.0,0.19355316546045465,0.22967971895636302,2.255471023651578,0.01523528784159359,-0.010933067738838977,0.0002724461472827179,0.2691281423136734,0.2361090085741178,1.9131354654878765,0.013361639677001522,-0.013853088021646833,-0.0015663673640659626,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.226799902708937,-0.0694034257974244,-2.1060564602828507,0.5361361758601036,1.5597026871204462,-0.06865817771341136,0.553278232287496,2.255471023651578,2.6593346925703467,2.6593346925703467,3.0107200000018848,0,0,-0.0002887534083541359,7.722386271621668e-05
+46750,1792046298354308928,18627060000000,1792046298347567163,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761910216265342,-0.00489119034953524,0.08763718448379902,0.9999999779868309,4.7874041050951635e-05,0.0001437615282115036,0.00011184767071201928,0.6761,-0.0048,0.0873677299624733,1.0,0.0,0.0,0.0,0.18427666420657107,0.21337924776374295,2.274123421037554,0.015141319448510052,-0.010937564010505933,0.0002547185209048335,0.2598516410597898,0.2198085373814977,1.9317878628738525,0.013267671283917985,-0.013857584293313789,-0.001584094990443847,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1670589280943686,-0.05785139262803055,-1.950235770535317,0.5472487336881627,1.4406043562305937,-0.05942707460319134,0.553278232287496,2.274123421037554,2.503514002822813,2.503514002822813,3.0453600000019194,0,0,-0.0003036613698368092,-9.999418934392707e-05
+46806,1792046298821315782,18627527000000,1792046298815576257,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761883953323687,-0.004897873779743388,0.08749468564113118,0.9999999787975995,3.690470965410077e-05,0.0001402803648432468,0.00011316857640610919,0.6761,-0.0048,0.08722129810422576,1.0,0.0,0.0,0.0,0.18486268277772233,0.2170916502757821,2.2877576767547696,0.014117220530949388,-0.010923675619555784,0.0012115323351685413,0.26043765963094107,0.22352093989353686,1.9454221185910678,0.01224357236635732,-0.01384369590236364,-0.0006272811761801393,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.205085090821742,-0.14217223032199772,-2.0584715886639615,0.5773084341510927,1.5168811963566926,-0.11308696006674931,0.553278232287496,2.2877576767547696,2.6117498209514576,2.6117498209514576,3.082720000001957,0,0,-0.0003224996567810764,-9.99999208702917e-05
+46854,1792046299221408748,18627927000000,1792046299215566970,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761931004702153,-0.004901534522162815,0.08736834247375086,0.9999999769290283,4.364377004848059e-05,0.000148482484667308,0.00011676035529722255,0.6761,-0.0048,0.08708898383861052,1.0,0.0,0.0,0.0,0.18484534911945022,0.2074100704724114,2.2750600332518585,0.01412646167615573,-0.010915141018329836,0.00024303397613384165,0.26042032597266895,0.21383936009016613,1.9327244750881567,0.012252813511563663,-0.013835161301137692,-0.0015957795352148389,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.154051451310848,-0.1261472302402892,-1.979429614719535,0.5802489081627842,1.4521469343667734,-0.10450956755027674,0.553278232287496,2.2750600332518585,2.532707847007031,2.532707847007031,3.114720000001989,0,0,-0.0003391573329778171,-9.999999025923074e-05
+46902,1792046299621317667,18628327000000,1792046299615567211,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761948222549262,-0.004901116193206234,0.08723406693753477,0.9999999768605522,4.394913184719564e-05,0.000149013066872584,0.00011655616359736933,0.6761,-0.0048,0.0869498105986412,1.0,0.0,0.0,0.0,0.18483716714356252,0.21107192713356054,2.2752819286139108,0.01412805438081288,-0.010917026624234844,0.00044005517676702394,0.26041214399678125,0.2175012167513153,1.9329463704502092,0.012254406216220813,-0.0138370469070427,-0.0013987583345816566,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2431649050166702,-0.20737562748173066,-2.186426110410413,0.6208193339770779,1.6115693329350391,-0.15201749521451582,0.553278232287496,2.2752819286139108,2.739704342697909,2.739704342697909,3.146720000002021,0,0,-0.00035723988911909457,9.375000361989123e-05
+46950,1792046300021408379,18628727000000,1792046300015567623,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761962671037989,-0.0049078805041670465,0.0870912957334324,0.9999999756882287,3.733974673442929e-05,0.00015660600682088527,0.0001189399357981051,0.6761,-0.0048,0.08680334994575953,1.0,0.0,0.0,0.0,0.17947213123648326,0.20446069287034796,2.289038900143022,0.014123674718604354,-0.010917510235242634,0.00023277922100697966,0.255047108089702,0.2108899824881027,1.9467033419793205,0.012250026554012286,-0.01383753051805049,-0.0016060342903417009,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.224546021358629,-0.21814215209775656,-2.0662826994046575,0.6348519473133842,1.5255294913287114,-0.1589426942927779,0.553278232287496,2.289038900143022,2.6195609316921535,2.6195609316921535,3.178720000002053,0,0,-0.0003759164377656595,-9.999999025923074e-05
+46990,1792046300354409250,18629060000000,1792046300351576507,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761927761073657,-0.004911074717862614,0.08696036906839825,0.9999999760969608,3.856715902584991e-05,0.00015154708150816158,0.00012163469325021692,0.6761,-0.0048,0.0866756928449576,1.0,0.0,0.0,0.0,0.1760604638396283,0.19526679597593516,2.3049177160716234,0.013096329609649529,-0.01090401079449843,0.00021128986640511077,0.25163544069284705,0.2016960855936899,1.962582157907922,0.011222681445057461,-0.013824031077306285,-0.0016275236449435698,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2538641819897678,-0.14343582633381158,-2.0086985613342305,0.6160499925823132,1.5024397812034695,-0.10700523359153133,0.553278232287496,2.3049177160716234,2.5619767936217266,2.5619767936217266,3.2053600000020794,0,0,-0.0003910850534902518,-9.999999025923074e-05
+47034,1792046300721388710,18629427000000,1792046300715577169,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761960864620451,-0.004912625693700364,0.086817016295032,0.9999999755505066,3.5920958415016175e-05,0.00015393974275320773,0.00012391162637194068,0.6761,-0.0048,0.08652880720058159,1.0,0.0,0.0,0.0,0.16661238389320104,0.20521249046417767,2.294658366895289,0.013075549773914244,-0.009886982336597409,0.00022935264221825204,0.2421873607464198,0.21164178008193243,1.9523228087315871,0.011201901609322176,-0.012807002619405265,-0.0016094608691304285,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.302004301111263,-0.21931096394098576,-1.9724567934511226,0.6511863931712963,1.4941661137363489,-0.15852729242215544,0.553278232287496,2.294658366895289,2.5257350257386184,2.5257350257386184,3.234720000002109,0,0,-0.00040942885395497806,-9.999999025923074e-05
+47069,1792046301013407403,18629719000000,1792046301007576976,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.676195273342606,-0.004921160298787475,0.08669496533998762,0.999999975631727,2.0996364151689116e-05,0.00015387978985439898,0.0001267263695249679,0.6761,-0.0048,0.08640716870969793,1.0,0.0,0.0,0.0,0.16608341155291895,0.195482362751556,2.3033193892718122,0.013072395632122563,-0.009888037906109698,0.00022190554727722408,0.24165838840613768,0.20191165236931077,1.9609838311081105,0.011198747467530495,-0.012808058188917554,-0.0016169079640714565,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.330972402425998,-0.16382363941935724,-2.039505316374247,0.6456743924079653,1.5457662957623721,-0.12227152104068015,0.553278232287496,2.3033193892718122,2.592783548661743,2.592783548661743,3.258080000002132,0,0,-0.0004237215600153262,-9.999999025923074e-05
+47109,1792046301346387015,18630052000000,1792046301343576875,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761860709109618,-0.0049206294612552555,0.08654950329145464,0.9999999773416891,9.118860506396241e-06,0.00014617515408456403,0.00012373017596382195,0.6761,-0.0048,0.08626331117871053,1.0,0.0,0.0,0.0,0.1672844621680522,0.19274096000101126,2.3042888345307473,0.01207069001651522,-0.009869560888546004,0.0002101921925120368,0.24285943902127094,0.199170249618766,1.9619532763670455,0.010197041851923152,-0.01278958117135386,-0.0016286213188366437,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3006766168387973,-0.18038702579193672,-2.104023656065707,0.6461186482240397,1.5830385250498533,-0.13118067392536625,0.553278232287496,2.3042888345307473,2.657301888353203,2.657301888353203,3.284720000002159,0,0,-0.0004403526039045965,-9.999999025923074e-05
+47146,1792046301654349240,18630360000000,1792046301651575960,DOWN_FORCE_DETACH,8,0.035,0.03500164672732353,0.6761770721742508,-0.004934905137078645,0.08640791372982541,0.9999999764789007,-1.0906902246030401e-06,0.00013934162349892054,0.00013808615008503494,0.6761,-0.0048,0.08612531867717144,1.0,0.0,0.0,0.0,0.16704647456998545,0.17547337914161598,2.304092491659733,0.011564749253259761,-0.009859985085011007,0.00020513414849679065,0.2426214514232042,0.18190266875937075,1.9617569334960314,0.009691101088667694,-0.012780005367818863,-0.0016336793628518899,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3098110116563968,-0.1013867889561553,-2.0412905692042145,0.6294947333341655,1.549684752072438,-0.07763169986590354,0.553278232287496,2.304092491659733,2.5945688014917105,2.5945688014917105,3.3093600000021834,0,0,-0.00045575260090443957,-9.999999025923074e-05
+47177,1792046301913416802,18630619000000,1792046301907576587,DOWN_FORCE_DETACH,8,0.035,0.03500230237841606,0.6761691971783629,-0.004938690917150697,0.08627982636252365,0.9999999765050991,-2.0870927897517616e-07,0.000127970033853976,0.00014851361126795554,0.6761,-0.0048,0.08600560820386516,1.0,0.0,0.0,0.0,0.16736166926556068,0.15779713061336226,2.323022518956454,0.010004771450124664,-0.009833428958358191,0.0001717710499670635,0.24293664611877944,0.164226420231117,1.9806869607927524,0.008131123285532596,-0.012753449241166047,-0.001667042461381617,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3156097207627568,-0.1724031354912921,-2.1647455498516455,0.6596584628338193,1.6340632199713263,-0.12445947925244365,0.553278232287496,2.323022518956454,2.7180237821391415,2.7180237821391415,3.330080000002204,0,0,-0.00046870259838158033,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f312bf4458ffaf137147f276884971034e664a06
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..94cc11048bdc21cf8b813c38a0ca78c924f96e09
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+15,7.450000000e+00,DOWN_FORCE_DETACH,1792046274639864541,7.844417477e-05,-8.294594679e-05,-7.665657475e-04,7.973278664e-05,-8.784058372e-05,-7.645053113e-04,8.011619877e-05,-8.747600749e-05,-7.629461241e-04,7.016163157e-01,-8.139498547e-05,8.399743754e-01,7.016176043e-01,-8.628962240e-05,8.399764359e-01,7.018094779e-01,-8.569710838e-05,8.288099436e-01
+16,7.950000000e+00,DOWN_FORCE_DETACH,1792046275637235778,8.012699163e-05,-8.694694906e-05,-8.045461428e-04,7.992271250e-05,-8.690648983e-05,-8.044030298e-04,8.021472497e-05,-8.657407744e-05,-8.027796764e-04,7.016179985e-01,-8.539598774e-05,8.399363950e-01,7.016177942e-01,-8.535552851e-05,8.399365382e-01,7.018095764e-01,-8.479517833e-05,8.287701101e-01
+17,8.466666667e+00,DOWN_FORCE_DETACH,1792046276669037411,8.752711141e-05,-9.149278785e-05,-8.488189005e-04,8.477741197e-05,-8.987407794e-05,-8.451145756e-04,8.505549147e-05,-8.950974411e-05,-8.435401057e-04,7.016253986e-01,-8.994182653e-05,8.398921223e-01,7.016226489e-01,-8.832311662e-05,8.398958266e-01,7.018144172e-01,-8.773084499e-05,8.287293497e-01
+18,8.950000000e+00,DOWN_FORCE_DETACH,1792046277633076331,9.237343544e-05,-9.000299272e-05,-8.981716576e-04,8.776201686e-05,-8.951404278e-05,-8.849405813e-04,8.801077850e-05,-8.916368196e-05,-8.834796674e-04,7.016302449e-01,-8.845203140e-05,8.398427695e-01,7.016256335e-01,-8.796308146e-05,8.398560006e-01,7.018173725e-01,-8.738478284e-05,8.286894101e-01
+19,9.500000000e+00,DOWN_FORCE_DETACH,1792046278697259065,9.963794351e-05,-9.533465767e-05,-9.464069939e-04,9.751019782e-05,-9.163332118e-05,-9.467994648e-04,9.785778333e-05,-9.125213957e-05,-9.453006512e-04,7.016375094e-01,-9.378369635e-05,8.397945342e-01,7.016353817e-01,-9.008235986e-05,8.397941417e-01,7.018272195e-01,-8.947324046e-05,8.286275891e-01
+20,1.011666667e+01,DOWN_FORCE_DETACH,1792046279863215421,1.047982483e-04,-9.526456597e-05,-1.001562915e-03,1.004661545e-04,-9.402674446e-05,-9.868633556e-04,1.007632560e-04,-9.359892217e-05,-9.856705660e-04,7.016426697e-01,-9.371360465e-05,8.397393783e-01,7.016383376e-01,-9.247578314e-05,8.397540778e-01,7.018301250e-01,-9.182002306e-05,8.285872192e-01
+21,1.063333333e+01,DOWN_FORCE_DETACH,1792046280824917529,1.083877539e-04,-9.655474081e-05,-1.062229724e-03,1.055021765e-04,-9.119757090e-05,-1.054053571e-03,1.057203542e-04,-9.076346823e-05,-1.052704117e-03,7.016462592e-01,-9.500377949e-05,8.396787115e-01,7.016433737e-01,-8.964660958e-05,8.396868876e-01,7.018350821e-01,-8.898456911e-05,8.285201857e-01
+22,1.116666667e+01,DOWN_FORCE_DETACH,1792046281857057943,1.134608735e-04,-9.706244926e-05,-1.122238043e-03,1.107766794e-04,-1.012635745e-04,-1.112535375e-03,1.109389320e-04,-1.007917236e-04,-1.111160792e-03,7.016513324e-01,-9.551148794e-05,8.396187031e-01,7.016486482e-01,-9.971261315e-05,8.396284058e-01,7.018403006e-01,-9.901282448e-05,8.284617290e-01
+23,1.170000000e+01,DOWN_FORCE_DETACH,1792046282857875293,1.180318388e-04,-1.040090308e-04,-1.180809604e-03,1.153483631e-04,-1.033993207e-04,-1.176268284e-03,1.153488115e-04,-1.028942585e-04,-1.174773412e-03,7.016559033e-01,-1.024580694e-04,8.395601316e-01,7.016532198e-01,-1.018483593e-04,8.395646729e-01,7.018447105e-01,-1.011153594e-04,8.283981164e-01
+24,1.198333333e+01,DOWN_FORCE_DETACH,1792046283432708952,1.197644086e-04,-1.054274440e-04,-1.214999742e-03,1.183964144e-04,-1.050056416e-04,-1.199036097e-03,1.184048354e-04,-1.045285467e-04,-1.197593649e-03,7.016576359e-01,-1.038764827e-04,8.395259414e-01,7.016562679e-01,-1.034546802e-04,8.395419051e-01,7.018477665e-01,-1.027496475e-04,8.283752961e-01
+25,1.250000000e+01,DOWN_FORCE_DETACH,1792046284453199287,1.272244174e-04,-1.021635812e-04,-1.275915543e-03,1.268251453e-04,-1.019955891e-04,-1.260544633e-03,1.267917129e-04,-1.015266879e-04,-1.259027386e-03,7.016650959e-01,-1.006126199e-04,8.394650256e-01,7.016646966e-01,-1.004446278e-04,8.394803966e-01,7.018561534e-01,-9.974778882e-05,8.283138624e-01
+26,1.296666667e+01,DOWN_FORCE_DETACH,1792046285385019559,1.311456386e-04,-9.779108045e-05,-1.335605595e-03,1.289552821e-04,-1.025226845e-04,-1.323573418e-03,1.287407529e-04,-1.020697660e-04,-1.321916823e-03,7.016690171e-01,-9.624011913e-05,8.394053356e-01,7.016668268e-01,-1.009717231e-04,8.394173678e-01,7.018581025e-01,-1.002908669e-04,8.282509729e-01
+27,1.338333333e+01,DOWN_FORCE_DETACH,1792046286215132747,1.364617051e-04,-1.036598591e-04,-1.392910628e-03,1.329083649e-04,-1.022184047e-04,-1.391245680e-03,1.325619335e-04,-1.017633585e-04,-1.389284021e-03,7.016743332e-01,-1.021088978e-04,8.393480306e-01,7.016707798e-01,-1.006674434e-04,8.393496955e-01,7.018619236e-01,-9.998445943e-05,8.281836057e-01
+28,1.391666667e+01,DOWN_FORCE_DETACH,1792046287214383926,1.380577051e-04,-1.025955991e-04,-1.466405191e-03,1.370381747e-04,-1.044321666e-04,-1.457127788e-03,1.364496799e-04,-1.039657928e-04,-1.455135861e-03,7.016759292e-01,-1.010446378e-04,8.392745360e-01,7.016749097e-01,-1.028812053e-04,8.392838134e-01,7.018658114e-01,-1.021868937e-04,8.281177539e-01
+29,1.438333333e+01,DOWN_FORCE_DETACH,1792046288111027624,1.433981410e-04,-1.028216193e-04,-1.537548728e-03,1.399680649e-04,-1.077805017e-04,-1.521106718e-03,1.392343279e-04,-1.072761402e-04,-1.518932440e-03,7.016812696e-01,-1.012706580e-04,8.392033925e-01,7.016778395e-01,-1.062295403e-04,8.392198345e-01,7.018685960e-01,-1.054972411e-04,8.280539573e-01
+30,1.481666667e+01,DOWN_FORCE_DETACH,1792046288944248371,1.467838924e-04,-1.028552890e-04,-1.613992409e-03,1.471623525e-04,-1.171143402e-04,-1.605641576e-03,1.463356672e-04,-1.165610210e-04,-1.603172515e-03,7.016846554e-01,-1.013043276e-04,8.391269488e-01,7.016850338e-01,-1.155633789e-04,8.391352996e-01,7.018756974e-01,-1.147821219e-04,8.279697173e-01
+31,1.521666667e+01,DOWN_FORCE_DETACH,1792046289691047244,1.487605073e-04,-1.140256801e-04,-1.683901612e-03,1.512693012e-04,-1.119739390e-04,-1.665261520e-03,1.503090257e-04,-1.114439520e-04,-1.662700501e-03,7.016866320e-01,-1.124747188e-04,8.390570396e-01,7.016891408e-01,-1.104229777e-04,8.390756797e-01,7.018796707e-01,-1.096650529e-04,8.279101893e-01
+32,1.565000000e+01,DOWN_FORCE_DETACH,1792046290507108214,1.540869492e-04,-1.164157421e-04,-1.758802424e-03,1.515074133e-04,-1.155471204e-04,-1.758714577e-03,1.502914387e-04,-1.150089087e-04,-1.755876571e-03,7.016919584e-01,-1.148647807e-04,8.389821388e-01,7.016893789e-01,-1.139961591e-04,8.389822266e-01,7.018796531e-01,-1.132300096e-04,8.278170132e-01
+33,1.606666667e+01,DOWN_FORCE_DETACH,1792046291305530264,1.558311016e-04,-1.181473580e-04,-1.841916673e-03,1.556294038e-04,-1.181125373e-04,-1.841951782e-03,1.542133642e-04,-1.175944833e-04,-1.838965334e-03,7.016937026e-01,-1.165963967e-04,8.388990245e-01,7.016935009e-01,-1.165615760e-04,8.388989894e-01,7.018835751e-01,-1.158155842e-04,8.277339244e-01
+34,1.645000000e+01,DOWN_FORCE_DETACH,1792046292071895466,1.554452425e-04,-1.130091410e-04,-1.939207887e-03,1.531648990e-04,-1.122541549e-04,-1.929752699e-03,1.514898327e-04,-1.117610577e-04,-1.926728665e-03,7.016933167e-01,-1.114581797e-04,8.388017333e-01,7.016910364e-01,-1.107031936e-04,8.388111885e-01,7.018808515e-01,-1.099821586e-04,8.276461611e-01
+35,1.680000000e+01,DOWN_FORCE_DETACH,1792046292769002591,1.532172631e-04,-1.114502119e-04,-2.038709301e-03,1.531137521e-04,-1.116653845e-04,-2.038832841e-03,1.511196212e-04,-1.111672361e-04,-2.035380547e-03,7.016910887e-01,-1.098992506e-04,8.387022319e-01,7.016909852e-01,-1.101144232e-04,8.387021083e-01,7.018804813e-01,-1.093883370e-04,8.275375092e-01
+36,1.716666667e+01,DOWN_FORCE_DETACH,1792046293501347730,1.559060154e-04,-1.073190331e-04,-2.145933246e-03,1.543359656e-04,-1.118782398e-04,-2.128523914e-03,1.520741201e-04,-1.113722315e-04,-2.125125900e-03,7.016937775e-01,-1.057680717e-04,8.385950079e-01,7.016922074e-01,-1.103272785e-04,8.386124173e-01,7.018814358e-01,-1.095933324e-04,8.274477639e-01
+37,1.753333333e+01,DOWN_FORCE_DETACH,1792046294233226001,1.575841266e-04,-1.095620180e-04,-2.272097869e-03,1.585265162e-04,-1.125591508e-04,-2.252732216e-03,1.558340460e-04,-1.120268209e-04,-2.248910488e-03,7.016954556e-01,-1.080110567e-04,8.384688433e-01,7.016963980e-01,-1.110081895e-04,8.384882090e-01,7.018851957e-01,-1.102479218e-04,8.273239793e-01
+38,1.786666667e+01,DOWN_FORCE_DETACH,1792046294867236431,1.567961161e-04,-1.097273147e-04,-2.391025771e-03,1.565666884e-04,-1.096157922e-04,-2.391102897e-03,1.533814214e-04,-1.091055553e-04,-2.386724155e-03,7.016946676e-01,-1.081763534e-04,8.383499154e-01,7.016944382e-01,-1.080648309e-04,8.383498383e-01,7.018827431e-01,-1.073266562e-04,8.271861656e-01
+39,1.815000000e+01,DOWN_FORCE_DETACH,1792046295429080667,1.588008029e-04,-1.125008881e-04,-2.504601979e-03,1.586383832e-04,-1.124819807e-04,-2.504944273e-03,1.551207766e-04,-1.119512016e-04,-2.500181598e-03,7.016966723e-01,-1.109499268e-04,8.382363392e-01,7.016965099e-01,-1.109310194e-04,8.382359969e-01,7.018844825e-01,-1.101723025e-04,8.270727082e-01
+40,1.845000000e+01,DOWN_FORCE_DETACH,1792046295995078718,1.583760400e-04,-1.145939490e-04,-2.629196807e-03,1.580551249e-04,-1.145218256e-04,-2.629352013e-03,1.541418998e-04,-1.139347096e-04,-2.624186461e-03,7.016962475e-01,-1.130429877e-04,8.381117444e-01,7.016959266e-01,-1.129708643e-04,8.381115892e-01,7.018835036e-01,-1.121558104e-04,8.269487033e-01
+41,1.873333333e+01,DOWN_FORCE_DETACH,1792046296529126779,1.554122549e-04,-1.189522105e-04,-2.755084180e-03,1.525686791e-04,-1.150686968e-04,-2.753901849e-03,1.481492588e-04,-1.144219478e-04,-2.748563916e-03,7.016932837e-01,-1.174012492e-04,8.379858570e-01,7.016904402e-01,-1.135177354e-04,8.379870393e-01,7.018775110e-01,-1.126430487e-04,8.268243259e-01
+42,1.895000000e+01,DOWN_FORCE_DETACH,1792046296927021700,1.514357260e-04,-1.191696830e-04,-2.862855700e-03,1.512844003e-04,-1.191983542e-04,-2.862807765e-03,1.464329845e-04,-1.185212216e-04,-2.857138048e-03,7.016893072e-01,-1.176187216e-04,8.378780855e-01,7.016891559e-01,-1.176473929e-04,8.378781334e-01,7.018757947e-01,-1.167423225e-04,8.267157517e-01
+43,1.921666667e+01,DOWN_FORCE_DETACH,1792046297425247551,1.502635312e-04,-1.235046659e-04,-2.990223343e-03,1.518970564e-04,-1.256110939e-04,-2.970690541e-03,1.466019814e-04,-1.248868897e-04,-2.965059833e-03,7.016881350e-01,-1.219537046e-04,8.377507178e-01,7.016897685e-01,-1.240601326e-04,8.377702506e-01,7.018759637e-01,-1.231079906e-04,8.266078299e-01
+44,1.946666667e+01,DOWN_FORCE_DETACH,1792046297925059891,1.517325572e-04,-1.263278819e-04,-3.122354282e-03,1.516430574e-04,-1.263176059e-04,-3.122410714e-03,1.457809677e-04,-1.256050682e-04,-3.116195993e-03,7.016896040e-01,-1.247769206e-04,8.376185869e-01,7.016895145e-01,-1.247666446e-04,8.376185305e-01,7.018751427e-01,-1.238261690e-04,8.264566938e-01
+45,1.970000000e+01,DOWN_FORCE_DETACH,1792046298357138224,1.490783321e-04,-1.283826749e-04,-3.250347958e-03,1.491238852e-04,-1.312422076e-04,-3.240385562e-03,1.427786591e-04,-1.305334442e-04,-3.234028489e-03,7.016869498e-01,-1.268317136e-04,8.374905932e-01,7.016869954e-01,-1.296912462e-04,8.375005556e-01,7.018721404e-01,-1.287545451e-04,8.263388613e-01
+46,1.995000000e+01,DOWN_FORCE_DETACH,1792046298823853343,1.506618765e-04,-1.353370079e-04,-3.388643279e-03,1.472504799e-04,-1.332913635e-04,-3.382511007e-03,1.403161565e-04,-1.325063119e-04,-3.375824509e-03,7.016885334e-01,-1.337860466e-04,8.373522979e-01,7.016851220e-01,-1.317404022e-04,8.373584302e-01,7.018696779e-01,-1.307274128e-04,8.261970653e-01
+47,2.015000000e+01,DOWN_FORCE_DETACH,1792046299221670992,1.516660918e-04,-1.365358931e-04,-3.519703627e-03,1.515871482e-04,-1.366206306e-04,-3.519597014e-03,1.441690762e-04,-1.358224869e-04,-3.512408884e-03,7.016895376e-01,-1.349849318e-04,8.372212376e-01,7.016894586e-01,-1.350696693e-04,8.372213442e-01,7.018735308e-01,-1.340435878e-04,8.260604809e-01
+48,2.036666667e+01,DOWN_FORCE_DETACH,1792046299621130844,1.555955278e-04,-1.369511735e-04,-3.652710882e-03,1.548404075e-04,-1.409593795e-04,-3.638917003e-03,1.470666777e-04,-1.401369696e-04,-3.631660711e-03,7.016934670e-01,-1.354002121e-04,8.370882303e-01,7.016927119e-01,-1.394084181e-04,8.371020242e-01,7.018764284e-01,-1.383580705e-04,8.259412291e-01
+49,2.056666667e+01,DOWN_FORCE_DETACH,1792046300021151955,1.557273310e-04,-1.415859671e-04,-3.796155835e-03,1.543911597e-04,-1.393236249e-04,-3.784373990e-03,1.460935806e-04,-1.385056328e-04,-3.776791319e-03,7.016935988e-01,-1.400350058e-04,8.369447854e-01,7.016922626e-01,-1.377726636e-04,8.369565672e-01,7.018754553e-01,-1.367267337e-04,8.257960984e-01
+50,2.073333333e+01,DOWN_FORCE_DETACH,1792046300353223654,1.530751787e-04,-1.462120461e-04,-3.923104844e-03,1.523611309e-04,-1.432717354e-04,-3.913019807e-03,1.435443675e-04,-1.424598073e-04,-3.905122015e-03,7.016909467e-01,-1.446610847e-04,8.368178363e-01,7.016902326e-01,-1.417207741e-04,8.368279214e-01,7.018729061e-01,-1.406809082e-04,8.256677678e-01
+51,2.091666667e+01,DOWN_FORCE_DETACH,1792046300719062943,1.542966060e-04,-1.504988382e-04,-4.071389047e-03,1.540985695e-04,-1.504609076e-04,-4.071527110e-03,1.447511722e-04,-1.496629619e-04,-4.063136920e-03,7.016921681e-01,-1.489478769e-04,8.366695521e-01,7.016919701e-01,-1.489099462e-04,8.366694141e-01,7.018741129e-01,-1.478840628e-04,8.255097528e-01
+52,2.106666667e+01,DOWN_FORCE_DETACH,1792046301017221026,1.517679373e-04,-1.536662590e-04,-4.195436875e-03,1.496454208e-04,-1.498810019e-04,-4.187242764e-03,1.398456784e-04,-1.490671623e-04,-4.178725514e-03,7.016896394e-01,-1.521152977e-04,8.365455043e-01,7.016875169e-01,-1.483300406e-04,8.365536984e-01,7.018692074e-01,-1.472882632e-04,8.253941643e-01
+53,2.123333333e+01,DOWN_FORCE_DETACH,1792046301349308425,1.448492620e-04,-1.545322831e-04,-4.339164467e-03,1.418555519e-04,-1.591115609e-04,-4.329451347e-03,1.314245124e-04,-1.582195536e-04,-4.320602378e-03,7.016827207e-01,-1.529813217e-04,8.364017767e-01,7.016797270e-01,-1.575605995e-04,8.364114898e-01,7.018607862e-01,-1.564406544e-04,8.252522874e-01
+54,2.138333333e+01,DOWN_FORCE_DETACH,1792046301651179957,1.364792652e-04,-1.657940021e-04,-4.478530592e-03,1.389936280e-04,-1.666311998e-04,-4.460246637e-03,1.280397167e-04,-1.656213480e-04,-4.451181831e-03,7.016743507e-01,-1.642430408e-04,8.362624106e-01,7.016768651e-01,-1.650802384e-04,8.362806946e-01,7.018574014e-01,-1.638424489e-04,8.251217079e-01
+55,2.151666667e+01,DOWN_FORCE_DETACH,1792046301915273795,1.270892159e-04,-1.729279814e-04,-4.609437075e-03,1.277078352e-04,-1.696585970e-04,-4.591974163e-03,1.160629844e-04,-1.685795766e-04,-4.582606052e-03,7.016649607e-01,-1.713770201e-04,8.361315041e-01,7.016655793e-01,-1.681076356e-04,8.361489670e-01,7.018454247e-01,-1.668006775e-04,8.249902837e-01
+56,2.163333333e+01,DOWN_FORCE_DETACH,1792046302149081033,1.549145953e-04,-1.657178518e-04,-4.695689487e-03,1.545687121e-04,-1.657170787e-04,-4.695799681e-03,1.430023038e-04,-1.646814017e-04,-4.686378036e-03,7.016927861e-01,-1.641668905e-04,8.360452517e-01,7.016924402e-01,-1.641661174e-04,8.360451415e-01,7.018723640e-01,-1.629025025e-04,8.248865117e-01
+57,2.176666667e+01,DOWN_FORCE_DETACH,1792046302417303103,1.512060710e-04,-1.731470376e-04,-4.827174549e-03,1.511741177e-04,-1.699080842e-04,-4.812344237e-03,1.391600746e-04,-1.688461340e-04,-4.802822836e-03,7.016890776e-01,-1.715960763e-04,8.359137666e-01,7.016890456e-01,-1.683571229e-04,8.359285970e-01,7.018685218e-01,-1.670672349e-04,8.247700669e-01
+58,2.191666667e+01,DOWN_FORCE_DETACH,1792046302715490777,1.519183310e-04,-1.733209399e-04,-4.979470161e-03,1.516434515e-04,-1.732745014e-04,-4.979083429e-03,1.390785714e-04,-1.722586284e-04,-4.969078777e-03,7.016897898e-01,-1.717699786e-04,8.357614710e-01,7.016895149e-01,-1.717235401e-04,8.357618578e-01,7.018684403e-01,-1.704797293e-04,8.246038110e-01
+59,2.216666667e+01,DOWN_SETTLE,1792046303181225835,1.489287052e-04,-1.715102944e-04,-5.096553462e-03,1.479035298e-04,-1.751668347e-04,-5.097299093e-03,1.347567265e-04,-1.741378072e-04,-5.088306844e-03,7.016868002e-01,-1.699593331e-04,8.356443877e-01,7.016857750e-01,-1.736158734e-04,8.356436421e-01,7.018641184e-01,-1.723589081e-04,8.244845829e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2741481241355010fa2e1a936206287212a0c95
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-1.0973e-02,2.3338e-03,2.4614e+00,-3.6954e-02,3.5988e-02,-2.3072e-05,3.3417e-04,3.6352e-06,9.2268e-05,-1.4901e-07,2.3272e-05,-1.3024e-07,3.4670e-04,2.3273e-05
+1,5.3333e-01,DOWN_FORCE_DETACH,1.4774e-04,-1.9024e-03,2.4496e-03,2.4641e+00,-3.6958e-02,3.6621e-02,-2.6143e-05,9.4043e-03,1.1941e-04,2.7456e-03,-4.0829e-06,6.5628e-04,-3.2009e-06,9.7976e-03,6.5630e-04
+2,9.0000e-01,DOWN_FORCE_DETACH,2.8074e-04,3.3962e-03,1.4814e-02,2.4853e+00,-3.7818e-02,3.6981e-02,-1.7965e-05,1.4703e-02,1.2483e-02,2.3956e-02,-8.6395e-04,1.0160e-03,4.9767e-06,3.0756e-02,1.3337e-03
+3,1.3833e+00,DOWN_FORCE_DETACH,4.2373e-04,1.1578e-02,1.8455e-02,2.5150e+00,-3.8063e-02,3.7537e-02,-1.8426e-05,2.2885e-02,1.6125e-02,5.3732e-02,-1.1097e-03,1.5724e-03,4.5154e-06,6.0588e-02,1.9245e-03
+4,1.7833e+00,DOWN_FORCE_DETACH,5.6303e-04,1.0013e-02,2.7702e-02,2.5618e+00,-3.8701e-02,3.7399e-02,-1.2245e-05,2.1319e-02,2.5372e-02,1.0045e-01,-1.7469e-03,1.4341e-03,1.0697e-05,1.0578e-01,2.2601e-03
+5,2.2000e+00,DOWN_FORCE_DETACH,7.0625e-04,1.4180e-02,3.5596e-02,2.5824e+00,-3.9240e-02,3.7678e-02,-6.4856e-06,2.5487e-02,3.3266e-02,1.2108e-01,-2.2861e-03,1.7131e-03,1.6456e-05,1.2812e-01,2.8568e-03
+6,2.6833e+00,DOWN_FORCE_DETACH,8.4146e-04,1.5853e-02,4.1525e-02,2.5890e+00,-3.9637e-02,3.7807e-02,-4.5204e-07,2.7159e-02,3.9195e-02,1.2770e-01,-2.6837e-03,1.8421e-03,2.2490e-05,1.3631e-01,3.2552e-03
+7,3.1667e+00,DOWN_FORCE_DETACH,9.8369e-04,1.0239e-02,4.3589e-02,2.5752e+00,-3.9772e-02,3.7446e-02,5.2374e-06,2.1546e-02,4.1259e-02,1.1393e-01,-2.8181e-03,1.4804e-03,2.8179e-05,1.2307e-01,3.1834e-03
+8,3.7167e+00,DOWN_FORCE_DETACH,1.1237e-03,9.9001e-03,4.7067e-02,2.5510e+00,-4.0017e-02,3.7475e-02,8.1838e-06,2.1207e-02,4.4737e-02,8.9709e-02,-3.0633e-03,1.5102e-03,3.1125e-05,1.0246e-01,3.4155e-03
+9,4.2333e+00,DOWN_FORCE_DETACH,1.2667e-03,1.7479e-02,4.6416e-02,2.5179e+00,-3.9988e-02,3.8044e-02,4.4494e-06,2.8786e-02,4.4086e-02,5.6636e-02,-3.0344e-03,2.0793e-03,2.7391e-05,7.7329e-02,3.6786e-03
+10,4.8500e+00,DOWN_FORCE_DETACH,1.4056e-03,1.9990e-02,4.3804e-02,2.5104e+00,-3.9828e-02,3.8237e-02,-5.6945e-06,3.1297e-02,4.1474e-02,4.9059e-02,-2.8742e-03,2.2718e-03,1.7247e-05,7.1459e-02,3.6637e-03
+11,5.3833e+00,DOWN_FORCE_DETACH,1.5485e-03,2.2108e-02,4.6548e-02,2.5232e+00,-4.0031e-02,3.8382e-02,-1.1244e-05,3.3414e-02,4.4218e-02,6.1902e-02,-3.0775e-03,2.4167e-03,1.1698e-05,8.3088e-02,3.9130e-03
+12,5.8167e+00,DOWN_FORCE_DETACH,1.6839e-03,2.0477e-02,3.5366e-02,2.5339e+00,-3.9256e-02,3.8263e-02,-2.7160e-05,3.1784e-02,3.3036e-02,7.2594e-02,-2.3022e-03,2.2974e-03,-4.2178e-06,8.5857e-02,3.2524e-03
+13,6.3500e+00,DOWN_FORCE_DETACH,1.8286e-03,2.4275e-02,4.1604e-02,2.5455e+00,-3.9688e-02,3.8525e-02,-2.7654e-05,3.5582e-02,3.9274e-02,8.4194e-02,-2.7343e-03,2.5599e-03,-4.7125e-06,9.9485e-02,3.7456e-03
+14,6.9333e+00,DOWN_FORCE_DETACH,1.9702e-03,2.8364e-02,4.1586e-02,2.5415e+00,-3.9680e-02,3.8809e-02,-3.0395e-05,3.9670e-02,3.9256e-02,8.0152e-02,-2.7264e-03,2.8434e-03,-7.4529e-06,9.7668e-02,3.9393e-03
+15,7.4500e+00,DOWN_FORCE_DETACH,2.1112e-03,2.8374e-02,4.8102e-02,2.5426e+00,-4.0124e-02,3.8804e-02,-2.6317e-05,3.9680e-02,4.5772e-02,8.1343e-02,-3.1701e-03,2.8389e-03,-3.3757e-06,1.0142e-01,4.2555e-03
+16,7.9500e+00,DOWN_FORCE_DETACH,2.2508e-03,3.1937e-02,4.4498e-02,2.5313e+00,-3.9863e-02,3.9052e-02,-2.9787e-05,4.3244e-02,4.2167e-02,6.9949e-02,-2.9094e-03,3.0870e-03,-6.8457e-06,9.2417e-02,4.2420e-03
+17,8.4667e+00,DOWN_FORCE_DETACH,2.3924e-03,3.1087e-02,4.8074e-02,2.5429e+00,-4.0097e-02,3.8972e-02,-2.5692e-05,4.2394e-02,4.5744e-02,8.1583e-02,-3.1437e-03,3.0065e-03,-2.7506e-06,1.0269e-01,4.3499e-03
+18,8.9500e+00,DOWN_FORCE_DETACH,2.5327e-03,3.2300e-02,4.7690e-02,2.5384e+00,-4.0058e-02,3.9041e-02,-2.5743e-05,4.3607e-02,4.5360e-02,7.7088e-02,-3.1040e-03,3.0764e-03,-2.8009e-06,9.9507e-02,4.3702e-03
+19,9.5000e+00,DOWN_FORCE_DETACH,2.6726e-03,3.0810e-02,4.9403e-02,2.5426e+00,-4.0164e-02,3.8913e-02,-2.7093e-05,4.2116e-02,4.7073e-02,8.1326e-02,-3.2101e-03,2.9475e-03,-4.1513e-06,1.0297e-01,4.3580e-03
+20,1.0117e+01,DOWN_FORCE_DETACH,2.8144e-03,3.2950e-02,5.1984e-02,2.5264e+00,-4.0339e-02,3.9043e-02,-3.4934e-05,4.4257e-02,4.9654e-02,6.5067e-02,-3.3856e-03,3.0775e-03,-1.1993e-05,9.3048e-02,4.5753e-03
+21,1.0633e+01,DOWN_FORCE_DETACH,2.9536e-03,3.3080e-02,5.1005e-02,2.5341e+00,-4.0271e-02,3.9031e-02,-4.5846e-05,4.4387e-02,4.8675e-02,7.2803e-02,-3.3175e-03,3.0656e-03,-2.2905e-05,9.8182e-02,4.5171e-03
+22,1.1167e+01,DOWN_FORCE_DETACH,3.0957e-03,3.2406e-02,5.7323e-02,2.5351e+00,-4.0713e-02,3.8974e-02,-4.8891e-05,4.3713e-02,5.4993e-02,7.3766e-02,-3.7595e-03,3.0091e-03,-2.5949e-05,1.0186e-01,4.8155e-03
+23,1.1700e+01,DOWN_FORCE_DETACH,3.2313e-03,3.1777e-02,5.8728e-02,2.5409e+00,-4.0819e-02,3.8927e-02,-5.0493e-05,4.3084e-02,5.6398e-02,7.9598e-02,-3.8658e-03,2.9616e-03,-2.7552e-05,1.0664e-01,4.8699e-03
+24,1.1983e+01,DOWN_FORCE_DETACH,3.3774e-03,3.0662e-02,5.9412e-02,2.5365e+00,-4.0874e-02,3.8853e-02,-4.8860e-05,4.1968e-02,5.7082e-02,7.5230e-02,-3.9203e-03,2.8884e-03,-2.5919e-05,1.0334e-01,4.8695e-03
+25,1.2500e+01,DOWN_FORCE_DETACH,3.5173e-03,2.7524e-02,5.7535e-02,2.5419e+00,-4.0756e-02,3.8636e-02,-4.5730e-05,3.8830e-02,5.5205e-02,8.0626e-02,-3.8027e-03,2.6707e-03,-2.2788e-05,1.0515e-01,4.6469e-03
+26,1.2967e+01,DOWN_FORCE_DETACH,3.6551e-03,2.7466e-02,5.7811e-02,2.5499e+00,-4.0780e-02,3.8630e-02,-3.8367e-05,3.8772e-02,5.5481e-02,8.8590e-02,-3.8263e-03,2.6653e-03,-1.5426e-05,1.1149e-01,4.6631e-03
+27,1.3383e+01,DOWN_FORCE_DETACH,3.7998e-03,2.5628e-02,5.7637e-02,2.5637e+00,-4.0767e-02,3.8495e-02,-3.1499e-05,3.6935e-02,5.5307e-02,1.0244e-01,-3.8129e-03,2.5300e-03,-8.5572e-06,1.2213e-01,4.5760e-03
+28,1.3917e+01,DOWN_FORCE_DETACH,3.9397e-03,2.3847e-02,5.8958e-02,2.5675e+00,-4.0851e-02,3.8363e-02,-2.2903e-05,3.5154e-02,5.6628e-02,1.0618e-01,-3.8972e-03,2.3984e-03,3.8999e-08,1.2536e-01,4.5760e-03
+29,1.4383e+01,DOWN_FORCE_DETACH,4.0799e-03,2.2963e-02,6.1002e-02,2.5731e+00,-4.0981e-02,3.8289e-02,-1.6568e-05,3.4269e-02,5.8672e-02,1.1178e-01,-4.0269e-03,2.3244e-03,6.3738e-06,1.3081e-01,4.6496e-03
+30,1.4817e+01,DOWN_FORCE_DETACH,4.2225e-03,2.0900e-02,6.6630e-02,2.5927e+00,-4.1351e-02,3.8127e-02,-8.0476e-06,3.2207e-02,6.4300e-02,1.3142e-01,-4.3971e-03,2.1620e-03,1.4894e-05,1.4981e-01,4.8999e-03
+31,1.5217e+01,DOWN_FORCE_DETACH,4.3624e-03,2.0590e-02,6.3071e-02,2.5938e+00,-4.1088e-02,3.8093e-02,-8.1988e-06,3.1897e-02,6.0741e-02,1.3246e-01,-4.1346e-03,2.1279e-03,1.4743e-05,1.4917e-01,4.6500e-03
+32,1.5650e+01,DOWN_FORCE_DETACH,4.5017e-03,2.3500e-02,6.4671e-02,2.6102e+00,-4.1172e-02,3.8288e-02,-6.1066e-06,3.4807e-02,6.2341e-02,1.4894e-01,-4.2183e-03,2.3229e-03,1.6835e-05,1.6517e-01,4.8156e-03
+33,1.6067e+01,DOWN_FORCE_DETACH,4.6399e-03,2.4995e-02,6.3184e-02,2.6035e+00,-4.1043e-02,3.8400e-02,-6.7154e-06,3.6302e-02,6.0854e-02,1.4220e-01,-4.0896e-03,2.4345e-03,1.6226e-05,1.5888e-01,4.7594e-03
+34,1.6450e+01,DOWN_FORCE_DETACH,4.7828e-03,2.9221e-02,6.1143e-02,2.6224e+00,-4.0877e-02,3.8698e-02,-1.0764e-05,4.0528e-02,5.8813e-02,1.6113e-01,-3.9230e-03,2.7329e-03,1.2178e-05,1.7625e-01,4.7811e-03
+35,1.6800e+01,DOWN_FORCE_DETACH,4.9267e-03,3.0102e-02,6.3819e-02,2.6286e+00,-4.1044e-02,3.8774e-02,-1.2769e-05,4.1409e-02,6.1489e-02,1.6730e-01,-4.0899e-03,2.8094e-03,1.0172e-05,1.8299e-01,4.9619e-03
+36,1.7167e+01,DOWN_FORCE_DETACH,5.0617e-03,3.2321e-02,6.1550e-02,2.6423e+00,-4.0889e-02,3.8935e-02,-2.4879e-05,4.3628e-02,5.9220e-02,1.8103e-01,-3.9354e-03,2.9696e-03,-1.9369e-06,1.9540e-01,4.9301e-03
+37,1.7533e+01,DOWN_FORCE_DETACH,5.2044e-03,3.1502e-02,6.2627e-02,2.6615e+00,-4.0976e-02,3.8876e-02,-3.2268e-05,4.2808e-02,6.0297e-02,2.0017e-01,-4.0222e-03,2.9108e-03,-9.3264e-06,2.1340e-01,4.9649e-03
+38,1.7867e+01,DOWN_FORCE_DETACH,5.3482e-03,3.3411e-02,6.1958e-02,2.6768e+00,-4.0928e-02,3.9005e-02,-3.1932e-05,4.4718e-02,5.9628e-02,2.1550e-01,-3.9745e-03,3.0403e-03,-8.9899e-06,2.2802e-01,5.0040e-03
+39,1.8150e+01,DOWN_FORCE_DETACH,5.4860e-03,3.5542e-02,6.1670e-02,2.6962e+00,-4.0880e-02,3.9139e-02,-2.5201e-05,4.6849e-02,5.9340e-02,2.3487e-01,-3.9266e-03,3.1734e-03,-2.2590e-06,2.4674e-01,5.0486e-03
+40,1.8450e+01,DOWN_FORCE_DETACH,5.6272e-03,3.8532e-02,6.3718e-02,2.7154e+00,-4.0974e-02,3.9319e-02,-1.4124e-05,4.9839e-02,6.1388e-02,2.5411e-01,-4.0205e-03,3.3535e-03,8.8178e-06,2.6613e-01,5.2355e-03
+41,1.8733e+01,DOWN_FORCE_DETACH,5.7699e-03,4.2848e-02,6.6707e-02,2.7433e+00,-4.1149e-02,3.9576e-02,-1.1626e-05,5.4155e-02,6.4377e-02,2.8200e-01,-4.1950e-03,3.6106e-03,1.1316e-05,2.9428e-01,5.5349e-03
+42,1.8950e+01,DOWN_FORCE_DETACH,5.8974e-03,4.0671e-02,7.1364e-02,2.7395e+00,-4.1455e-02,3.9405e-02,-1.6528e-05,5.1977e-02,6.9034e-02,2.7815e-01,-4.5018e-03,3.4400e-03,6.4138e-06,2.9127e-01,5.6656e-03
+43,1.9217e+01,DOWN_FORCE_DETACH,6.0499e-03,4.1962e-02,7.4612e-02,2.7557e+00,-4.1659e-02,3.9465e-02,-2.6813e-05,5.3269e-02,7.2282e-02,2.9439e-01,-4.7052e-03,3.4996e-03,-3.8711e-06,3.0778e-01,5.8640e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..c314f42eac89476439b974e187efb80866beb434
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e6b9902edb534eabc754132aa98fdea519185929
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d257ec51622e932dd92989fa3c63939249a5df90
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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+41543,1792046254983391743,18583689000000,1792046254975567197,UP_FORCE_HOLD,8,0.035,0.03500230237841606,0.6760094865326111,-0.004781781126538601,0.0909348785630595,0.9999999722533186,-0.00012030279486405903,-0.00016951010644149483,-6.107198928959341e-05,0.6761,-0.0048,0.09123982380370686,1.0,0.0,0.0,0.0,0.2285812148076638,0.23150793216953752,-0.293430275952589,0.015820402188023882,-0.016451721129904326,0.00018627602839034214,0.30415619166088254,0.23793722178729226,-0.6357658341162906,0.013946754023431816,-0.019371741412712182,-0.0016525374829583384,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,-0.8920097390197552,0.10333328407099554,2.2904054926985653,-0.11224807273206301,-1.5660830008756894,0.07902034029611352,0.553278232287496,0.293430275952589,-1.7371272604110692,0.293430275952589,0.3337,0,0,2.437176855575788e-05,-4.2797035677296916e-05
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..936176d08c04df03b2dbd50caef752b40654eb2a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..689148f330768ef76545312fc4b0d722d0e38cbd
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+41,1.800000000e+00,UP_FORCE_RAMP,1792046253650953813,5.508130373e-06,-2.056612446e-05,1.413467505e-04,7.169995562e-06,-2.270866424e-05,1.296326823e-04,8.269580852e-06,-2.260166281e-05,1.287453208e-04,7.015433796e-01,-1.901516314e-05,8.408822879e-01,7.015450415e-01,-2.115770292e-05,8.408705739e-01,7.017376312e-01,-2.082276651e-05,8.297016351e-01
+42,1.866666667e+00,UP_FORCE_RAMP,1792046253783143703,7.480354206e-07,-2.244279644e-05,1.404502076e-04,7.169995562e-06,-2.270866424e-05,1.296326823e-04,8.283001648e-06,-2.260233624e-05,1.287928093e-04,7.015386195e-01,-2.089183512e-05,8.408813914e-01,7.015450415e-01,-2.115770292e-05,8.408705739e-01,7.017376447e-01,-2.082343995e-05,8.297016826e-01
+43,1.933333333e+00,UP_FORCE_RAMP,1792046253898950891,1.969590087e-06,-2.014189668e-05,1.487673842e-04,7.169995562e-06,-2.270866424e-05,1.296326823e-04,8.296119356e-06,-2.260292598e-05,1.288365307e-04,7.015398411e-01,-1.859093535e-05,8.408897086e-01,7.015450415e-01,-2.115770292e-05,8.408705739e-01,7.017376578e-01,-2.082402968e-05,8.297017263e-01
+44,2.016666667e+00,UP_FORCE_RAMP,1792046254049192057,-7.855776714e-07,-2.212329725e-05,1.525935937e-04,-1.215519730e-07,-1.785253752e-05,1.479084314e-04,9.763175732e-07,-1.778371715e-05,1.469277191e-04,7.015370859e-01,-2.057233593e-05,8.408935348e-01,7.015377499e-01,-1.630157620e-05,8.408888496e-01,7.017303380e-01,-1.600482085e-05,8.297198175e-01
+45,2.066666667e+00,UP_FORCE_RAMP,1792046254149124425,-6.086782243e-07,-2.174836721e-05,1.549355726e-04,-1.215519730e-07,-1.785253752e-05,1.479084314e-04,9.813279239e-07,-1.778296386e-05,1.469688378e-04,7.015372628e-01,-2.019740589e-05,8.408958768e-01,7.015377499e-01,-1.630157620e-05,8.408888496e-01,7.017303430e-01,-1.600406756e-05,8.297198586e-01
+46,2.150000000e+00,UP_FORCE_RAMP,1792046254318165272,-1.696432584e-06,-1.905504107e-05,1.607578703e-04,-1.215519730e-07,-1.785253752e-05,1.479084314e-04,9.911754560e-07,-1.778265122e-05,1.470291998e-04,7.015361750e-01,-1.750407975e-05,8.409016991e-01,7.015377499e-01,-1.630157620e-05,8.408888496e-01,7.017303528e-01,-1.600375492e-05,8.297199190e-01
+47,2.200000000e+00,UP_FORCE_RAMP,1792046254414809443,-2.704099040e-06,-2.060937215e-05,1.621049606e-04,-1.215519730e-07,-1.785253752e-05,1.479084314e-04,9.973794232e-07,-1.778267516e-05,1.470623685e-04,7.015351674e-01,-1.905841083e-05,8.409030461e-01,7.015377499e-01,-1.630157620e-05,8.408888496e-01,7.017303590e-01,-1.600377886e-05,8.297199521e-01
+48,2.266666667e+00,UP_FORCE_RAMP,1792046254531217915,-3.848447873e-07,-1.841295644e-05,1.709630360e-04,-1.313786449e-06,-2.225581599e-05,1.675841053e-04,-1.615254804e-07,-2.214106918e-05,1.665387218e-04,7.015374866e-01,-1.686199512e-05,8.409119042e-01,7.015365577e-01,-2.070485467e-05,8.409085253e-01,7.017292001e-01,-2.036217289e-05,8.297394285e-01
+49,2.333333333e+00,UP_FORCE_RAMP,1792046254647193221,-2.445259373e-06,-1.910558206e-05,1.732776706e-04,-1.313786449e-06,-2.225581599e-05,1.675841053e-04,-1.542308912e-07,-2.214370964e-05,1.665974243e-04,7.015354262e-01,-1.755462074e-05,8.409142189e-01,7.015365577e-01,-2.070485467e-05,8.409085253e-01,7.017292074e-01,-2.036481334e-05,8.297394872e-01
+50,2.383333333e+00,UP_FORCE_RAMP,1792046254748984209,-4.243109617e-07,-1.925160583e-05,1.778341682e-04,-1.313786449e-06,-2.225581599e-05,1.675841053e-04,-1.484894444e-07,-2.214482448e-05,1.666358031e-04,7.015374472e-01,-1.770064451e-05,8.409187754e-01,7.015365577e-01,-2.070485467e-05,8.409085253e-01,7.017292132e-01,-2.036592818e-05,8.297395256e-01
+51,2.416666667e+00,UP_FORCE_HOLD,1792046254812923940,-2.375381810e-06,-1.473759201e-05,1.758193749e-04,-1.313786449e-06,-2.225581599e-05,1.675841053e-04,-1.446185675e-07,-2.214539509e-05,1.666598401e-04,7.015354961e-01,-1.318663069e-05,8.409167606e-01,7.015365577e-01,-2.070485467e-05,8.409085253e-01,7.017292170e-01,-2.036649879e-05,8.297395496e-01
+52,2.500000000e+00,UP_FORCE_HOLD,1792046254981557614,-4.356755463e-07,-1.939926206e-05,1.822809699e-04,-1.313786449e-06,-2.225581599e-05,1.675841053e-04,-1.351987157e-07,-2.214697361e-05,1.667159879e-04,7.015374358e-01,-1.784830074e-05,8.409232222e-01,7.015365577e-01,-2.070485467e-05,8.409085253e-01,7.017292265e-01,-2.036807731e-05,8.297396058e-01
+53,2.566666667e+00,UP_FORCE_HOLD,1792046255112975018,-9.686813973e-08,-1.757517013e-05,1.881667860e-04,1.942330347e-07,-1.761240424e-05,1.881068557e-04,1.518674372e-06,-1.751904736e-05,1.870653957e-04,7.015377746e-01,-1.602420881e-05,8.409291080e-01,7.015380657e-01,-1.606144292e-05,8.409290480e-01,7.017308803e-01,-1.574015106e-05,8.297599552e-01
+54,2.650000000e+00,UP_FORCE_HOLD,1792046255245206468,-1.542968075e-06,-2.171987814e-05,1.907784087e-04,1.942330347e-07,-1.761240424e-05,1.881068557e-04,1.530280743e-06,-1.751734192e-05,1.871475172e-04,7.015363285e-01,-2.016891681e-05,8.409317196e-01,7.015380657e-01,-1.606144292e-05,8.409290480e-01,7.017308919e-01,-1.573844562e-05,8.297600373e-01
+55,2.700000000e+00,UP_FORCE_HOLD,1792046255347812278,-2.757244968e-07,-1.727020122e-05,1.948361838e-04,1.942330347e-07,-1.761240424e-05,1.881068557e-04,1.536741188e-06,-1.751706059e-05,1.871867539e-04,7.015375958e-01,-1.571923990e-05,8.409357774e-01,7.015380657e-01,-1.606144292e-05,8.409290480e-01,7.017308984e-01,-1.573816429e-05,8.297600765e-01
+56,2.766666667e+00,UP_FORCE_HOLD,1792046255480831378,4.448994729e-07,-1.872639234e-05,2.009086105e-04,1.942330347e-07,-1.761240424e-05,1.881068557e-04,1.545198378e-06,-1.751705608e-05,1.872345063e-04,7.015383164e-01,-1.717543102e-05,8.409418498e-01,7.015380657e-01,-1.606144292e-05,8.409290480e-01,7.017309069e-01,-1.573815978e-05,8.297601243e-01
+57,2.816666667e+00,UP_FORCE_HOLD,1792046255581627351,4.216649900e-06,-1.728698120e-05,2.079702118e-04,4.282927912e-06,-1.734276239e-05,2.079865785e-04,5.766657447e-06,-1.723846674e-05,2.068765540e-04,7.015420881e-01,-1.573601988e-05,8.409489114e-01,7.015421544e-01,-1.579180107e-05,8.409489278e-01,7.017351283e-01,-1.545957044e-05,8.297797663e-01
+58,2.883333333e+00,UP_FORCE_HOLD,1792046255716409291,3.018074215e-06,-1.750825762e-05,2.084675652e-04,4.282927912e-06,-1.734276239e-05,2.079865785e-04,5.780577372e-06,-1.723869754e-05,2.069464292e-04,7.015408896e-01,-1.595729630e-05,8.409494088e-01,7.015421544e-01,-1.579180107e-05,8.409489278e-01,7.017351422e-01,-1.545980124e-05,8.297798362e-01
+59,2.950000000e+00,UP_FORCE_HOLD,1792046255813164422,2.520346817e-06,-1.860336914e-05,2.101101842e-04,4.282927912e-06,-1.734276239e-05,2.079865785e-04,5.791341202e-06,-1.723908856e-05,2.070015386e-04,7.015403918e-01,-1.705240782e-05,8.409510514e-01,7.015421544e-01,-1.579180107e-05,8.409489278e-01,7.017351530e-01,-1.546019226e-05,8.297798913e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cde3eb870a59292c501790ee7e2074d425924794
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-1.0974e-02,2.3338e-03,2.4614e+00,-3.6954e-02,3.5988e-02,-2.3054e-05,3.3419e-04,3.6298e-06,9.2506e-05,-1.5646e-07,2.3279e-05,-1.3036e-07,3.4678e-04,2.3280e-05
+1,5.0000e-02,UP_FORCE_RAMP,1.4602e-05,-9.9906e-03,2.3444e-03,2.4617e+00,-3.6954e-02,3.6057e-02,-2.3417e-05,1.3181e-03,1.4164e-05,3.6526e-04,-5.6624e-07,9.1825e-05,-4.9299e-07,1.3679e-03,9.1828e-05
+2,1.1667e-01,UP_FORCE_RAMP,2.9950e-05,-8.7248e-03,2.3625e-03,2.4620e+00,-3.6955e-02,3.6145e-02,-2.3881e-05,2.5839e-03,3.2253e-05,7.2289e-04,-1.3672e-06,1.8003e-04,-9.5667e-07,2.6833e-03,1.8004e-04
+3,1.5000e-01,UP_FORCE_RAMP,4.8581e-05,-8.1123e-03,2.3711e-03,2.4622e+00,-3.6955e-02,3.6188e-02,-2.4092e-05,3.1964e-03,4.0936e-05,8.9884e-04,-1.7472e-06,2.2274e-04,-1.1677e-06,3.3207e-03,2.2275e-04
+4,1.6667e-01,UP_FORCE_RAMP,5.9415e-05,-7.8091e-03,2.3749e-03,2.4623e+00,-3.6956e-02,3.6209e-02,-2.4195e-05,3.4996e-03,4.4662e-05,9.8610e-04,-1.8924e-06,2.4388e-04,-1.2708e-06,3.6361e-03,2.4389e-04
+5,2.0000e-01,UP_FORCE_RAMP,7.2544e-05,-7.2193e-03,2.3813e-03,2.4625e+00,-3.6956e-02,3.6250e-02,-2.4384e-05,4.0894e-03,5.1093e-05,1.1559e-03,-2.1383e-06,2.8503e-04,-1.4605e-06,4.2499e-03,2.8504e-04
+6,2.5000e-01,UP_FORCE_RAMP,8.5241e-05,-6.3707e-03,2.4032e-03,2.4627e+00,-3.6957e-02,3.6309e-02,-2.4723e-05,4.9380e-03,7.3050e-05,1.4048e-03,-3.2820e-06,3.4441e-04,-1.7992e-06,5.1345e-03,3.4443e-04
+7,3.0000e-01,UP_FORCE_RAMP,9.9333e-05,-5.5373e-03,2.4087e-03,2.4629e+00,-3.6957e-02,3.6368e-02,-2.4956e-05,5.7714e-03,7.8487e-05,1.6422e-03,-3.3453e-06,4.0270e-04,-2.0317e-06,6.0010e-03,4.0272e-04
+8,3.1667e-01,UP_FORCE_RAMP,1.1410e-04,-5.2632e-03,2.4111e-03,2.4630e+00,-3.6957e-02,3.6387e-02,-2.5038e-05,6.0455e-03,8.0939e-05,1.7219e-03,-3.4049e-06,4.2185e-04,-2.1142e-06,6.2865e-03,4.2187e-04
+9,3.5000e-01,UP_FORCE_RAMP,1.2874e-04,-4.7228e-03,2.4193e-03,2.4632e+00,-3.6957e-02,3.6425e-02,-2.5203e-05,6.5859e-03,8.9053e-05,1.8826e-03,-3.7067e-06,4.5962e-04,-2.2789e-06,6.8503e-03,4.5964e-04
+10,3.6667e-01,UP_FORCE_RAMP,1.4107e-04,-4.4439e-03,2.4220e-03,2.4633e+00,-3.6957e-02,3.6444e-02,-2.5264e-05,6.8648e-03,9.1848e-05,1.9612e-03,-3.7625e-06,4.7895e-04,-2.3398e-06,7.1401e-03,4.7897e-04
+11,4.1667e-01,UP_FORCE_RAMP,1.6023e-04,-4.1332e-03,1.5194e-02,2.4620e+00,-3.7850e-02,3.6466e-02,-1.4815e-05,7.1755e-03,1.2864e-02,6.4492e-04,-8.9683e-04,5.0128e-04,8.1086e-06,1.4744e-02,1.0274e-03
+12,4.5000e-01,UP_FORCE_RAMP,1.6826e-04,-3.6059e-03,1.4837e-02,2.4622e+00,-3.7825e-02,3.6503e-02,-1.5243e-05,7.7028e-03,1.2507e-02,8.9502e-04,-8.7139e-04,5.3790e-04,7.6808e-06,1.4716e-02,1.0241e-03
+13,5.1667e-01,UP_FORCE_RAMP,1.8574e-04,-2.5970e-03,1.4478e-02,2.4626e+00,-3.7799e-02,3.6573e-02,-1.5979e-05,8.7117e-03,1.2148e-02,1.3316e-03,-8.4556e-04,6.0818e-04,6.9452e-06,1.5008e-02,1.0416e-03
+14,5.6667e-01,UP_FORCE_RAMP,1.9966e-04,-1.8600e-03,1.4328e-02,2.4629e+00,-3.7788e-02,3.6624e-02,-1.6464e-05,9.4487e-03,1.1997e-02,1.6317e-03,-8.3450e-04,6.5953e-04,6.4600e-06,1.5358e-02,1.0637e-03
+15,6.1667e-01,UP_FORCE_RAMP,2.1228e-04,-1.1436e-03,1.4225e-02,2.4632e+00,-3.7780e-02,3.6674e-02,-1.6917e-05,1.0165e-02,1.1894e-02,1.9140e-03,-8.2674e-04,7.0948e-04,6.0067e-06,1.5763e-02,1.0894e-03
+16,6.5000e-01,UP_FORCE_RAMP,2.3027e-04,-6.7800e-04,1.4173e-02,2.4634e+00,-3.7776e-02,3.6707e-02,-1.7210e-05,1.0631e-02,1.1843e-02,2.0962e-03,-8.2274e-04,7.4197e-04,5.7139e-06,1.6052e-02,1.1079e-03
+17,6.6667e-01,UP_FORCE_RAMP,2.3926e-04,-4.4870e-04,1.4150e-02,2.4635e+00,-3.7775e-02,3.6723e-02,-1.7355e-05,1.0860e-02,1.1820e-02,2.1849e-03,-8.2098e-04,7.5797e-04,5.5692e-06,1.6200e-02,1.1174e-03
+18,7.1667e-01,UP_FORCE_RAMP,2.5990e-04,2.2585e-04,1.4093e-02,2.4638e+00,-3.7770e-02,3.6770e-02,-1.7789e-05,1.1535e-02,1.1763e-02,2.4450e-03,-8.1640e-04,8.0508e-04,5.1348e-06,1.6655e-02,1.1466e-03
+19,7.5000e-01,UP_FORCE_RAMP,2.6858e-04,6.6417e-04,1.4061e-02,2.4639e+00,-3.7767e-02,3.6801e-02,-1.8074e-05,1.1973e-02,1.1730e-02,2.6135e-03,-8.1377e-04,8.3569e-04,4.8494e-06,1.6964e-02,1.1665e-03
+20,8.1667e-01,UP_FORCE_RAMP,2.8353e-04,1.5111e-03,1.3358e-02,2.4504e+00,-3.7717e-02,3.6866e-02,-1.9126e-05,1.2820e-02,1.1027e-02,-1.0879e-02,-7.6383e-04,9.0153e-04,3.7983e-06,2.0107e-02,1.1816e-03
+21,8.6667e-01,UP_FORCE_RAMP,3.0150e-04,2.1678e-03,1.3334e-02,2.4518e+00,-3.7716e-02,3.6913e-02,-1.9564e-05,1.3476e-02,1.1004e-02,-9.5072e-03,-7.6216e-04,9.4771e-04,3.3597e-06,1.9827e-02,1.2162e-03
+22,9.1667e-01,UP_FORCE_RAMP,3.1258e-04,2.7819e-03,1.3305e-02,2.4527e+00,-3.7713e-02,3.6955e-02,-1.9999e-05,1.4091e-02,1.0975e-02,-8.5931e-03,-7.5965e-04,9.9051e-04,2.9253e-06,1.9820e-02,1.2483e-03
+23,9.6667e-01,UP_FORCE_RAMP,3.2426e-04,3.5517e-03,1.3213e-02,2.4404e+00,-3.7706e-02,3.7016e-02,-2.0523e-05,1.4860e-02,1.0882e-02,-2.0920e-02,-7.5231e-04,1.0506e-03,2.4013e-06,2.7873e-02,1.2922e-03
+24,1.0000e+00,UP_FORCE_RAMP,3.4084e-04,3.9677e-03,1.3185e-02,2.4417e+00,-3.7704e-02,3.7045e-02,-2.0838e-05,1.5276e-02,1.0854e-02,-1.9630e-02,-7.5033e-04,1.0800e-03,2.0854e-06,2.7139e-02,1.3151e-03
+25,1.0500e+00,UP_FORCE_RAMP,3.5354e-04,4.5307e-03,1.3145e-02,2.4430e+00,-3.7701e-02,3.7084e-02,-2.1297e-05,1.5839e-02,1.0815e-02,-1.8269e-02,-7.4712e-04,1.1192e-03,1.6263e-06,2.6487e-02,1.3456e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..21237d3026c2d526672491fd7cc5e587af962704
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 73809920
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e74e691242d3b2013c2e34b957df5a10afc02daa
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/fem_node.csv
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+59,2.430000e+01,2812,6.998709e-01,1.012358e-02,8.211578e-01,2.757387e-04,-2.807965e-05,-4.576846e-03,-1.304503e-03,1.250350e-02,1.089182e-02
+59,2.430000e+01,2813,6.997678e-01,1.011735e-02,8.226643e-01,2.802893e-04,-2.324928e-05,-4.576389e-03,-8.613096e-04,9.642613e-03,4.702425e-03
+59,2.430000e+01,2814,6.960070e-01,1.068714e-02,8.293929e-01,2.016700e-04,-1.429250e-04,-4.813921e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2815,6.991995e-01,1.221135e-02,8.354963e-01,1.715993e-04,-1.091805e-04,-4.788245e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2816,6.931887e-01,1.258749e-02,8.253872e-01,2.065769e-04,-1.876715e-04,-4.942590e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2817,6.993477e-01,1.031901e-02,8.319560e-01,2.097087e-04,-1.078259e-04,-4.700043e-03,1.712735e-04,3.239764e-03,1.334105e-03
+59,2.430000e+01,2818,6.994048e-01,1.320061e-02,8.134497e-01,1.873246e-04,-2.711291e-04,-4.884978e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2819,6.990259e-01,1.224783e-02,8.143010e-01,2.171547e-04,-2.427396e-04,-4.821945e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2820,6.934623e-01,1.230053e-02,8.232650e-01,2.410144e-04,-1.945242e-04,-4.924035e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2821,6.982345e-01,1.064601e-02,8.323746e-01,1.790173e-04,-1.346483e-04,-4.743662e-03,-7.796407e-07,-3.882180e-06,-1.079019e-05
+59,2.430000e+01,2822,6.940751e-01,1.215740e-02,8.291689e-01,1.634980e-04,-1.621431e-04,-4.905903e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2823,7.009563e-01,1.203195e-02,8.138685e-01,1.833997e-04,-2.415676e-04,-4.811868e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2824,6.959808e-01,1.326720e-02,8.159524e-01,2.339109e-04,-2.480474e-04,-4.911894e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2825,6.999659e-01,1.097421e-02,8.157112e-01,2.303097e-04,-1.621784e-04,-4.723720e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2826,6.994761e-01,1.348825e-02,8.363243e-01,1.812065e-04,-7.780347e-05,-4.865298e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2827,6.929970e-01,1.334056e-02,8.230054e-01,2.149983e-04,-2.047439e-04,-4.970686e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2828,6.988960e-01,1.012372e-02,8.217342e-01,2.976916e-04,-3.165876e-05,-4.623935e-03,1.374461e-04,3.316990e-03,2.160337e-03
+59,2.430000e+01,2829,6.950097e-01,1.225679e-02,8.315974e-01,1.332843e-04,-1.474129e-04,-4.878428e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2830,6.941311e-01,1.146204e-02,8.236951e-01,2.638056e-04,-1.747204e-04,-4.882207e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2831,6.974151e-01,1.028497e-02,8.209964e-01,3.277157e-04,-6.898072e-05,-4.708738e-03,1.393339e-05,9.859240e-05,6.616723e-05
+59,2.430000e+01,2832,6.934302e-01,1.336102e-02,8.208048e-01,2.296839e-04,-2.160931e-04,-4.960212e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2833,6.987460e-01,1.095862e-02,8.164573e-01,2.679344e-04,-1.517673e-04,-4.726581e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2834,6.945075e-01,1.222758e-02,8.195012e-01,2.752305e-04,-2.081637e-04,-4.889374e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2835,6.971790e-01,1.074771e-02,8.315611e-01,1.745086e-04,-1.398545e-04,-4.779790e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2836,6.953946e-01,1.128001e-02,8.302949e-01,1.687363e-04,-1.536233e-04,-4.843022e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2837,6.979308e-01,1.228183e-02,8.149352e-01,2.376815e-04,-2.362079e-04,-4.828426e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2838,6.989761e-01,1.148454e-02,8.152590e-01,2.408699e-04,-2.005907e-04,-4.764912e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2839,6.928172e-01,1.363938e-02,8.255731e-01,1.887161e-04,-1.886118e-04,-4.981662e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2840,7.006531e-01,1.362123e-02,8.366612e-01,1.992040e-04,-6.975152e-05,-4.872393e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2841,6.964883e-01,1.124154e-02,8.180329e-01,3.063886e-04,-1.705866e-04,-4.786251e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2842,6.934058e-01,1.225099e-02,8.243952e-01,2.281830e-04,-1.871456e-04,-4.926561e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2843,6.999881e-01,1.167797e-02,8.145215e-01,2.075963e-04,-2.193486e-04,-4.780841e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.430000e+01,2844,6.999846e-01,1.239248e-02,8.137729e-01,1.943816e-04,-2.533917e-04,-4.833348e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f120993c6bbb9dbc6c89f6ecbf25e181ab30111a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+49942,1792046324932386781,18653638000000,1792046324931567466,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6760804446421778,-0.004847700137043417,0.09042432777494797,0.9999999899140344,2.269523113427072e-05,-2.2910987808946286e-05,0.00010283388962053262,0.6761,-0.0048,0.09038262555298049,1.0,0.0,0.0,0.0,0.2054710942794239,0.250493826428507,0.7346263426431401,0.017575338684177967,-0.013670892054367605,0.00045043417328806683,0.2810460711326426,0.2569231160462617,0.39229078447943844,0.0157016905195859,-0.01659091233717546,-0.0013883793380606137,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6387292441821475,-0.025215707040665072,0.007420122083644529,0.20825408092989947,0.1662875364676969,-0.05338580918194774,0.553278232287496,0.7346263426431401,0.5458581102038514,0.5458581102038514,0.5233600000000587,0,0,-2.999798129757624e-05,9.944010478791227e-05
+50070,1792046325999435501,18654705000000,1792046325991576397,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6760881872786315,-0.004849279513397337,0.09041298600011956,0.9999999895442493,2.4166478429183086e-05,-1.2827479782053709e-05,0.00010773023270877815,0.6761,-0.0048,0.09036206532733455,1.0,0.0,0.0,0.0,0.2058839887956801,0.26151080346536654,0.761096211948448,0.017571719125827195,-0.013672997362400973,0.0004292092228223158,0.28145896564889883,0.2679400930831213,0.4187606537847464,0.015698070961235128,-0.01659301764520883,-0.0014096042885263648,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6693947876754262,0.03155309955371312,-0.05522122160022215,0.19811646511601433,0.21356729376061662,-0.01682461692652983,0.553278232287496,0.761096211948448,0.6084994538877181,0.6084994538877181,0.6087200000000256,0,0,-1.9055396556473585e-05,9.98860813769042e-05
+50218,1792046327232392015,18655938000000,1792046327227576422,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6760973922644956,-0.00484632249773163,0.09038622993037049,0.9999999889181541,2.9129172840530074e-05,-4.381112502451017e-06,0.00011286652806484656,0.6761,-0.0048,0.0903228646333509,1.0,0.0,0.0,0.0,0.20300014790306198,0.26511516599342566,0.7854584174754825,0.01853095727126933,-0.012694722898514496,0.0004322281234367773,0.2785751247562807,0.2715444556111804,0.4431228593117809,0.016657309106677263,-0.015614743181322352,-0.0014065853879119032,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7490908171598375,-0.03171062396667061,-0.01999744777768413,0.21343753299889,0.2094716990179017,-0.06193941031310772,0.553278232287496,0.7854584174754825,0.57327568006518,0.57327568006518,0.7073599999999873,0,0,-4.469212861876593e-05,-9.999996250365512e-05
+50350,1792046328332331021,18657038000000,1792046328327576784,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6760997977481533,-0.004853659585642419,0.09034148851359795,0.9999999882426395,2.4153105726200148e-05,1.8604573573477034e-06,0.00011987806929939568,0.6761,-0.0048,0.09026211937170278,1.0,0.0,0.0,0.0,0.19721508225675893,0.27759534758499327,0.8517307581166065,0.0185446573187307,-0.012691801041197891,0.00038227543440282844,0.27279005910997767,0.284024637202748,0.5093951999529049,0.016671009154138633,-0.015611821324005747,-0.001456538076945852,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.749456147549061,0.028145170617874,-0.14099599219380002,0.21159504967567902,0.2819657118732397,-0.018867943855803225,0.553278232287496,0.8517307581166065,0.6942742244812959,0.6942742244812959,0.7953599999999532,0,0,-6.318827610737732e-05,-8.074233922983893e-05
+50481,1792046329424399214,18658130000000,1792046329419567260,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761039854646821,-0.004855082593222415,0.09028203554062623,0.9999999740983876,0.00017489011586344484,1.0039246515452455e-05,0.00011206582595726107,0.6761,-0.0048,0.09019687809835499,1.0,0.0,0.0,0.0,0.19541982767161514,0.27121681772884426,0.9520458516307284,0.018529109017851302,-0.012731069749546537,0.0003044847096511506,0.2709948045248339,0.277646107346599,0.6097102934670269,0.016655460853259235,-0.015651090032354393,-0.00153432880169753,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7525979909851938,0.035402225299851195,-0.28396318534710513,0.19621141069569029,0.376648547013015,-0.04153762980155591,0.553278232287496,0.9520458516307284,0.837241417634601,0.837241417634601,0.8827199999999193,0,0,-5.619308531404498e-05,9.99997404590502e-05
+50601,1792046330424336509,18659130000000,1792046330419566973,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.676114025451125,-0.004835776195756116,0.09023899539872983,0.9999999932088756,5.699970454568666e-05,3.960630073504554e-05,1.4404442058445015e-05,0.6761,-0.0048,0.09014412795418286,1.0,0.0,0.0,0.0,0.20465190870629296,0.2915996866803418,1.0325163684573728,0.02015597498564445,-0.01299729907480509,0.0003313141842544165,0.2802268855595117,0.29802897629809655,0.6901808102936712,0.018282326821052384,-0.015917319357612945,-0.001507499327094264,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8399727937051836,0.004410522928230547,-0.21667677072075148,0.13034949457455064,0.37227198472752876,-0.005470838784872349,0.553278232287496,1.0325163684573728,0.7699550030082474,0.7699550030082474,0.9627199999998883,0,0,-5.789653361873282e-05,-9.998301772474178e-05
+50685,1792046331124382648,18659830000000,1792046331119567276,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761161851849811,-0.004832898769756232,0.09020419936108907,0.99999999255103,6.194055567254462e-05,4.313188044003469e-05,2.537346741457956e-05,0.6761,-0.0048,0.09010200424971992,1.0,0.0,0.0,0.0,0.19264655208402476,0.2846739656266579,1.0729662486399776,0.019510731979813036,-0.01178029100103689,0.0009162647535061846,0.2682215289372435,0.29110325524441266,0.730630690476276,0.01763708381522097,-0.014700311283844745,-0.0009225487578424959,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.808955567609003,0.05848516728889479,-0.4281222932482235,0.133982473257143,0.49216543847762634,0.03524393802200595,0.553278232287496,1.0729662486399776,0.9814005255357194,0.9814005255357194,1.0187199999998926,0,0,-6.219641280194731e-05,9.940223230498475e-05
+50772,1792046331849377598,18660555000000,1792046331847576411,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761183368595745,-0.0048476700296586645,0.09017143158740056,0.9999999923683387,5.68101370267968e-05,4.443790771635534e-05,3.8782310819327594e-05,0.6761,-0.0048,0.09005926616565173,1.0,0.0,0.0,0.0,0.18545952606108546,0.2806250812921621,1.1333981897096945,0.019563559168748402,-0.01186493012458948,0.0012072699018450142,0.2610345029143042,0.28705437090991687,0.791062631545993,0.017689911004156334,-0.014784950407397336,-0.0006315436095036663,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8252314704100653,0.11795221183707488,-0.4850560361971638,0.16737358422930806,0.5244334200489215,0.07427423965085704,0.553278232287496,1.1333981897096945,1.0383342684846597,1.0383342684846597,1.0767199999999506,0,0,-5.306221094872476e-05,9.966820010832151e-05
+50888,1792046332816400285,18661522000000,1792046332815566934,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761187443909789,-0.004854614116956581,0.09012895801029308,0.9999999915774377,6.0346897698197876e-05,4.3462914944113675e-05,5.2509198853422086e-05,0.6761,-0.0048,0.09001333140410271,1.0,0.0,0.0,0.0,0.19184521869192478,0.2818290509199211,1.1835716818818722,0.019469571870822884,-0.01179269186899777,0.0011677306491449085,0.2674201955451435,0.28825834053767585,0.8412361237181706,0.017595923706230816,-0.014712712151805626,-0.0006710828622037721,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.766114509235496,-0.03141306549383528,-0.46865320134746025,0.24686294433662917,0.49009782852451683,-0.03382920890715502,0.553278232287496,1.1835716818818722,1.0219314336349563,1.0219314336349563,1.154080000000028,0,0,-4.2199557150095164e-05,-9.990234614421496e-05
+51004,1792046333782365009,18662488000000,1792046333779576420,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761218784724405,-0.004855174184036669,0.0901000147219849,0.9999999908654366,6.387132472307548e-05,4.635985949185761e-05,5.901871382208655e-05,0.6761,-0.0048,0.08997550979568329,1.0,0.0,0.0,0.0,0.1847791495009813,0.28731193493247126,1.2276743249960513,0.019462142034078124,-0.011802326177624023,0.0011312601737382482,0.2603541263542,0.293741224550226,0.8853387668323497,0.017588493869486056,-0.014722346460431879,-0.0007075533376104323,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8665707219614175,-0.04411927208160518,-0.5836345349860983,0.2796086993276586,0.5808302676224036,-0.04795733095557636,0.553278232287496,1.2276743249960513,1.1369127672735941,1.1369127672735941,1.2313600000001053,0,0,-3.713049411965675e-05,-9.997888214397505e-05
+51128,1792046334816427727,18663522000000,1792046334815576171,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761289163004881,-0.004856966097997992,0.0900704429249199,0.9999999898021059,6.352155306110642e-05,5.76304545636728e-05,6.695069417569028e-05,0.6761,-0.0048,0.08993146027012841,1.0,0.0,0.0,0.0,0.17527538227966144,0.28483394239305126,1.2637561754089375,0.019427491295635577,-0.010800373748710663,0.0011166191300944458,0.2508503591328802,0.291263232010806,0.9214206172452359,0.01755384313104351,-0.013720394031518519,-0.0007221943812542347,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8626708593244085,-0.014990506890102777,-0.6576549820879424,0.27476091672756286,0.6256714782486839,-0.03380454065506172,0.553278232287496,1.2637561754089375,1.2109332143754383,1.2109332143754383,1.314080000000188,0,0,-4.885570413090535e-05,-9.999999025923074e-05
+51264,1792046335949339782,18664655000000,1792046335943576512,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.676134427921989,-0.0048608941330954974,0.09002107429828504,0.9999999885102313,6.210070038514438e-05,6.631266072622548e-05,7.854002652998313e-05,0.6761,-0.0048,0.08986984983350339,1.0,0.0,0.0,0.0,0.1653363120611685,0.2893729858997157,1.33430454642751,0.02029792603281972,-0.01082791345369532,0.0010684341569355321,0.24091128891438723,0.29580227551747046,0.9919689882638084,0.018424277868227652,-0.013747933736503177,-0.0007703793544131484,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.900679597023242,-0.019715554995865102,-0.7846907595045569,0.28210462558008204,0.7115497990404321,-0.04364970280037367,0.553278232287496,1.33430454642751,1.337968991792053,1.337968991792053,1.4047200000002786,0,0,-5.786739634137569e-05,4.511706843227434e-05
+51415,1792046337207404202,18665913000000,1792046337203576844,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761415978612483,-0.004869033703693521,0.08996176430517067,0.9999999887621462,4.1353609007699687e-05,7.918374746729846e-05,7.706091647086476e-05,0.6761,-0.0048,0.08979631288638153,1.0,0.0,0.0,0.0,0.1568424386135573,0.3012867426688026,1.415901518813576,0.020393566806573775,-0.009839191249159952,0.0010193218037564179,0.23241741546677605,0.30771603228655736,1.0735659606498744,0.018519918641981707,-0.012759211531967808,-0.0008194917075922626,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9297810695907979,-0.12477175409390734,-0.7897872810140356,0.33542252943377937,0.7183595022022715,-0.10881577958386462,0.553278232287496,1.415901518813576,1.3430655133015317,1.3430655133015317,1.5053600000003793,0,0,-5.628232798845912e-05,-9.902327155331676e-05
+51527,1792046338141426737,18666847000000,1792046338139576638,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761481445235633,-0.0048729470344607735,0.08992259695768472,0.9999999889343062,2.0413064166595457e-05,9.043131114583275e-05,7.056724941755751e-05,0.6761,-0.0048,0.08974594986284776,1.0,0.0,0.0,0.0,0.16652807337296893,0.3055573408808579,1.4748025334230217,0.020381463441025188,-0.009848764220737305,0.0009720413527240551,0.2421030502261877,0.31198663049861264,1.1324669752593202,0.01850781527643312,-0.01276878450354516,-0.0008667721586246254,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9450597834548344,-0.031315680029476045,-0.9998071363576765,0.3174515344759631,0.8530719852031956,-0.04676949556794622,0.553278232287496,1.4748025334230217,1.5530853686451724,1.5530853686451724,1.580080000000454,0,0,-5.413565614256909e-05,9.932759756215432e-05
+51687,1792046339474426012,18668180000000,1792046339471576518,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761545285684278,-0.004871006546867858,0.08985701466927272,0.9999999882913119,8.909999998715308e-06,9.992313497139138e-05,6.925474394834036e-05,0.6761,-0.0048,0.08966792207348893,1.0,0.0,0.0,0.0,0.155406640234157,0.29827809884294415,1.5610867965014925,0.020365042725222327,-0.009865881212312749,0.0009012938558413565,0.23098161708737575,0.3047073884606989,1.218751238337791,0.01849139456063026,-0.012785901495120605,-0.000937519655507324,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9113234781855815,-0.06915754098108082,-0.9977115061491815,0.3233594455508583,0.8407013574584439,-0.07095329260084145,0.553278232287496,1.5610867965014925,1.5509897384366775,1.5509897384366775,1.6867200000005607,0,0,-6.094159768074559e-05,-9.998455815918845e-05
+51782,1792046340266430839,18668972000000,1792046340263576385,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.676159206635891,-0.004875225191713108,0.08981916296603623,0.9999999872780257,1.8893298573404819e-06,0.00010801127311079913,7.22274744802738e-05,0.6761,-0.0048,0.08961844834137589,1.0,0.0,0.0,0.0,0.1471371052665178,0.3004732235045221,1.615163427100703,0.02037698617343408,-0.009001207747960229,0.0008702088625011659,0.22271208211973653,0.30690251312227684,1.2728278689370014,0.01850333800884201,-0.011921228030768085,-0.0009686046488475146,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9984383435362087,-0.0710093091984868,-1.1484623594417835,0.327203822499172,0.9595643272998676,-0.0744269834297984,0.553278232287496,1.615163427100703,1.7017405917292794,1.7017405917292794,1.750080000000624,0,0,-6.375148899476357e-05,9.988237600755951e-05
+51870,1792046340999414146,18669705000000,1792046340991576603,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761654310336963,-0.004879640525120121,0.0897795192167322,0.9999999858505991,-5.26087337865186e-07,0.00011590985882946954,7.941217725642584e-05,0.6761,-0.0048,0.0895702179268429,1.0,0.0,0.0,0.0,0.16126187613304088,0.30493646789766493,1.6715152661040826,0.021281429959391775,-0.009683916119133967,0.0008287222460280504,0.23683685298625964,0.31136575751541967,1.329179707940381,0.019407781794799708,-0.012603936401941823,-0.0010100912653206301,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.001435811119881,-0.012550315492233236,-1.2167958685319806,0.30363636360673796,1.0043630123575846,-0.04233718005946248,0.553278232287496,1.6715152661040826,1.7700741008194765,1.7700741008194765,1.8087200000006827,0,0,-6.55828096870773e-05,9.815522980372577e-05
+51970,1792046341832434804,18670538000000,1792046341831576385,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761693924321733,-0.004872007764175894,0.08973405589741223,0.9999999852725255,5.732835128333611e-06,0.0001213601028713705,7.833692168835027e-05,0.6761,-0.0048,0.08951704241193222,1.0,0.0,0.0,0.0,0.14892691288811782,0.2941540275760399,1.722103536010607,0.020314143745759357,-0.00890061052338346,0.0007943471851236462,0.22450188974133656,0.30058331719379466,1.3797679778469054,0.01844049558116729,-0.011820630806191315,-0.0010444663262250344,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0504921874807231,-0.09512884145584806,-1.426715509715612,0.3366537519623656,1.1494440596709414,-0.09300619525988085,0.553278232287496,1.722103536010607,1.9799937420031077,1.9799937420031077,1.8753600000007493,0,0,-6.324725682485687e-05,9.994098190547191e-05
+52106,1792046342966442800,18671672000000,1792046342959576428,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761741519157031,-0.004882300660076718,0.08967118475918584,0.9999999834659493,3.055401955862317e-05,0.00012922929463744052,8.292892585500589e-05,0.6761,-0.0048,0.0894444235152241,1.0,0.0,0.0,0.0,0.14520221928714822,0.3045191037853283,1.7961152676324308,0.021313436093858017,-0.008922966335978062,0.0007361638075900794,0.22077719614036698,0.31094839340308306,1.4537797094687293,0.01943978792926595,-0.011842986618785918,-0.0011026497037586011,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.963516821488208,0.02241992557690693,-1.3028250518419742,0.3157663987655447,1.040514279160213,-0.0064530580314706674,0.553278232287496,1.7961152676324308,1.8561032841294702,1.8561032841294702,1.96608000000084,0,0,-6.643149305238095e-05,-6.222590084726249e-05
+52226,1792046343966433865,18672672000000,1792046343959576761,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761823156262989,-0.004882207982209806,0.08962177589728236,0.9999999820648715,2.749747438823414e-05,0.00014339819404769386,7.742072066866304e-05,0.6761,-0.0048,0.08937964835829056,1.0,0.0,0.0,0.0,0.14509137359695423,0.3117684675993999,1.8562440686599035,0.02129092735821481,-0.008147528283384607,0.0007012718610436787,0.220666350450173,0.31819775721715465,1.513908510496202,0.019417279193622742,-0.011067548566192463,-0.0011375416503050018,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0330456582467784,-0.04206930464466574,-1.4201948663554969,0.3472926006915765,1.1336250093614155,-0.04753795809111636,0.553278232287496,1.8562440686599035,1.9734730986429927,1.9734730986429927,2.04608000000092,0,0,-6.344401346361638e-05,3.42845987974016e-05
+52357,1792046345057433933,18673763000000,1792046345051576374,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761871273659894,-0.004885581872090278,0.08955947722524774,0.9999999813280154,1.6966800397146297e-05,0.00015158816565048885,7.429662834673416e-05,0.6761,-0.0048,0.08930890353365938,1.0,0.0,0.0,0.0,0.14635197919912568,0.310968615784623,1.9173203572429511,0.021372905154019694,-0.0089506073513866,0.0006402598417089508,0.22192695605234442,0.3173979054023777,1.5749847990792496,0.019499256989427626,-0.011870627634194456,-0.0011985536696397297,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.061173520298988,0.004662807031064727,-1.461209129389096,0.34079598986905024,1.1644716239011905,-0.018154288054032762,0.553278232287496,1.9173203572429511,2.014487361676592,2.014487361676592,2.1333600000010073,0,0,-6.785195338507156e-05,-7.444781876942414e-05
+52453,1792046345857363611,18674563000000,1792046345855576761,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761923323130609,-0.004882534752794847,0.08951033264472247,0.9999999808320588,9.594137989002194e-06,0.0001584728143003738,6.762444835316024e-05,0.6761,-0.0048,0.08925308488239551,1.0,0.0,0.0,0.0,0.1499810324899566,0.3169259932228971,1.9767607704055128,0.022288079405128718,-0.00897611450163361,0.0016188551980011367,0.22555600934317532,0.32335528284065185,1.6344252122418113,0.02041443124053665,-0.011896134784441466,-0.00021995831334754387,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1092358414792527,-0.0980997731425396,-1.6058647450075407,0.37112999890088244,1.268222774193647,-0.09200010152129542,0.553278232287496,1.9767607704055128,2.1591429772950366,2.1591429772950366,2.1973600000010713,0,0,-7.119066718489086e-05,9.999399505489776e-05
+52547,1792046346641441508,18675347000000,1792046346635577166,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6761947968851285,-0.00487917191032974,0.0894612048223005,0.9999999802266314,4.918425895781818e-06,0.00016295425030528858,6.64177896826397e-05,0.6761,-0.0048,0.08919584811768214,1.0,0.0,0.0,0.0,0.14408350042052986,0.3136101984595565,2.0176372324450464,0.021256242948391645,-0.007993870961329171,0.0014638583758019756,0.2196584772737486,0.32003948807731125,1.6753016742813447,0.019382594783799577,-0.010913891244137027,-0.000374955135546705,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0869983186109573,0.007337483813092643,-1.6049495900393564,0.3491495174058628,1.260733938529414,-0.022862239166643483,0.553278232287496,2.0176372324450464,2.1582278223268525,2.1582278223268525,2.260080000001134,0,0,-7.105201078469315e-05,-7.542215049583518e-05
+52629,1792046347324445392,18676030000000,1792046347323577064,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6761971703753972,-0.004878173414328707,0.08941601635492631,0.9999999799297313,4.155219444972627e-06,0.00016493995069570756,6.603747581874625e-05,0.6761,-0.0048,0.08914701882721343,1.0,0.0,0.0,0.0,0.1495719552992104,0.3209457680665462,2.066967328255188,0.021908470004517157,-0.00799336101554459,0.0015555192528469786,0.22514693215242917,0.3273750576843009,1.7246317700914864,0.02003482183992509,-0.010913381298352447,-0.0002832942585017019,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.125574183579683,0.024096201037994487,-1.7561760091291816,0.353599790792606,1.3666340246602144,-0.011029381067443444,0.553278232287496,2.066967328255188,2.3094542414166774,2.3094542414166774,2.3147200000011887,0,0,-7.341812706809924e-05,9.960937216580418e-05
+52753,1792046348357438891,18677063000000,1792046348355577010,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6762040400272008,-0.004884525690765138,0.08934715876060717,0.9999999776112336,7.001179928784851e-08,0.0001762671228101445,7.176554468138879e-05,0.6761,-0.0048,0.08906910674775059,1.0,0.0,0.0,0.0,0.1435031780343357,0.32339158715745925,2.1179501048708587,0.022239369324896063,-0.008138835314508808,0.0012054104879278295,0.21907815488755444,0.329820876775214,1.775614546707157,0.020365721160303996,-0.011058855597316664,-0.000633403023420851,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.160184772387965,-0.031725724021973295,-1.7072974421303193,0.3771670826596837,1.3421246418542092,-0.045656929680312104,0.553278232287496,2.1179501048708587,2.260575674417815,2.260575674417815,2.3973600000012714,0,0,-7.907232858347791e-05,-9.998995661864569e-05
+52864,1792046349282438185,18677988000000,1792046349275576663,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762060582924753,-0.004889342392619307,0.08927689860466567,0.9999999765931369,-1.244481595746794e-06,0.00018001292655743048,7.648782789775453e-05,0.6761,-0.0048,0.08899366907482568,1.0,0.0,0.0,0.0,0.1520599324931846,0.3341398172712391,2.1782167472782494,0.022227910968909623,-0.008018606222640166,0.0014839345762446216,0.22763490934640335,0.34056910688899383,1.8358811891145477,0.020354262804317555,-0.010938626505448022,-0.000354878935104059,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1822122467384333,-0.05391434981649486,-1.8320467793109636,0.3851484006556817,1.4247826773158552,-0.05993659589350159,0.553278232287496,2.1782167472782494,2.3853250115984594,2.3853250115984594,2.4713600000013454,0,0,-8.242553796858487e-05,9.687500387845489e-05
+52980,1792046350249334932,18678955000000,1792046350247576476,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762086746467552,-0.004892564213868502,0.08920017234448312,0.9999999757692659,7.167931396493805e-06,0.00018176001667002188,8.256057838841191e-05,0.6761,-0.0048,0.08891468791893635,1.0,0.0,0.0,0.0,0.15214987566809307,0.3241245887439412,2.2439576490108064,0.022206756453825843,-0.008030664555711463,0.001430405280070538,0.2277248525213118,0.3305538783616959,1.9016220908471047,0.020333108289233775,-0.010950684838519319,-0.0004084082312781426,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1734009001015238,-0.03441073243883515,-1.844794612960861,0.3899569225951341,1.4279595979014712,-0.04582330781245438,0.553278232287496,2.2439576490108064,2.398072845248357,2.398072845248357,2.5487200000014227,0,0,-8.083357843777084e-05,-9.887694415867116e-05
+53084,1792046351116437290,18679822000000,1792046351111576862,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6762159042290234,-0.004890417744601154,0.08913895695436488,0.9999999731915363,2.0199371868204267e-05,0.0001933454239938151,8.52603270011602e-05,0.6761,-0.0048,0.08884035128189909,1.0,0.0,0.0,0.0,0.15207131500742477,0.3188612751726841,2.282488088408689,0.02220568551949097,-0.008039773600636506,0.001399787031700806,0.2276462918606435,0.32529056479043883,1.9401525302449876,0.020332037354898903,-0.010959793883444362,-0.0004390264796478744,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2023093693500506,-0.06764552097950417,-2.016028030723948,0.4114565048819945,1.5449731634352422,-0.06955015588242593,0.553278232287496,2.282488088408689,2.5693062630114443,2.5693062630114443,2.618080000001492,0,0,-9.063369737075255e-05,9.934645747578514e-05
+53188,1792046351982375694,18680688000000,1792046351979576615,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762183656061218,-0.004890953439674989,0.08906137684856606,0.9999999723866879,2.690894906613797e-05,0.0001957543017515872,8.732496671077879e-05,0.6761,-0.0048,0.08875781113075917,1.0,0.0,0.0,0.0,0.1440951708341613,0.31142500352202485,2.328653824242494,0.02219600770139137,-0.008050044688826346,0.0013614948536497765,0.21967014768738002,0.3178542931397796,1.9863182660787921,0.0203223595367993,-0.010970064971634202,-0.00047731865769890403,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1296986656918315,-0.09013703948399758,-1.9742387911998407,0.4275868258862414,1.4912186322337584,-0.0818775024850218,0.553278232287496,2.328653824242494,2.5275170234873365,2.5275170234873365,2.6873600000015614,0,0,-0.00010157671192642515,-9.999999025923074e-05
+53315,1792046353041340778,18681747000000,1792046353035566907,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.676219773475986,-0.004897732084324809,0.08895395835991697,0.9999999713544987,2.2949191339383397e-05,0.00019841116171329256,9.402239945923896e-05,0.6761,-0.0048,0.08864804813230316,1.0,0.0,0.0,0.0,0.15241278184301893,0.3104527268228725,2.3784744976814243,0.02116731510795607,-0.00804150032913783,0.001310771555042096,0.22798775869623766,0.31688201644062725,2.0361389395177225,0.019293666943364002,-0.010961520611945686,-0.0005280419563065846,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1902868674744114,-0.068406346949433,-2.0524874986994406,0.4174800109011701,1.5561695887272637,-0.07162019161497982,0.553278232287496,2.3784744976814243,2.6057657309869366,2.6057657309869366,2.772080000001646,0,0,-0.00011046283869139829,-9.41063852107959e-05
+53419,1792046353907366532,18682613000000,1792046353903566795,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762209438628332,-0.00489528434958077,0.08885705385687451,0.9999999711216125,1.8228360231527583e-05,0.00019931032258853175,9.561778426743657e-05,0.6761,-0.0048,0.08854561344616434,1.0,0.0,0.0,0.0,0.1523599863284139,0.31112960659252187,2.409885906331029,0.02116088604675116,-0.008047995425130608,0.0012854182513921644,0.22793496318163264,0.3175588962102766,2.067550348167327,0.01928723788215909,-0.010968015707938464,-0.0005533952599565161,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2263661031376825,-0.13465486993635714,-2.1594994221340746,0.44939221861922907,1.6321222519722318,-0.11816259444856575,0.553278232287496,2.409885906331029,2.7127776544215707,2.7127776544215707,2.8413600000017154,0,0,-0.00012841317827552855,8.750000310276391e-05
+53527,1792046354807447807,18683513000000,1792046354799576680,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762250790766459,-0.0048855096768258815,0.08873968916681825,0.9999999708506452,1.1498389116953844e-05,0.0002049350267826467,8.724101762692206e-05,0.6761,-0.0048,0.0884251626298875,1.0,0.0,0.0,0.0,0.16729309423428923,0.3032928218019412,2.4487419422423637,0.021179766641833072,-0.009069285770030468,0.0012400810886107464,0.242868071087508,0.30972211141969597,2.106406384078662,0.019306118477241004,-0.011989306052838324,-0.0005987324227379341,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.239605727991769,-0.07631604501353287,-2.242996387660292,0.45012491870155974,1.6840219070684896,-0.0803387137242069,0.553278232287496,2.4487419422423637,2.796274619947788,2.796274619947788,2.9133600000017874,0,0,-0.00014166643641924803,9.988189028498624e-05
+53619,1792046355574403848,18684280000000,1792046355567576650,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762272908546946,-0.004887905786268963,0.08862754324579133,0.9999999697212825,1.6139503235623107e-05,0.00020897290261720453,8.98339624256783e-05,0.6761,-0.0048,0.08830840037218407,1.0,0.0,0.0,0.0,0.1621277848478676,0.31284764499334744,2.4729259800805363,0.021176594937650346,-0.00907529649329491,0.0012219067914193001,0.23770276170108634,0.3192769346111022,2.1305904219168346,0.01930294677305828,-0.011995316776102766,-0.0006169067199293804,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2544073937962148,-0.07343286751795053,-2.145155226105741,0.46329747760093154,1.6206933896677225,-0.07588008933215117,0.553278232287496,2.4729259800805363,2.6984334583932372,2.6984334583932372,2.9747200000018488,0,0,-0.0001608068693856587,-9.995118207951065e-05
+53715,1792046356374401327,18685080000000,1792046356367576785,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762262835664301,-0.004893479914357474,0.08849870348124395,0.9999999687644139,3.875978956841039e-05,0.00020678870181395158,9.823516375947387e-05,0.6761,-0.0048,0.08817345922481218,1.0,0.0,0.0,0.0,0.1708098383866808,0.3059855087561297,2.508972652052128,0.02116846936042141,-0.009082430399689811,0.0011918629055444852,0.24638481523989952,0.3124147983738844,2.166637093888426,0.019294821195829343,-0.012002450682497667,-0.0006469506058041953,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.216009653600306,-0.03519211023758563,-2.2139923303550306,0.4679369439739361,1.647380892340772,-0.04935856760609045,0.553278232287496,2.508972652052128,2.7672705626425267,2.7672705626425267,3.038720000001913,0,0,-0.000177696404045384,-9.999999025923074e-05
+53802,1792046357099378866,18685805000000,1792046357091577341,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762280827207617,-0.004894006713822942,0.0883677834322325,0.9999999678554334,4.320952626778872e-05,0.000208134311866086,0.00010268905283233972,0.6761,-0.0048,0.08804058876248716,1.0,0.0,0.0,0.0,0.18054110767255238,0.30278036844671924,2.5387189109973267,0.020143271177804963,-0.009177546378432067,0.0011573038635874291,0.2561160845257711,0.309209658064474,2.196383352833625,0.018269623013212895,-0.012097566661239923,-0.0006815096477612513,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2338241611595067,0.018266919807314465,-2.3626010797216126,0.45849671472173514,1.744148110435447,-0.019691582746123558,0.553278232287496,2.5387189109973267,2.9158793120091087,2.9158793120091087,3.096720000001971,0,0,-0.0001881806909506415,9.999285707629752e-05
+53882,1792046357766442994,18686472000000,1792046357763566769,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6762279511661344,-0.004894999838275892,0.08823493548867023,0.9999999685009143,3.5581316501646e-05,0.0002051331751037946,0.00010533463539272397,0.6761,-0.0048,0.08791209664284448,1.0,0.0,0.0,0.0,0.1807273832211319,0.2935547080449068,2.5548581372959025,0.020166152258810154,-0.010086285782454704,0.0011287640533390875,0.25630236007435064,0.29998399766266154,2.2125225791322007,0.018292504094218086,-0.01300630606526256,-0.0007100494580095932,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2019097623188761,-0.0960446669124737,-2.3308260913390613,0.5109601519654778,1.70757573600621,-0.09063354399176496,0.553278232287496,2.5548581372959025,2.8841043236265573,2.8841043236265573,3.150080000002024,0,0,-0.0001998643488723958,-8.949519877810558e-05
+53966,1792046358466342330,18687172000000,1792046358463567076,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762286383105057,-0.004899703264996426,0.08809687333875581,0.999999968293178,2.6628040475825467e-05,0.00020720114886398183,0.00010590155136841984,0.6761,-0.0048,0.08776480375602283,1.0,0.0,0.0,0.0,0.18080635857095206,0.293342379156589,2.5496014244658327,0.02016714107669669,-0.010085137030521368,0.0011330189341090865,0.2563813354241708,0.29977166877434375,2.207265866302131,0.018293492912104622,-0.013005157313329224,-0.0007057945772395939,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2437031963709084,-0.07580625633923009,-2.396480091804077,0.5148754677690461,1.7552101473700223,-0.07905603303547784,0.553278232287496,2.5496014244658327,2.9497583240915732,2.9497583240915732,3.20608000000208,0,0,-0.0002211280977950939,8.130658232652905e-05
+54034,1792046359032447389,18687738000000,1792046359027576862,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762269233709178,-0.004900460464525966,0.08795983575151314,0.9999999692414957,2.954597013348229e-05,0.00020226794030441837,0.00010570992396626938,0.6761,-0.0048,0.08763653718932879,1.0,0.0,0.0,0.0,0.18128027573662342,0.2813755777400819,2.572427978457604,0.01914154689521445,-0.010070469554430991,0.0011031180499880785,0.25685525258984215,0.2878048673578366,2.2300924202939023,0.017267898730622382,-0.012990489837238847,-0.0007356954613606019,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2283430952836958,-0.053368811340630457,-2.316568205039845,0.5225053922752296,1.697227595592382,-0.06389737424602993,0.553278232287496,2.572427978457604,2.869846437327341,2.869846437327341,3.2513600000021254,0,0,-0.00023095945719395073,-9.999999025923074e-05
+54106,1792046359632375309,18688338000000,1792046359631575891,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6762232632180283,-0.004901781579765183,0.08781358745115177,0.9999999690753546,4.3681310426764295e-05,0.00019857056356657057,0.0001093335657616477,0.6761,-0.0048,0.08749031267429941,1.0,0.0,0.0,0.0,0.18176138285813243,0.2790030965568229,2.571736258458638,0.018492553782154957,-0.01005216016227899,0.0010943059690826243,0.25733635971135116,0.28543238617457767,2.2294007002949363,0.01661890561756289,-0.012972180445086846,-0.0007445075422660563,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2395233236311571,-0.07900822457080559,-2.362948472681198,0.5420039555726017,1.725936822170723,-0.07606082186045303,0.553278232287496,2.571736258458638,2.916226704968694,2.916226704968694,3.2993600000021734,0,0,-0.00025653364219976736,-9.999757552415218e-05
+54174,1792046360199447283,18688905000000,1792046360191576577,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762234967375873,-0.0049069865693177625,0.08766253511654853,0.999999969131853,3.8330513683140275e-05,0.00019527276600792934,0.00011652671943918055,0.6761,-0.0048,0.0873382043568416,1.0,0.0,0.0,0.0,0.19102892474681132,0.26973513866172677,2.604549886682089,0.01813076091672034,-0.011067485663567016,0.0010610904668743476,0.26660390160003006,0.2761644282794815,2.2622143285183873,0.016257112752128274,-0.013987505946374872,-0.0007777230444743329,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.210443352454953,-0.09933731762931995,-2.3353040167008787,0.5638192198038351,1.6989573208910895,-0.08730290701683213,0.553278232287496,2.604549886682089,2.888582248988375,2.888582248988375,3.344720000002219,0,0,-0.0002799878170104116,-9.999999025923074e-05
+54230,1792046360666447850,18689372000000,1792046360659567131,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762242827882871,-0.004910504142171144,0.08753290186006969,0.9999999688753557,3.259615409741926e-05,0.00019675654000229375,0.00011796824547366049,0.6761,-0.0048,0.08720284169900575,1.0,0.0,0.0,0.0,0.1910322911624876,0.26711091086300165,2.613399410238224,0.017092931148918696,-0.010040610302756709,0.00104795462929879,0.26660726801570633,0.2735402004807564,2.2710638520745223,0.01521928298432663,-0.012960630585564565,-0.0007908588820498906,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2420966109032159,-0.020557863169122285,-2.430870054106693,0.5537995198672525,1.7666537054700713,-0.033416279181688616,0.553278232287496,2.613399410238224,2.984148286394189,2.984148286394189,3.382080000002256,0,0,-0.00029964282406288865,-9.999999025923074e-05
+54293,1792046361191443245,18689897000000,1792046361183576296,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762322553100563,-0.004912248747476082,0.08738105678510119,0.9999999653772603,3.894583300532001e-05,0.00021154180639830147,0.00012009008693867192,0.6761,-0.0048,0.08704010302668409,1.0,0.0,0.0,0.0,0.17282309235701376,0.2610396708957041,2.607704992332637,0.017066181680333123,-0.00905578810092282,0.001065788561760793,0.24839806921023252,0.26746896051345886,2.265369434168935,0.015192533515741055,-0.011975808383730677,-0.0007730249495878875,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2934125593715513,-0.10938541938234785,-2.5178891701876536,0.5819052866083654,1.8313275648471694,-0.09235512912840876,0.553278232287496,2.607704992332637,3.0711674024751496,3.0711674024751496,3.424080000002298,0,0,-0.00031943373996337767,9.966212163726169e-05
+54345,1792046361624422799,18690330000000,1792046361623577104,DOWN_FORCE_DETACH,9,0.0345,0.034502580761909485,0.6762186046581975,-0.004916834970340113,0.08723239721184006,0.999999970491432,2.8959374397741117e-05,0.00018895791511357236,0.00011796720230942318,0.6761,-0.0048,0.08689830505818477,1.0,0.0,0.0,0.0,0.18339149709614938,0.2486543159792991,2.617419090838971,0.016070260886591702,-0.010021709089511374,0.0010324650547315572,0.2589664739493681,0.25508360559705384,2.275083532675269,0.014196612721999635,-0.01294172937231923,-0.0008063484566171234,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.292737656680541,-0.1567039736358846,-2.4313897272187526,0.6101213262387554,1.782825089377178,-0.12248352697140397,0.553278232287496,2.617419090838971,2.9846679595062486,2.9846679595062486,3.458720000002333,0,0,-0.00033657742884027195,-9.999999025923074e-05
+54397,1792046362057402312,18690763000000,1792046362051577435,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.676224222479927,-0.004922058751855638,0.08708801696854246,0.99999996714499,3.3223371705911754e-05,0.00020177584669759706,0.00012383698518996593,0.6761,-0.0048,0.08674810574803826,1.0,0.0,0.0,0.0,0.18273274536227313,0.24165748511475316,2.6182134977100056,0.016067568177945576,-0.01002272769711453,0.0010265940537842228,0.25830772221549186,0.2480867747325079,2.275877939546304,0.01419392001335351,-0.012942747979922386,-0.0008122194575644579,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2951486751276584,-0.18100204672308792,-2.369693703939387,0.6324659322867323,1.7417562302098095,-0.13427883464189078,0.553278232287496,2.6182134977100056,2.922971936226883,2.922971936226883,3.4933600000023675,0,0,-0.00035725860397381313,-9.999999025923074e-05
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+54493,1792046362857412229,18691563000000,1792046362855567180,DOWN_FORCE_DETACH,9,0.0345,0.034501925110816956,0.6762258797030155,-0.004927941984688982,0.08679065762899148,0.9999999656764825,2.3673359857862186e-05,0.00020636784741460742,0.00013016060013278867,0.6761,-0.0048,0.08644725008637842,1.0,0.0,0.0,0.0,0.17377717329845166,0.24260540750230325,2.6370198034834993,0.015036194957417717,-0.008993482140482172,0.0010197254636143968,0.24935215015167042,0.249034697120058,2.2946842453197975,0.01316254679282565,-0.011913502423290027,-0.0008190880477342838,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.294697872376126,-0.14359785249413623,-2.433092909482115,0.6299917579704434,1.7879937295374595,-0.11108484001027347,0.553278232287496,2.6370198034834993,2.9863711417696113,2.9863711417696113,3.5573600000024315,0,0,-0.0003947094536174963,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9aeb1beb27d0687227b1e56f7ab99c51a840127c
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dcde55adc5d60b2d225abe8ecbe4429d9cdf9c98
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,1.900000000e+00,DOWN_FORCE_DETACH,1792046322075292014,4.076432177e-06,-5.919651537e-05,-2.402868609e-04,6.105153861e-06,-5.412316301e-05,-2.295865168e-04,5.969557689e-06,-5.380710482e-05,-2.274060014e-04,7.015419479e-01,-5.764555404e-05,8.405006543e-01,7.015439766e-01,-5.257220169e-05,8.405113547e-01,7.017353480e-01,-5.202174864e-05,8.293455469e-01
+5,2.266666667e+00,DOWN_FORCE_DETACH,1792046322773557087,5.911071128e-06,-6.905875259e-05,-3.266431398e-04,6.916592909e-06,-5.919763657e-05,-3.133175764e-04,6.522277873e-06,-5.886559433e-05,-3.107264605e-04,7.015437826e-01,-6.750779126e-05,8.404142980e-01,7.015447881e-01,-5.764667525e-05,8.404276236e-01,7.017359007e-01,-5.708023815e-05,8.292622265e-01
+6,2.800000000e+00,DOWN_FORCE_DETACH,1792046323771301050,3.976036027e-05,-6.996440849e-05,-3.917860918e-04,3.167693506e-05,-7.159222114e-05,-3.860797703e-04,3.156736412e-05,-7.118698889e-05,-3.835815322e-04,7.015776318e-01,-6.841344717e-05,8.403491551e-01,7.015695484e-01,-7.004125982e-05,8.403548614e-01,7.017609458e-01,-6.940163271e-05,8.291893714e-01
+7,3.400000000e+00,DOWN_FORCE_DETACH,1792046324935298178,4.548083056e-05,-7.530679203e-05,-4.495914603e-04,4.152367718e-05,-8.391063344e-05,-4.440626416e-04,4.169129936e-05,-8.347995268e-05,-4.418448874e-04,7.015833523e-01,-7.375583071e-05,8.402913497e-01,7.015793952e-01,-8.235967212e-05,8.402968785e-01,7.017710697e-01,-8.169459649e-05,8.291311080e-01
+8,3.933333333e+00,DOWN_FORCE_DETACH,1792046325999330127,5.040866666e-05,-8.249007877e-05,-4.626567997e-04,4.605542941e-05,-7.990901323e-05,-4.625894732e-04,4.637259519e-05,-7.949503350e-05,-4.609237922e-04,7.015882801e-01,-8.093911745e-05,8.402782844e-01,7.015839269e-01,-7.835805191e-05,8.402783517e-01,7.017757510e-01,-7.770967732e-05,8.291120291e-01
+9,4.550000000e+00,DOWN_FORCE_DETACH,1792046327229265869,6.056242218e-05,-7.999388566e-05,-4.878147919e-04,5.582317374e-05,-8.266583819e-05,-4.803150686e-04,5.646287122e-05,-8.224743866e-05,-4.791308577e-04,7.015984339e-01,-7.844292434e-05,8.402531264e-01,7.015936947e-01,-8.111487687e-05,8.402606261e-01,7.017858413e-01,-8.046208248e-05,8.290938221e-01
+10,5.116666667e+00,DOWN_FORCE_DETACH,1792046328329294914,6.309844175e-05,-8.493922408e-05,-5.317840602e-04,6.257483765e-05,-8.160803500e-05,-5.246555427e-04,6.327929512e-05,-8.117200156e-05,-5.234646298e-04,7.016009699e-01,-8.338826275e-05,8.402091571e-01,7.016004463e-01,-8.005707367e-05,8.402162856e-01,7.017926577e-01,-7.938664538e-05,8.290494883e-01
+11,5.700000000e+00,DOWN_FORCE_DETACH,1792046329425757907,6.651721525e-05,-8.883316183e-05,-5.933867218e-04,6.472160532e-05,-8.617770128e-05,-5.883408229e-04,6.536388055e-05,-8.570146270e-05,-5.869130394e-04,7.016043887e-01,-8.728220051e-05,8.401475545e-01,7.016025931e-01,-8.462673996e-05,8.401526004e-01,7.017947423e-01,-8.391610652e-05,8.289860399e-01
+12,6.216666667e+00,DOWN_FORCE_DETACH,1792046330426026717,7.648123612e-05,-6.893563350e-05,-6.361373470e-04,6.746138374e-05,-7.090740852e-05,-6.225014789e-04,6.807576591e-05,-7.054845314e-05,-6.211836515e-04,7.016143527e-01,-6.738467217e-05,8.401048038e-01,7.016053329e-01,-6.935644720e-05,8.401184397e-01,7.017974542e-01,-6.876309695e-05,8.289517693e-01
+13,6.583333333e+00,DOWN_FORCE_DETACH,1792046331121354015,7.850734968e-05,-6.509451781e-05,-6.686434569e-04,7.772272116e-05,-6.811514214e-05,-6.652740014e-04,7.842793928e-05,-6.780558968e-05,-6.637270107e-04,7.016163788e-01,-6.354355649e-05,8.400722977e-01,7.016155942e-01,-6.656418082e-05,8.400756672e-01,7.018078064e-01,-6.602023350e-05,8.289092259e-01
+14,6.966666667e+00,DOWN_FORCE_DETACH,1792046331853367203,8.007339833e-05,-8.122032356e-05,-7.063830236e-04,7.935533551e-05,-7.897528736e-05,-7.040329265e-04,8.008604063e-05,-7.859277204e-05,-7.023558154e-04,7.016179449e-01,-7.966936224e-05,8.400345582e-01,7.016172268e-01,-7.742432603e-05,8.400369083e-01,7.018094645e-01,-7.680741586e-05,8.288705971e-01
+15,7.483333333e+00,DOWN_FORCE_DETACH,1792046332817342893,8.096577900e-05,-8.782468233e-05,-7.466847895e-04,8.095523624e-05,-9.029883985e-05,-7.460120671e-04,8.154944503e-05,-8.984267771e-05,-7.442293197e-04,7.016188373e-01,-8.627372101e-05,8.399942564e-01,7.016188267e-01,-8.874787852e-05,8.399949291e-01,7.018109279e-01,-8.805732153e-05,8.288287236e-01
+16,7.966666667e+00,DOWN_FORCE_DETACH,1792046333783359079,8.472768929e-05,-9.064812029e-05,-7.765810530e-04,8.137069305e-05,-9.018212750e-05,-7.661686569e-04,8.195218376e-05,-8.973963876e-05,-7.645690151e-04,7.016225992e-01,-8.909715897e-05,8.399643601e-01,7.016192422e-01,-8.863116618e-05,8.399747725e-01,7.018113306e-01,-8.795428258e-05,8.288083839e-01
+17,8.483333333e+00,DOWN_FORCE_DETACH,1792046334813354299,8.947625959e-05,-9.286799454e-05,-8.056236112e-04,8.581199233e-05,-9.589976870e-05,-7.867821596e-04,8.649179883e-05,-9.545077902e-05,-7.853668852e-04,7.016273477e-01,-9.131703322e-05,8.399353176e-01,7.016236835e-01,-9.434880738e-05,8.399541590e-01,7.018158702e-01,-9.366542284e-05,8.287875861e-01
+18,9.050000000e+00,DOWN_FORCE_DETACH,1792046335945370615,9.770324553e-05,-9.476667723e-05,-8.513940981e-04,9.749000233e-05,-9.716486812e-05,-8.519138015e-04,9.820339596e-05,-9.671029275e-05,-8.502154946e-04,7.016355747e-01,-9.321571591e-05,8.398895471e-01,7.016353615e-01,-9.561390680e-05,8.398890274e-01,7.018275818e-01,-9.492493657e-05,8.287227374e-01
+19,9.716666667e+00,DOWN_FORCE_DETACH,1792046337209394286,1.068697848e-04,-1.009435636e-04,-9.099086292e-04,1.040072234e-04,-9.974858227e-05,-8.924374679e-04,1.047780169e-04,-9.929546210e-05,-8.910148526e-04,7.016447413e-01,-9.939260228e-05,8.398310326e-01,7.016418787e-01,-9.819762095e-05,8.398485037e-01,7.018341565e-01,-9.751010592e-05,8.286819381e-01
+20,1.020000000e+01,DOWN_FORCE_DETACH,1792046338141510029,1.103659116e-04,-1.061575998e-04,-9.530458421e-04,1.065687119e-04,-1.025339581e-04,-9.347104361e-04,1.072898065e-04,-1.020467693e-04,-9.332903507e-04,7.016482374e-01,-1.046066385e-04,8.397878953e-01,7.016444402e-01,-1.009829968e-04,8.398062308e-01,7.018366683e-01,-1.002614131e-04,8.286396626e-01
+21,1.090000000e+01,DOWN_FORCE_DETACH,1792046339471448350,1.184872821e-04,-1.059323897e-04,-1.016981654e-03,1.185058157e-04,-1.059862458e-04,-1.016956404e-03,1.192465374e-04,-1.054372556e-04,-1.015420238e-03,7.016563588e-01,-1.043814283e-04,8.397239595e-01,7.016563773e-01,-1.044352845e-04,8.397239848e-01,7.018486250e-01,-1.036518994e-04,8.285575327e-01
+22,1.133333333e+01,DOWN_FORCE_DETACH,1792046340270128143,1.210080292e-04,-1.076644449e-04,-1.059289335e-03,1.208925173e-04,-1.078910231e-04,-1.059111113e-03,1.215409668e-04,-1.072907428e-04,-1.057615681e-03,7.016588795e-01,-1.061134835e-04,8.396816519e-01,7.016587640e-01,-1.063400618e-04,8.396818301e-01,7.018509194e-01,-1.055053866e-04,8.285153373e-01
+23,1.171666667e+01,DOWN_FORCE_DETACH,1792046341001642710,1.270416173e-04,-1.148059275e-04,-1.094795249e-03,1.239219073e-04,-1.058585560e-04,-1.079492007e-03,1.246098585e-04,-1.053049207e-04,-1.078212249e-03,7.016649131e-01,-1.132549662e-04,8.396461459e-01,7.016617934e-01,-1.043075947e-04,8.396614492e-01,7.018539883e-01,-1.035195645e-04,8.284947407e-01
+24,1.213333333e+01,DOWN_FORCE_DETACH,1792046341833798556,1.310875902e-04,-1.092429764e-04,-1.141314226e-03,1.294862253e-04,-1.144700024e-04,-1.141312853e-03,1.301281837e-04,-1.138453618e-04,-1.139763969e-03,7.016689591e-01,-1.076920151e-04,8.395996270e-01,7.016673577e-01,-1.129190411e-04,8.395996283e-01,7.018595066e-01,-1.120600056e-04,8.284331890e-01
+25,1.270000000e+01,DOWN_FORCE_DETACH,1792046342963524900,1.399914838e-04,-1.157678772e-04,-1.200171148e-03,1.375940410e-04,-1.160220126e-04,-1.183797682e-03,1.382320957e-04,-1.153670939e-04,-1.182383943e-03,7.016778630e-01,-1.142169158e-04,8.395407700e-01,7.016754655e-01,-1.144710513e-04,8.395571435e-01,7.018676105e-01,-1.135817377e-04,8.283905690e-01
+26,1.320000000e+01,DOWN_FORCE_DETACH,1792046343964010178,1.443292049e-04,-1.119436834e-04,-1.255350899e-03,1.409714537e-04,-1.133763623e-04,-1.244554528e-03,1.415149735e-04,-1.127777142e-04,-1.243000392e-03,7.016822007e-01,-1.103927221e-04,8.394855903e-01,7.016788429e-01,-1.118254010e-04,8.394963867e-01,7.018708934e-01,-1.109923581e-04,8.283299525e-01
+27,1.376666667e+01,DOWN_FORCE_DETACH,1792046345060107100,1.499714046e-04,-1.144334802e-04,-1.315948237e-03,1.479761132e-04,-1.132468593e-04,-1.305830632e-03,1.485045287e-04,-1.126574284e-04,-1.304153616e-03,7.016878429e-01,-1.128825189e-04,8.394249930e-01,7.016858476e-01,-1.116958980e-04,8.394351106e-01,7.018778830e-01,-1.108720723e-04,8.282687993e-01
+28,1.418333333e+01,DOWN_FORCE_DETACH,1792046345858108426,1.545537011e-04,-1.157453182e-04,-1.365310155e-03,1.496600791e-04,-1.125743079e-04,-1.348941846e-03,1.501048642e-04,-1.119806404e-04,-1.347196861e-03,7.016924252e-01,-1.141943568e-04,8.393756310e-01,7.016875316e-01,-1.110233465e-04,8.393919993e-01,7.018794833e-01,-1.101952842e-04,8.282257561e-01
+29,1.460000000e+01,DOWN_FORCE_DETACH,1792046346639846484,1.574143687e-04,-1.131522292e-04,-1.417358813e-03,1.555056851e-04,-1.100516294e-04,-1.411775254e-03,1.557704424e-04,-1.094650961e-04,-1.409752191e-03,7.016952859e-01,-1.116012678e-04,8.393235824e-01,7.016933772e-01,-1.085006681e-04,8.393291659e-01,7.018851489e-01,-1.076797400e-04,8.281632007e-01
+30,1.496666667e+01,DOWN_FORCE_DETACH,1792046347322027626,1.618726078e-04,-1.092133858e-04,-1.457463848e-03,1.581944839e-04,-1.066923302e-04,-1.454762308e-03,1.582846776e-04,-1.061436060e-04,-1.452617978e-03,7.016997441e-01,-1.076624245e-04,8.392834773e-01,7.016960660e-01,-1.051413689e-04,8.392861789e-01,7.018876631e-01,-1.043582498e-04,8.281203350e-01
+31,1.550000000e+01,DOWN_FORCE_DETACH,1792046348354174698,1.639606920e-04,-1.187394030e-04,-1.531500109e-03,1.648705928e-04,-1.180754548e-04,-1.518962578e-03,1.649589652e-04,-1.174655649e-04,-1.516723657e-03,7.017018322e-01,-1.171884417e-04,8.392094411e-01,7.017027421e-01,-1.165244935e-04,8.392219786e-01,7.018943374e-01,-1.156802087e-04,8.280562293e-01
+32,1.600000000e+01,DOWN_FORCE_DETACH,1792046349284169280,1.687795150e-04,-1.231314300e-04,-1.596803036e-03,1.695942177e-04,-1.215408115e-04,-1.581263405e-03,1.695760212e-04,-1.209350189e-04,-1.578964234e-03,7.017066510e-01,-1.215804686e-04,8.391441382e-01,7.017074657e-01,-1.199898502e-04,8.391596778e-01,7.018989545e-01,-1.191496627e-04,8.279939887e-01
+33,1.648333333e+01,DOWN_FORCE_DETACH,1792046350250102230,1.708960348e-04,-1.257747792e-04,-1.675470455e-03,1.706197252e-04,-1.257973695e-04,-1.675309484e-03,1.703580225e-04,-1.251512588e-04,-1.672502961e-03,7.017087675e-01,-1.242238179e-04,8.390654707e-01,7.017084912e-01,-1.242464082e-04,8.390656317e-01,7.018997365e-01,-1.233659026e-04,8.279004500e-01
+34,1.691666667e+01,DOWN_FORCE_DETACH,1792046351114192365,1.796018099e-04,-1.228968486e-04,-1.734916216e-03,1.794839670e-04,-1.229090085e-04,-1.734788110e-03,1.791912926e-04,-1.223455945e-04,-1.732002318e-03,7.017174733e-01,-1.213458873e-04,8.390060250e-01,7.017173554e-01,-1.213580472e-04,8.390061531e-01,7.019085697e-01,-1.205602383e-04,8.278409506e-01
+35,1.735000000e+01,DOWN_FORCE_DETACH,1792046351980874101,1.805869941e-04,-1.241640050e-04,-1.814265951e-03,1.812853675e-04,-1.213299447e-04,-1.802171578e-03,1.809315435e-04,-1.207267503e-04,-1.799436988e-03,7.017184585e-01,-1.226130437e-04,8.389266752e-01,7.017191568e-01,-1.197789834e-04,8.389387696e-01,7.019103100e-01,-1.189413941e-04,8.277735159e-01
+36,1.788333333e+01,DOWN_FORCE_DETACH,1792046353042075905,1.819948640e-04,-1.309426497e-04,-1.921684440e-03,1.835976805e-04,-1.296686236e-04,-1.911062536e-03,1.829845575e-04,-1.290193169e-04,-1.908108964e-03,7.017198663e-01,-1.293916884e-04,8.388192567e-01,7.017214692e-01,-1.281176623e-04,8.388298787e-01,7.019123630e-01,-1.272339607e-04,8.276648440e-01
+37,1.835000000e+01,DOWN_FORCE_DETACH,1792046353910159460,1.826201905e-04,-1.297326642e-04,-2.020055431e-03,1.825721878e-04,-1.298690851e-04,-2.019908974e-03,1.816432077e-04,-1.292097642e-04,-2.016579251e-03,7.017204917e-01,-1.281817028e-04,8.387208858e-01,7.017204437e-01,-1.283181238e-04,8.387210322e-01,7.019110217e-01,-1.274244080e-04,8.275563737e-01
+38,1.881666667e+01,DOWN_FORCE_DETACH,1792046354806244046,1.869093365e-04,-1.188003959e-04,-2.136978719e-03,1.861435648e-04,-1.185572715e-04,-2.127660105e-03,1.848990504e-04,-1.179367127e-04,-2.124227999e-03,7.017247808e-01,-1.172494346e-04,8.386039625e-01,7.017240150e-01,-1.170063102e-04,8.386132811e-01,7.019142775e-01,-1.161513565e-04,8.274487249e-01
+39,1.921666667e+01,DOWN_FORCE_DETACH,1792046355570458405,1.874849665e-04,-1.236366817e-04,-2.247233400e-03,1.883242200e-04,-1.191165989e-04,-2.233329331e-03,1.867732492e-04,-1.184988264e-04,-2.229625745e-03,7.017253564e-01,-1.220857204e-04,8.384937078e-01,7.017261957e-01,-1.175656376e-04,8.385076119e-01,7.019161517e-01,-1.167134702e-04,8.273433272e-01
+40,1.965000000e+01,DOWN_FORCE_DETACH,1792046356370578055,1.892080230e-04,-1.228619930e-04,-2.374749427e-03,1.904988702e-04,-1.258153432e-04,-2.368699756e-03,1.885296739e-04,-1.251017212e-04,-2.364491665e-03,7.017270795e-01,-1.213110317e-04,8.383661918e-01,7.017283704e-01,-1.242643819e-04,8.383722414e-01,7.019179081e-01,-1.233163650e-04,8.272084613e-01
+41,2.003333333e+01,DOWN_FORCE_DETACH,1792046357102389445,1.892244817e-04,-1.298787623e-04,-2.509793059e-03,1.888063540e-04,-1.303323293e-04,-2.504147547e-03,1.863795746e-04,-1.295818552e-04,-2.499449640e-03,7.017270960e-01,-1.283278009e-04,8.382311481e-01,7.017266778e-01,-1.287813680e-04,8.382367936e-01,7.019157580e-01,-1.277964991e-04,8.270735033e-01
+42,2.038333333e+01,DOWN_FORCE_DETACH,1792046357766062246,1.890770974e-04,-1.230772862e-04,-2.639362305e-03,1.888375158e-04,-1.320840391e-04,-2.626943008e-03,1.860711751e-04,-1.312996446e-04,-2.621914169e-03,7.017269486e-01,-1.215263249e-04,8.381015789e-01,7.017267090e-01,-1.305330778e-04,8.381139982e-01,7.019154496e-01,-1.295142885e-04,8.269510388e-01
+43,2.073333333e+01,DOWN_FORCE_DETACH,1792046358466044824,1.908596985e-04,-1.329138304e-04,-2.778769461e-03,1.920191846e-04,-1.323844173e-04,-2.770776901e-03,1.887977831e-04,-1.315635167e-04,-2.765378600e-03,7.017287312e-01,-1.313628690e-04,8.379621717e-01,7.017298907e-01,-1.308334560e-04,8.379701643e-01,7.019181762e-01,-1.297781606e-04,8.268075743e-01
+44,2.101666667e+01,DOWN_FORCE_DETACH,1792046359030087056,1.881049110e-04,-1.358142533e-04,-2.916406294e-03,1.878216853e-04,-1.357490370e-04,-2.916253550e-03,1.839590983e-04,-1.348730426e-04,-2.910292837e-03,7.017259764e-01,-1.342632920e-04,8.378245349e-01,7.017256932e-01,-1.341980757e-04,8.378246876e-01,7.019133375e-01,-1.330876864e-04,8.266626601e-01
+45,2.131666667e+01,DOWN_FORCE_DETACH,1792046359630062817,1.859551454e-04,-1.355842467e-04,-3.060086747e-03,1.859216198e-04,-1.357291953e-04,-3.060110087e-03,1.815285686e-04,-1.348431985e-04,-3.053781885e-03,7.017238266e-01,-1.340332854e-04,8.376808544e-01,7.017237931e-01,-1.341782340e-04,8.376808311e-01,7.019109070e-01,-1.330578424e-04,8.265191711e-01
+46,2.160000000e+01,DOWN_FORCE_DETACH,1792046360196070438,1.832546490e-04,-1.386972041e-04,-3.214545269e-03,1.842823982e-04,-1.382725869e-04,-3.203606362e-03,1.792735888e-04,-1.373978396e-04,-3.196862776e-03,7.017211261e-01,-1.371462428e-04,8.375263959e-01,7.017221539e-01,-1.367216256e-04,8.375373348e-01,7.019086520e-01,-1.356124834e-04,8.263760902e-01
+47,2.183333333e+01,DOWN_FORCE_DETACH,1792046360662056166,1.824596687e-04,-1.450680943e-04,-3.345400827e-03,1.827868388e-04,-1.437277980e-04,-3.336665233e-03,1.772527252e-04,-1.428499340e-04,-3.329473760e-03,7.017203312e-01,-1.435171330e-04,8.373955404e-01,7.017206583e-01,-1.421768367e-04,8.374042760e-01,7.019066312e-01,-1.410645778e-04,8.262434792e-01
+48,2.210000000e+01,DOWN_FORCE_DETACH,1792046361194198988,1.933177566e-04,-1.438037863e-04,-3.495543261e-03,1.933362273e-04,-1.441087626e-04,-3.495014528e-03,1.874146129e-04,-1.432260284e-04,-3.487313103e-03,7.017311892e-01,-1.422528250e-04,8.372453979e-01,7.017312077e-01,-1.425578012e-04,8.372459267e-01,7.019167931e-01,-1.414406722e-04,8.260856398e-01
+49,2.233333333e+01,DOWN_FORCE_DETACH,1792046361626475591,1.826797828e-04,-1.495119586e-04,-3.641202943e-03,1.826099421e-04,-1.494793553e-04,-3.641176284e-03,1.759721325e-04,-1.485449453e-04,-3.633136065e-03,7.017205513e-01,-1.479609973e-04,8.370997382e-01,7.017204814e-01,-1.479283940e-04,8.370997649e-01,7.019053506e-01,-1.467595891e-04,8.259398169e-01
+50,2.256666667e+01,DOWN_FORCE_DETACH,1792046362059138873,1.863638922e-04,-1.570589626e-04,-3.788698608e-03,1.852141801e-04,-1.540384931e-04,-3.778449010e-03,1.781517516e-04,-1.530812225e-04,-3.770302724e-03,7.017242354e-01,-1.555080013e-04,8.369522426e-01,7.017230857e-01,-1.524875318e-04,8.369624922e-01,7.019075302e-01,-1.512958663e-04,8.258026502e-01
+51,2.276666667e+01,DOWN_FORCE_DETACH,1792046362458760303,1.906882377e-04,-1.568907794e-04,-3.931461145e-03,1.904656287e-04,-1.569353601e-04,-3.930917462e-03,1.829520752e-04,-1.559599455e-04,-3.922221137e-03,7.017285597e-01,-1.553398181e-04,8.368094800e-01,7.017283371e-01,-1.553843988e-04,8.368100237e-01,7.019123305e-01,-1.541745893e-04,8.256507318e-01
+52,2.298333333e+01,DOWN_FORCE_DETACH,1792046362858299082,1.881010910e-04,-1.611525501e-04,-4.084985171e-03,1.874228068e-04,-1.641531912e-04,-4.071734498e-03,1.792884111e-04,-1.631125620e-04,-4.062875413e-03,7.017259726e-01,-1.596015887e-04,8.366559560e-01,7.017252943e-01,-1.626022299e-04,8.366692067e-01,7.019086669e-01,-1.613272058e-04,8.255100775e-01
+53,2.315000000e+01,DOWN_FORCE_DETACH,1792046363220415706,1.765111150e-04,-1.691028728e-04,-4.241179325e-03,1.763291167e-04,-1.691190184e-04,-4.241273352e-03,1.674184911e-04,-1.680386882e-04,-4.231660355e-03,7.017143826e-01,-1.675519114e-04,8.364997619e-01,7.017142006e-01,-1.675680571e-04,8.364996678e-01,7.018967969e-01,-1.662533320e-04,8.253412926e-01
+54,2.335000000e+01,DOWN_FORCE_DETACH,1792046363556796735,1.712930649e-04,-1.768607855e-04,-4.380180110e-03,1.710973772e-04,-1.739164486e-04,-4.371722001e-03,1.616367401e-04,-1.728119772e-04,-4.362146499e-03,7.017091645e-01,-1.753098242e-04,8.363607611e-01,7.017089689e-01,-1.723654873e-04,8.363692192e-01,7.018910152e-01,-1.710266211e-04,8.252108064e-01
+55,2.351666667e+01,DOWN_FORCE_DETACH,1792046363886083481,1.921962390e-04,-1.760044535e-04,-4.506312311e-03,1.917651702e-04,-1.758352621e-04,-4.506346977e-03,1.821711362e-04,-1.746508972e-04,-4.496411322e-03,7.017300677e-01,-1.744534922e-04,8.362346289e-01,7.017296367e-01,-1.742843008e-04,8.362345942e-01,7.019115496e-01,-1.728655411e-04,8.250765416e-01
+56,2.370000000e+01,DOWN_FORCE_DETACH,1792046364220666899,1.868263777e-04,-1.760453076e-04,-4.660022315e-03,1.865769654e-04,-1.762330687e-04,-4.659935702e-03,1.763970746e-04,-1.749858295e-04,-4.649690269e-03,7.017246979e-01,-1.744943462e-04,8.360809189e-01,7.017244484e-01,-1.746821074e-04,8.360810055e-01,7.019057755e-01,-1.732004733e-04,8.249232627e-01
+57,2.388333333e+01,DOWN_FORCE_DETACH,1792046364555247652,1.913019898e-04,-1.861378732e-04,-4.811488820e-03,1.920706815e-04,-1.858351813e-04,-4.802143381e-03,1.814761638e-04,-1.845190159e-04,-4.791880854e-03,7.017291735e-01,-1.845869119e-04,8.359294524e-01,7.017299422e-01,-1.842842200e-04,8.359387978e-01,7.019108546e-01,-1.827336597e-04,8.247810721e-01
+58,2.403333333e+01,DOWN_FORCE_DETACH,1792046364852164468,1.909594036e-04,-1.862880673e-04,-4.959221591e-03,1.909968158e-04,-1.862025177e-04,-4.959110792e-03,1.798248548e-04,-1.849179381e-04,-4.948303566e-03,7.017288309e-01,-1.847371060e-04,8.357817196e-01,7.017288683e-01,-1.846515564e-04,8.357818304e-01,7.019092033e-01,-1.831325819e-04,8.246246494e-01
+59,2.430000000e+01,DOWN_SETTLE,1792046365352102298,1.821434390e-04,-1.833681044e-04,-5.094740087e-03,1.834062235e-04,-1.856777992e-04,-5.091476722e-03,1.716453593e-04,-1.844314179e-04,-5.081471188e-03,7.017200149e-01,-1.818171431e-04,8.356462011e-01,7.017212777e-01,-1.841268379e-04,8.356494645e-01,7.019010238e-01,-1.826460617e-04,8.244914817e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d87fb3951453d8b060970c772ef8cd5c6d095960
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_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,-1.4547e-02,2.6460e-03,2.4640e+00,-3.6976e-02,3.5727e-02,-2.4695e-05,3.6706e-04,-8.1863e-07,1.0347e-04,2.4214e-07,2.5500e-05,-1.7244e-07,3.8137e-04,2.5501e-05
+1,6.0000e-01,DOWN_FORCE_DETACH,1.5525e-04,-3.4246e-03,2.7304e-03,2.4672e+00,-3.6975e-02,3.6503e-02,-2.8742e-05,1.1490e-02,8.3652e-05,3.3035e-03,1.7770e-06,8.0105e-04,-4.2192e-06,1.1956e-02,8.0106e-04
+2,1.0500e+00,DOWN_FORCE_DETACH,3.1318e-04,4.4339e-03,1.6222e-02,2.5024e+00,-3.7910e-02,3.7035e-02,-1.9961e-05,1.9348e-02,1.3575e-02,3.8520e-02,-9.3339e-04,1.3333e-03,4.5612e-06,4.5193e-02,1.6275e-03
+3,1.5167e+00,DOWN_FORCE_DETACH,4.6241e-04,7.7753e-03,2.5228e-02,2.5281e+00,-3.8529e-02,3.7250e-02,-1.4914e-05,2.2690e-02,2.2581e-02,6.4229e-02,-1.5525e-03,1.5484e-03,9.6086e-06,7.1764e-02,2.1927e-03
+4,1.9000e+00,DOWN_FORCE_DETACH,6.2573e-04,1.0205e-02,3.3901e-02,2.5780e+00,-3.9124e-02,3.7392e-02,-9.7825e-06,2.5119e-02,3.1254e-02,1.1417e-01,-2.1472e-03,1.6897e-03,1.4740e-05,1.2101e-01,2.7324e-03
+5,2.2667e+00,DOWN_FORCE_DETACH,7.8155e-04,1.3995e-02,3.5758e-02,2.6010e+00,-3.9242e-02,3.7645e-02,-9.7795e-06,2.8909e-02,3.3112e-02,1.3709e-01,-2.2654e-03,1.9430e-03,1.4743e-05,1.4397e-01,2.9845e-03
+6,2.8000e+00,DOWN_FORCE_DETACH,9.3820e-04,6.4100e-03,4.2228e-02,2.5949e+00,-3.9676e-02,3.7130e-02,-5.1782e-06,2.1324e-02,3.9582e-02,1.3099e-01,-2.6994e-03,1.4276e-03,1.9345e-05,1.3850e-01,3.0537e-03
+7,3.4000e+00,DOWN_FORCE_DETACH,1.0965e-03,1.2229e-02,4.9335e-02,2.5780e+00,-4.0159e-02,3.7586e-02,-5.5297e-09,2.7144e-02,4.6688e-02,1.1415e-01,-3.1823e-03,1.8837e-03,2.4517e-05,1.2628e-01,3.6981e-03
+8,3.9333e+00,DOWN_FORCE_DETACH,1.2554e-03,1.7886e-02,4.6877e-02,2.5500e+00,-3.9991e-02,3.8035e-02,-6.9772e-06,3.2800e-02,4.4230e-02,8.6097e-02,-3.0149e-03,2.3335e-03,1.7546e-05,1.0220e-01,3.8125e-03
+9,4.5500e+00,DOWN_FORCE_DETACH,1.4102e-03,2.0214e-02,4.9057e-02,2.5261e+00,-4.0158e-02,3.8238e-02,-1.1099e-05,3.5128e-02,4.6410e-02,6.2264e-02,-3.1819e-03,2.5358e-03,1.3423e-05,8.5233e-02,4.0688e-03
+10,5.1167e+00,DOWN_FORCE_DETACH,1.5654e-03,2.2852e-02,4.8368e-02,2.5266e+00,-4.0127e-02,3.8436e-02,-1.9554e-05,3.7767e-02,4.5721e-02,6.2730e-02,-3.1510e-03,2.7340e-03,4.9688e-06,8.6324e-02,4.1718e-03
+11,5.7000e+00,DOWN_FORCE_DETACH,1.7225e-03,2.7280e-02,5.1216e-02,2.5380e+00,-4.0341e-02,3.8749e-02,-2.5366e-05,4.2195e-02,4.8569e-02,7.4098e-02,-3.3649e-03,3.0470e-03,-8.4337e-07,9.8132e-02,4.5395e-03
+12,6.2167e+00,DOWN_FORCE_DETACH,1.8803e-03,2.9612e-02,4.2061e-02,2.5334e+00,-3.9716e-02,3.8920e-02,-3.9909e-05,4.4526e-02,3.9414e-02,6.9549e-02,-2.7396e-03,3.2180e-03,-1.5386e-05,9.1505e-02,4.2262e-03
+13,6.5833e+00,DOWN_FORCE_DETACH,2.0349e-03,2.7156e-02,3.9842e-02,2.5442e+00,-3.9564e-02,3.8743e-02,-4.3666e-05,4.2070e-02,3.7195e-02,8.0315e-02,-2.5875e-03,3.0406e-03,-1.9143e-05,9.7999e-02,3.9926e-03
+14,6.9667e+00,DOWN_FORCE_DETACH,2.1940e-03,2.9124e-02,4.6631e-02,2.5522e+00,-4.0034e-02,3.8877e-02,-3.9972e-05,4.4038e-02,4.3984e-02,8.8317e-02,-3.0575e-03,3.1748e-03,-1.5449e-05,1.0805e-01,4.4077e-03
+15,7.4833e+00,DOWN_FORCE_DETACH,2.3511e-03,3.1296e-02,5.2931e-02,2.5556e+00,-4.0466e-02,3.9024e-02,-3.5884e-05,4.6210e-02,5.0284e-02,9.1782e-02,-3.4895e-03,3.3223e-03,-1.1361e-05,1.1440e-01,4.8181e-03
+16,7.9667e+00,DOWN_FORCE_DETACH,2.5071e-03,3.3295e-02,5.2002e-02,2.5456e+00,-4.0396e-02,3.9163e-02,-3.6780e-05,4.8210e-02,4.9356e-02,8.1738e-02,-3.4194e-03,3.4613e-03,-1.2257e-05,1.0696e-01,4.8655e-03
+17,8.4833e+00,DOWN_FORCE_DETACH,2.6656e-03,3.3074e-02,5.4781e-02,2.5364e+00,-4.0581e-02,3.9142e-02,-3.2638e-05,4.7988e-02,5.2134e-02,7.2522e-02,-3.6044e-03,3.4397e-03,-8.1148e-06,1.0139e-01,4.9823e-03
+18,9.0500e+00,DOWN_FORCE_DETACH,2.8190e-03,2.9732e-02,5.4931e-02,2.5518e+00,-4.0577e-02,3.8885e-02,-2.8443e-05,4.4646e-02,5.2284e-02,8.7907e-02,-3.6007e-03,3.1826e-03,-3.9201e-06,1.1160e-01,4.8056e-03
+19,9.7167e+00,DOWN_FORCE_DETACH,2.9759e-03,3.0408e-02,5.6393e-02,2.5392e+00,-4.0660e-02,3.8909e-02,-2.2061e-05,4.5322e-02,5.3747e-02,7.5303e-02,-3.6833e-03,3.2074e-03,2.4613e-06,1.0302e-01,4.8841e-03
+20,1.0200e+01,DOWN_FORCE_DETACH,3.1357e-03,3.2216e-02,5.8396e-02,2.5358e+00,-4.0783e-02,3.9016e-02,-1.9129e-05,4.7131e-02,5.5749e-02,7.1930e-02,-3.8065e-03,3.3140e-03,5.3936e-06,1.0249e-01,5.0470e-03
+21,1.0900e+01,DOWN_FORCE_DETACH,3.2922e-03,3.3089e-02,5.9495e-02,2.5317e+00,-4.0842e-02,3.9050e-02,-2.4789e-05,4.8004e-02,5.6848e-02,6.7838e-02,-3.8661e-03,3.3478e-03,-2.6583e-07,1.0069e-01,5.1141e-03
+22,1.1333e+01,DOWN_FORCE_DETACH,3.4470e-03,3.4682e-02,6.0751e-02,2.5294e+00,-4.0925e-02,3.9147e-02,-3.1121e-05,4.9597e-02,5.8104e-02,6.5505e-02,-3.9490e-03,3.4447e-03,-6.5985e-06,1.0063e-01,5.2404e-03
+23,1.1717e+01,DOWN_FORCE_DETACH,3.6003e-03,3.2427e-02,6.3352e-02,2.5317e+00,-4.1105e-02,3.8979e-02,-3.4540e-05,4.7341e-02,6.0706e-02,6.7863e-02,-4.1287e-03,3.2773e-03,-1.0017e-05,1.0262e-01,5.2713e-03
+24,1.2133e+01,DOWN_FORCE_DETACH,3.7572e-03,3.1801e-02,6.9344e-02,2.5455e+00,-4.1521e-02,3.8923e-02,-3.5052e-05,4.6715e-02,6.6698e-02,8.1661e-02,-4.5450e-03,3.2215e-03,-1.0529e-05,1.1532e-01,5.5709e-03
+25,1.2700e+01,DOWN_FORCE_DETACH,3.9139e-03,3.0048e-02,6.9981e-02,2.5370e+00,-4.1579e-02,3.8806e-02,-3.6454e-05,4.4962e-02,6.7334e-02,7.3089e-02,-4.6023e-03,3.1041e-03,-1.1932e-05,1.0908e-01,5.5513e-03
+26,1.3200e+01,DOWN_FORCE_DETACH,4.0743e-03,3.0160e-02,6.8471e-02,2.5451e+00,-4.1486e-02,3.8814e-02,-3.6061e-05,4.5074e-02,6.5825e-02,8.1213e-02,-4.5096e-03,3.1117e-03,-1.1539e-05,1.1384e-01,5.4790e-03
+27,1.3767e+01,DOWN_FORCE_DETACH,4.2340e-03,2.7685e-02,6.8099e-02,2.5512e+00,-4.1472e-02,3.8642e-02,-2.9066e-05,4.2600e-02,6.5453e-02,8.7314e-02,-4.4952e-03,2.9402e-03,-4.5435e-06,1.1714e-01,5.3713e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..b5990fff5f2be6e6babb6f1992e5431bcff16845
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd48698c54c3d679fb28bc3c2a6e1921cda7727a177693c37450116d8173ed1b
+size 8652800
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..55065db58ce5e44eeb4a02baeab577323753af48
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c44fe92dd664229cb6eef0b57496f071576b3f7e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..65362b215dc202fd51303037095bda1e24bb07d6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ca764103804d175abe148390f10ca779d7369344
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.950000000e+00,UP_FORCE_RAMP,1792046312295153692,-4.271475776e-06,-1.807882560e-05,1.396030178e-04,-4.362964089e-06,-1.783684872e-05,1.394773991e-04,-3.374239012e-06,-1.780141238e-05,1.385170103e-04,7.015336000e-01,-1.652786428e-05,8.408805442e-01,7.015335085e-01,-1.628588740e-05,8.408804186e-01,7.017260043e-01,-1.601603735e-05,8.297114699e-01
+44,1.983333333e+00,UP_FORCE_RAMP,1792046312361148901,-6.018380518e-06,-3.918375931e-05,1.449283584e-04,-4.154981403e-06,-4.748628068e-05,1.455626914e-04,-3.129277448e-06,-4.720448974e-05,1.445771821e-04,7.015318531e-01,-3.763279798e-05,8.408858695e-01,7.015337165e-01,-4.593531936e-05,8.408865039e-01,7.017262492e-01,-4.541911471e-05,8.297175301e-01
+45,2.016666667e+00,UP_FORCE_RAMP,1792046312427154821,-4.776468190e-06,-3.870057917e-05,1.470730364e-04,-4.179962602e-06,-2.050512850e-05,1.463967250e-04,-3.174343072e-06,-2.041985317e-05,1.454267128e-04,7.015330950e-01,-3.714961785e-05,8.408880142e-01,7.015336915e-01,-1.895416718e-05,8.408873379e-01,7.017262042e-01,-1.863447814e-05,8.297183796e-01
+46,2.050000000e+00,UP_FORCE_RAMP,1792046312495157528,-3.233673470e-06,-2.154487556e-05,1.516699014e-04,-4.179962602e-06,-2.050512850e-05,1.463967250e-04,-3.169312830e-06,-2.041545821e-05,1.454508992e-04,7.015346378e-01,-1.999391424e-05,8.408926111e-01,7.015336915e-01,-1.895416718e-05,8.408873379e-01,7.017262092e-01,-1.863008318e-05,8.297184038e-01
+47,2.100000000e+00,UP_FORCE_RAMP,1792046312593144555,-4.062791853e-06,-1.674699853e-05,1.552403202e-04,-3.814574063e-06,-1.686122948e-05,1.551659071e-04,-2.754223957e-06,-1.680251356e-05,1.541379387e-04,7.015338087e-01,-1.519603721e-05,8.408961815e-01,7.015340569e-01,-1.531026816e-05,8.408961071e-01,7.017266243e-01,-1.501713852e-05,8.297270908e-01
+48,2.116666667e+00,UP_FORCE_RAMP,1792046312627145783,-5.491328332e-06,-4.173071300e-05,1.563480263e-04,-5.616187166e-06,-4.173975522e-05,1.562909981e-04,-4.603279383e-06,-4.149587694e-05,1.552367153e-04,7.015323802e-01,-4.017975168e-05,8.408972892e-01,7.015322553e-01,-4.018879390e-05,8.408972322e-01,7.017247752e-01,-3.971050191e-05,8.297281896e-01
+49,2.150000000e+00,UP_FORCE_RAMP,1792046312693153626,-6.583940600e-06,-2.095921408e-05,1.548806413e-04,-6.677172120e-06,-2.077715927e-05,1.550929697e-04,-5.608752438e-06,-2.068263783e-05,1.541128984e-04,7.015312875e-01,-1.940825276e-05,8.408958218e-01,7.015311943e-01,-1.922619795e-05,8.408960342e-01,7.017237698e-01,-1.889726280e-05,8.297270658e-01
+50,2.216666667e+00,UP_FORCE_RAMP,1792046312793149132,-4.486658232e-06,-2.612119124e-05,1.635938722e-04,-6.677172120e-06,-2.077715927e-05,1.550929697e-04,-5.598099428e-06,-2.066435554e-05,1.541621682e-04,7.015333848e-01,-2.457022992e-05,8.409045351e-01,7.015311943e-01,-1.922619795e-05,8.408960342e-01,7.017237804e-01,-1.887898051e-05,8.297271151e-01
+51,2.283333333e+00,UP_FORCE_HOLD,1792046312931844924,-2.166163888e-06,-3.531186997e-05,1.701735795e-04,-2.172400903e-06,-3.557793954e-05,1.699051978e-04,-9.941227594e-07,-3.537210482e-05,1.688370779e-04,7.015357053e-01,-3.376090865e-05,8.409111148e-01,7.015356991e-01,-3.402697821e-05,8.409108464e-01,7.017283844e-01,-3.358672978e-05,8.297417900e-01
+52,2.350000000e+00,UP_FORCE_HOLD,1792046313059256186,-2.227933835e-06,-3.075755681e-05,1.757014187e-04,-2.172400903e-06,-3.557793954e-05,1.699051978e-04,-9.813166713e-07,-3.539140671e-05,1.688997326e-04,7.015356435e-01,-2.920659549e-05,8.409166426e-01,7.015356991e-01,-3.402697821e-05,8.409108464e-01,7.017283972e-01,-3.360603168e-05,8.297418526e-01
+53,2.433333333e+00,UP_FORCE_HOLD,1792046313225316603,-1.174656581e-06,-3.875263292e-05,1.825163203e-04,-2.172400903e-06,-3.557793954e-05,1.699051978e-04,-9.679189087e-07,-3.539607647e-05,1.689634737e-04,7.015366968e-01,-3.720167160e-05,8.409234575e-01,7.015356991e-01,-3.402697821e-05,8.409108464e-01,7.017284106e-01,-3.361070143e-05,8.297419164e-01
+54,2.466666667e+00,UP_FORCE_HOLD,1792046313293398128,-4.738019027e-07,-3.760686923e-05,1.829978762e-04,-2.172400903e-06,-3.557793954e-05,1.699051978e-04,-9.627928628e-07,-3.539715307e-05,1.689869414e-04,7.015373977e-01,-3.605590791e-05,8.409239391e-01,7.015356991e-01,-3.402697821e-05,8.409108464e-01,7.017284157e-01,-3.361177804e-05,8.297419398e-01
+55,2.533333333e+00,UP_FORCE_HOLD,1792046313393752456,-3.516810833e-07,-4.009170892e-05,1.891344407e-04,-2.172400903e-06,-3.557793954e-05,1.699051978e-04,-9.527513094e-07,-3.539870127e-05,1.690315540e-04,7.015375198e-01,-3.854074760e-05,8.409300756e-01,7.015356991e-01,-3.402697821e-05,8.409108464e-01,7.017284258e-01,-3.361332623e-05,8.297419845e-01
+56,2.616666667e+00,UP_FORCE_HOLD,1792046313559146371,5.159588438e-07,-2.806108349e-05,1.918309767e-04,1.018262807e-06,-2.720935892e-05,1.880511688e-04,2.348385475e-06,-2.707342531e-05,1.870242133e-04,7.015383874e-01,-2.651012217e-05,8.409327722e-01,7.015388897e-01,-2.565839760e-05,8.409289924e-01,7.017317269e-01,-2.528805028e-05,8.297599771e-01
+57,2.666666667e+00,UP_FORCE_HOLD,1792046313657165574,1.827868328e-06,-3.098641941e-05,1.944894550e-04,1.018262807e-06,-2.720935892e-05,1.880511688e-04,2.357529326e-06,-2.707153916e-05,1.870658298e-04,7.015396993e-01,-2.943545809e-05,8.409354306e-01,7.015388897e-01,-2.565839760e-05,8.409289924e-01,7.017317361e-01,-2.528616413e-05,8.297600187e-01
+58,2.716666667e+00,UP_FORCE_HOLD,1792046313759287501,3.797623450e-06,-3.692100648e-05,2.002662607e-04,1.018262807e-06,-2.720935892e-05,1.880511688e-04,2.365940628e-06,-2.707056796e-05,1.871036720e-04,7.015416691e-01,-3.537004515e-05,8.409412074e-01,7.015388897e-01,-2.565839760e-05,8.409289924e-01,7.017317445e-01,-2.528519293e-05,8.297600566e-01
+59,2.766666667e+00,UP_SETTLE,1792046313857143512,2.298246842e-06,-3.303536844e-05,1.993518642e-04,1.018262807e-06,-2.720935892e-05,1.880511688e-04,2.374035847e-06,-2.707005173e-05,1.871391841e-04,7.015401697e-01,-3.148440712e-05,8.409402931e-01,7.015388897e-01,-2.565839760e-05,8.409289924e-01,7.017317526e-01,-2.528467670e-05,8.297600921e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d4ad67e4e24a8488db633084d732059b80a7c3a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.4544e-02,2.6467e-03,2.4640e+00,-3.6976e-02,3.5728e-02,-2.4666e-05,3.6702e-04,-8.3935e-07,1.0347e-04,2.4214e-07,2.5492e-05,-1.7282e-07,3.8133e-04,2.5494e-05
+1,1.0000e-01,UP_FORCE_RAMP,2.7634e-05,-1.2413e-02,2.6497e-03,2.4646e+00,-3.6975e-02,3.5876e-02,-2.5605e-05,2.4984e-03,2.1500e-06,7.1073e-04,1.1660e-06,1.7364e-04,-1.1115e-06,2.5976e-03,1.7364e-04
+2,2.1667e-01,UP_FORCE_RAMP,5.7687e-05,-1.0081e-02,2.6558e-03,2.4652e+00,-3.6974e-02,3.6038e-02,-2.6511e-05,4.8303e-03,8.2739e-06,1.3824e-03,2.0824e-06,3.3598e-04,-2.0175e-06,5.0242e-03,3.3599e-04
+3,3.1667e-01,UP_FORCE_RAMP,8.6858e-05,-8.2117e-03,2.6665e-03,2.4658e+00,-3.6974e-02,3.6169e-02,-2.7141e-05,6.6993e-03,1.9017e-05,1.9202e-03,2.4363e-06,4.6641e-04,-2.6475e-06,6.9691e-03,4.6642e-04
+4,4.3333e-01,UP_FORCE_RAMP,1.1586e-04,-6.1539e-03,2.7026e-03,2.4664e+00,-3.6975e-02,3.6312e-02,-2.7766e-05,8.7572e-03,5.5123e-05,2.5015e-03,1.4603e-06,6.1012e-04,-3.2725e-06,9.1077e-03,6.1013e-04
+5,5.3333e-01,UP_FORCE_RAMP,1.4645e-04,-4.4861e-03,2.7194e-03,2.4668e+00,-3.6975e-02,3.6429e-02,-2.8341e-05,1.0425e-02,7.1926e-05,2.9881e-03,1.6540e-06,7.2663e-04,-3.8472e-06,1.0845e-02,7.2664e-04
+6,6.0000e-01,UP_FORCE_RAMP,1.8395e-04,-3.4435e-03,1.5005e-02,2.4618e+00,-3.7832e-02,3.6504e-02,-1.8308e-05,1.1468e-02,1.2358e-02,-2.0547e-03,-8.5564e-04,8.0229e-04,6.1853e-06,1.6984e-02,1.1730e-03
+7,6.5000e-01,UP_FORCE_RAMP,2.0993e-04,-2.6730e-03,1.4648e-02,2.4623e+00,-3.7806e-02,3.6558e-02,-1.8875e-05,1.2238e-02,1.2000e-02,-1.5182e-03,-8.2994e-04,8.5599e-04,5.6187e-06,1.7207e-02,1.1923e-03
+8,6.8333e-01,UP_FORCE_RAMP,2.3927e-04,-2.1753e-03,1.4501e-02,2.4626e+00,-3.7796e-02,3.6593e-02,-1.9201e-05,1.2736e-02,1.1853e-02,-1.2097e-03,-8.1924e-04,8.9074e-04,5.2922e-06,1.7440e-02,1.2102e-03
+9,7.3333e-01,UP_FORCE_RAMP,2.6721e-04,-1.4547e-03,1.4351e-02,2.4631e+00,-3.7784e-02,3.6643e-02,-1.9631e-05,1.3456e-02,1.1704e-02,-7.8869e-04,-8.0810e-04,9.4118e-04,4.8623e-06,1.7851e-02,1.2405e-03
+10,7.6667e-01,UP_FORCE_RAMP,3.0206e-04,-9.7018e-04,1.4279e-02,2.4633e+00,-3.7779e-02,3.6677e-02,-1.9901e-05,1.3941e-02,1.1631e-02,-5.2786e-04,-8.0257e-04,9.7500e-04,4.5928e-06,1.8164e-02,1.2628e-03
+11,8.3333e-01,UP_FORCE_RAMP,3.2322e-04,1.4063e-03,1.8572e-02,2.4519e+00,-3.8078e-02,3.6850e-02,-1.6802e-05,1.6317e-02,1.5925e-02,-1.1977e-02,-1.1014e-03,1.1481e-03,7.6910e-06,2.5755e-02,1.5910e-03
+12,8.8333e-01,UP_FORCE_RAMP,3.4649e-04,2.0276e-03,1.8328e-02,2.4530e+00,-3.8060e-02,3.6894e-02,-1.7310e-05,1.6939e-02,1.5680e-02,-1.0906e-02,-1.0840e-03,1.1915e-03,7.1833e-06,2.5529e-02,1.6108e-03
+13,9.1667e-01,UP_FORCE_RAMP,3.8265e-04,2.4549e-03,1.8229e-02,2.4535e+00,-3.8053e-02,3.6923e-02,-1.7648e-05,1.7366e-02,1.5582e-02,-1.0320e-02,-1.0767e-03,1.2213e-03,6.8453e-06,2.5512e-02,1.6281e-03
+14,9.8333e-01,UP_FORCE_RAMP,4.0839e-04,1.0020e-03,1.3446e-02,2.4432e+00,-3.7718e-02,3.6826e-02,-2.2075e-05,1.5913e-02,1.0798e-02,-2.0637e-02,-7.4195e-04,1.1243e-03,2.4188e-06,2.8208e-02,1.3470e-03
+15,1.0333e+00,UP_FORCE_RAMP,4.4614e-04,1.7122e-03,1.3499e-02,2.4445e+00,-3.7722e-02,3.6876e-02,-2.2402e-05,1.6623e-02,1.0852e-02,-1.9348e-02,-7.4520e-04,1.1738e-03,2.0911e-06,2.7721e-02,1.3904e-03
+16,1.0667e+00,UP_FORCE_RAMP,4.7206e-04,2.1738e-03,1.3512e-02,2.4453e+00,-3.7722e-02,3.6908e-02,-2.2653e-05,1.7085e-02,1.0864e-02,-1.8599e-02,-7.4562e-04,1.2059e-03,1.8400e-06,2.7493e-02,1.4178e-03
+17,1.1000e+00,UP_FORCE_RAMP,4.9642e-04,3.2792e-03,1.1845e-02,2.4334e+00,-3.7607e-02,3.6991e-02,-2.2774e-05,1.8190e-02,9.1971e-03,-3.0500e-02,-6.3076e-04,1.2893e-03,1.7196e-06,3.6684e-02,1.4354e-03
+18,1.1333e+00,UP_FORCE_RAMP,5.2487e-04,1.4742e-03,2.4388e-02,2.4265e+00,-3.8478e-02,3.6868e-02,-1.5575e-05,1.6385e-02,2.1740e-02,-3.7311e-02,-1.5020e-03,1.1663e-03,8.9184e-06,4.6186e-02,1.9016e-03
+19,1.1667e+00,UP_FORCE_RAMP,5.6913e-04,3.5566e-03,6.7376e-03,2.4299e+00,-3.7251e-02,3.7013e-02,-2.6829e-05,1.8468e-02,4.0901e-03,-3.3982e-02,-2.7419e-04,1.3111e-03,-2.3357e-06,3.8891e-02,1.3394e-03
+20,1.2000e+00,UP_FORCE_RAMP,5.9857e-04,2.4260e-03,2.3375e-02,2.4263e+00,-3.8410e-02,3.6936e-02,-1.5710e-05,1.7337e-02,2.0728e-02,-3.7513e-02,-1.4334e-03,1.2341e-03,8.7835e-06,4.6232e-02,1.8915e-03
+21,1.2167e+00,UP_FORCE_RAMP,6.2179e-04,1.9836e-03,5.8192e-03,2.4244e+00,-3.7185e-02,3.6906e-02,-2.8192e-05,1.6895e-02,3.1717e-03,-3.9464e-02,-2.0875e-04,1.2037e-03,-3.6989e-06,4.3045e-02,1.2217e-03
+22,1.2500e+00,UP_FORCE_RAMP,6.4450e-04,2.9902e-03,2.0920e-02,2.4243e+00,-3.8238e-02,3.6977e-02,-1.8054e-05,1.7901e-02,1.8272e-02,-3.9555e-02,-1.2616e-03,1.2752e-03,6.4394e-06,4.7105e-02,1.7938e-03
+23,1.3167e+00,UP_FORCE_RAMP,6.8080e-04,3.8466e-03,2.0538e-02,2.4268e+00,-3.8211e-02,3.7037e-02,-1.8651e-05,1.8758e-02,1.7891e-02,-3.7061e-02,-1.2342e-03,1.3345e-03,5.8422e-06,4.5227e-02,1.8178e-03
+24,1.3833e+00,UP_FORCE_RAMP,7.1210e-04,4.6409e-03,2.0382e-02,2.4289e+00,-3.8199e-02,3.7092e-02,-1.9398e-05,1.9552e-02,1.7735e-02,-3.4950e-02,-1.2225e-03,1.3897e-03,5.0955e-06,4.3798e-02,1.8509e-03
+25,1.4667e+00,UP_FORCE_RAMP,7.3716e-04,4.7439e-03,1.4414e-02,2.4193e+00,-3.7781e-02,3.7105e-02,-2.5332e-05,1.9655e-02,1.1767e-02,-4.4582e-02,-8.0443e-04,1.4024e-03,-8.3851e-07,5.0123e-02,1.6167e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..cbce8a38d2203901937ccc856bdda356d2a5274e
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:0aa4935881f491315f7550dd36716383151bfa853342a8de3f24cdb11c14dd33
+size 78243840
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a0bd4803daca71ae70570f276660c51adf2082a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,2.648333e+01,2813,6.998339e-01,1.010735e-02,8.227041e-01,3.276991e-04,-1.640678e-05,-4.546136e-03,-1.068097e-03,1.055500e-02,5.635816e-03
+59,2.648333e+01,2814,6.960631e-01,1.057659e-02,8.294145e-01,2.488243e-04,-1.285590e-04,-4.792255e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2815,6.992362e-01,1.208578e-02,8.355360e-01,2.102584e-04,-9.172005e-05,-4.762584e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2816,6.932195e-01,1.244904e-02,8.253994e-01,2.550287e-04,-1.800518e-04,-4.931803e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2817,6.994066e-01,1.025608e-02,8.319797e-01,2.546552e-04,-8.610667e-05,-4.663194e-03,2.815572e-04,6.895565e-03,3.629062e-03
+59,2.648333e+01,2818,6.994484e-01,1.305794e-02,8.134558e-01,2.321066e-04,-2.696253e-04,-4.865211e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2819,6.990728e-01,1.210786e-02,8.143159e-01,2.650099e-04,-2.376509e-04,-4.796067e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2820,6.934969e-01,1.216339e-02,8.232767e-01,2.925302e-04,-1.874360e-04,-4.910660e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2821,6.982865e-01,1.054975e-02,8.323981e-01,2.212376e-04,-1.180448e-04,-4.715498e-03,-4.555170e-07,-1.251303e-05,-3.872599e-05
+59,2.648333e+01,2822,6.941054e-01,1.202405e-02,8.291885e-01,2.070987e-04,-1.516776e-04,-4.893358e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2823,7.010018e-01,1.189234e-02,8.138845e-01,2.273197e-04,-2.365094e-04,-4.785000e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2824,6.960202e-01,1.312631e-02,8.159558e-01,2.832322e-04,-2.444761e-04,-4.895885e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2825,7.000178e-01,1.085773e-02,8.157486e-01,2.785766e-04,-1.478365e-04,-4.689326e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2826,6.995134e-01,1.336545e-02,8.363603e-01,2.204658e-04,-5.754754e-05,-4.846020e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2827,6.930269e-01,1.320162e-02,8.230123e-01,2.631722e-04,-1.988216e-04,-4.961393e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2828,6.989689e-01,1.009706e-02,8.217788e-01,3.469017e-04,-2.110550e-05,-4.591992e-03,1.748136e-04,4.209035e-03,2.643995e-03
+59,2.648333e+01,2829,6.950360e-01,1.212433e-02,8.316233e-01,1.724127e-04,-1.351052e-04,-4.863751e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2830,6.941750e-01,1.132854e-02,8.237120e-01,3.174393e-04,-1.652857e-04,-4.865379e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2831,6.974900e-01,1.021335e-02,8.210360e-01,3.796757e-04,-5.042831e-05,-4.679249e-03,2.733035e-05,2.805274e-04,1.787280e-04
+59,2.648333e+01,2832,6.934619e-01,1.322163e-02,8.208099e-01,2.786134e-04,-2.106303e-04,-4.949423e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2833,6.988033e-01,1.084783e-02,8.164937e-01,3.202087e-04,-1.355601e-04,-4.693617e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2834,6.945481e-01,1.209046e-02,8.195123e-01,3.284463e-04,-2.006826e-04,-4.872208e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2835,6.972319e-01,1.064326e-02,8.315828e-01,2.184487e-04,-1.248066e-04,-4.755976e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2836,6.954366e-01,1.115515e-02,8.303184e-01,2.131089e-04,-1.408942e-04,-4.824863e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2837,6.979779e-01,1.214189e-02,8.149494e-01,2.877594e-04,-2.303260e-04,-4.803473e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2838,6.990263e-01,1.135373e-02,8.152844e-01,2.910229e-04,-1.902749e-04,-4.733881e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2839,6.928446e-01,1.350119e-02,8.255822e-01,2.341150e-04,-1.813456e-04,-4.974278e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2840,7.006943e-01,1.349947e-02,8.366961e-01,2.403156e-04,-4.882716e-05,-4.853834e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2841,6.965432e-01,1.111881e-02,8.180565e-01,3.622536e-04,-1.571354e-04,-4.759615e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2842,6.934402e-01,1.211333e-02,8.244080e-01,2.787383e-04,-1.793788e-04,-4.913923e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2843,7.000351e-01,1.154276e-02,8.145430e-01,2.540426e-04,-2.116278e-04,-4.751054e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.648333e+01,2844,7.000300e-01,1.225139e-02,8.137853e-01,2.396989e-04,-2.496704e-04,-4.808451e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16da43d6c9441660013d3edc118bbf033ba7aa4b
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+56824,1792046382250419396,18710956000000,1792046382247576253,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6760389013779486,-0.00480887886539877,0.09085605213685162,0.9999999718134145,0.00018600996462392246,-0.00010360097590205623,4.983136871379739e-05,0.6761,-0.0048,0.09094438566048514,1.0,0.0,0.0,0.0,0.16475382108523678,0.16321345229127232,0.04448073238828498,0.009483228883934328,-0.011345207380441378,0.0009419439302696117,0.24032879793845555,0.16964274190902706,-0.2978548257754166,0.0076095807193422614,-0.014265227663249233,-0.0008968695810790689,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.24456812785109558,-0.09365721999790803,1.0128557638882707,0.15542984326973702,-0.5532554062185756,-0.10220522015058439,0.553278232287496,0.04448073238828498,-0.45957753160077475,-0.45957753160077475,0.11935999999999648,0,0,-7.459998571243543e-05,-9.999999025923074e-05
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+57087,1792046384442435767,18713148000000,1792046384439567006,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6760417960876098,-0.004846210181977793,0.09064014108382436,0.9999999707092139,0.0001800851532326171,-8.06308435016314e-05,0.0001053206548485584,0.6761,-0.0048,0.09066497853190247,1.0,0.0,0.0,0.0,0.20877474251386546,0.22211796714173604,0.42266943777273236,0.014598498293834484,-0.014565663652087345,0.0006524883669885482,0.2843497193670842,0.2285472567594908,0.0803338796090308,0.012724850129242416,-0.0174856839348952,-0.0011863251443601324,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.4557963521836614,-0.09879991796000394,0.40206437012130014,0.2440567851682853,-0.13294803180084308,-0.11829251582811245,0.553278232287496,0.42266943777273236,0.1512138621661958,0.1512138621661958,0.29472000000000487,0,0,-0.00015861699175359766,9.999999025923074e-05
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+57498,1792046387867402240,18716573000000,1792046387863576463,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6760847034584779,-0.004849876777376001,0.09042909858237955,0.9999999820071389,0.00012870239243151948,-1.812518905839283e-05,0.00010264383995448879,0.6761,-0.0048,0.09038409648661787,1.0,0.0,0.0,0.0,0.21121286560246244,0.2829438275015281,0.7614277666014708,0.01859569435396988,-0.01370395336507976,0.0004447804272296983,0.2867878424556812,0.2893731171192828,0.4190922084377693,0.016722046189377813,-0.016623973647887615,-0.0013940330841189822,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6021845066209474,0.009497473381187112,0.03976181328513584,0.22845699803718258,0.13134959913720223,-0.05160849446664307,0.553278232287496,0.7614277666014708,0.5135164190023601,0.5135164190023601,0.5687200000000411,0,0,-1.3386974080679908e-05,-9.999999025923074e-05
+57646,1792046389100480244,18717806000000,1792046389099577952,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6760857495276599,-0.004851998306962459,0.09041025592534288,0.9999999817434835,0.00012712893860012878,-1.661741239042238e-05,0.00010732190630528986,0.6761,-0.0048,0.09036204386101826,1.0,0.0,0.0,0.0,0.2040792505550259,0.2954856331528041,0.7819932744190883,0.019562248739997044,-0.013725753717819884,0.0004348936458180065,0.27965422740824464,0.3019149227705588,0.43965771625538674,0.017688600575404976,-0.01664577400062774,-0.001403919865530674,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.6849409164901371,0.1029414493882177,-0.05389934500043458,0.19031903490360347,0.21430864707226716,0.010914408646268081,0.553278232287496,0.7819932744190883,0.6071775772879305,0.6071775772879305,0.6673600000000028,0,0,-3.0480562944494534e-05,-9.999389791038311e-05
+57782,1792046390234385011,18718940000000,1792046390231567266,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6760952096857659,-0.004860379830799898,0.09038097751409437,0.9999999800458246,0.0001294952025150628,-2.4953541887467427e-06,0.00012073102557044708,0.6761,-0.0048,0.09031282821579203,1.0,0.0,0.0,0.0,0.1994074006837921,0.2919362028942506,0.8315886365755858,0.0195820016476228,-0.013089031348666211,0.00041727780325436534,0.2749823775370108,0.29836549251200534,0.48925307841188415,0.017708353483030733,-0.016009051631474067,-0.0014215357080943152,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7182044200666263,0.06402297409680646,-0.11836566489377393,0.22172468366717907,0.25789407556360705,-0.013706906721377123,0.553278232287496,0.8315886365755858,0.6716438971812699,0.6716438971812699,0.7580799999999677,0,0,-5.161262671002221e-05,-7.635572315945466e-05
+57886,1792046391100426872,18719806000000,1792046391099566499,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6760990671322675,-0.004858979294063269,0.09034284262519672,0.9999999784329804,0.00013379630942644136,1.7106425874166972e-06,0.00012912212995314063,0.6761,-0.0048,0.09026304905475208,1.0,0.0,0.0,0.0,0.1853904011065406,0.29140740190989495,0.8920741765762576,0.019429024934083234,-0.012518408216552944,0.0004972332513208571,0.2609653779597593,0.2978366915276497,0.549738618412556,0.017555376769491166,-0.0154384284993608,-0.0013415802600278235,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7312898964719609,0.11272170151292428,-0.1641310688298465,0.1992970400896646,0.2920691243399514,0.012900226773290668,0.553278232287496,0.8920741765762576,0.7174093011173425,0.7174093011173425,0.8273599999999408,0,0,-6.006560610979784e-05,-9.981766388301167e-05
+58029,1792046392292446103,18720998000000,1792046392291576713,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761022867783905,-0.004869725000085969,0.09028265312467865,0.9999999749627485,0.00014008496073576257,6.347242576338273e-06,0.00014782855895074747,0.6761,-0.0048,0.09019835283004728,1.0,0.0,0.0,0.0,0.18182110853888866,0.2848535525175814,0.9929370694111883,0.01953253721205225,-0.012760709823622669,0.0013047926452444598,0.2573960853921074,0.2912828421353361,0.6506015112474867,0.017658889047460182,-0.015680730106430524,-0.0005340208661042206,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7668388702277422,0.09348597710688394,-0.34096971447120417,0.21416919748046587,0.4130959843239484,0.006590784506602804,0.553278232287496,0.9929370694111883,0.8942479467587001,0.8942479467587001,0.9227199999999038,0,0,-4.7137916213387025e-05,9.99999347480795e-05
+58105,1792046392925498543,18721631000000,1792046392923576568,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.676104584789899,-0.004880409231806923,0.09025899057658095,0.9999999741073476,0.00013647344824349602,1.200969151219722e-05,0.00015639352155629208,0.6761,-0.0048,0.0901705958397207,1.0,0.0,0.0,0.0,0.17588418499799974,0.2665141075765839,1.0325095247101317,0.01874817971206088,-0.011970964632364594,0.0009896567877267612,0.25145916185121847,0.27294339719433863,0.6901739665464302,0.01687453154746881,-0.01489098491517245,-0.0008491567236219193,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8087874500967911,0.06690419122954287,-0.4077903638803525,0.2228940690359578,0.4640804788765511,-0.009321983078964556,0.553278232287496,1.0325095247101317,0.9610685961678485,0.9610685961678485,0.9733599999998842,0,0,-3.922714919971237e-05,9.459616009810929e-05
+58189,1792046393625431198,18722331000000,1792046393619567447,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761138382503334,-0.00486402084750051,0.09024104234408326,0.9999999709006604,0.00015415331289483976,2.6639682260589194e-05,0.00015864622922280884,0.6761,-0.0048,0.090141095708728,1.0,0.0,0.0,0.0,0.1676532969518646,0.2847894534458399,1.0730846811538712,0.018220346785750057,-0.01052090391021045,0.0012567288486353887,0.24322827380508333,0.29121874306359463,0.7307491229901696,0.01634669862115799,-0.013440924193018306,-0.0005820846627132919,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7563712161589616,0.04566109642644234,-0.4952441653835462,0.20882110300214068,0.5102711315509418,-0.03199914702202354,0.553278232287496,1.0730846811538712,1.048522397671042,1.048522397671042,1.0293599999999032,0,0,-4.623214468616054e-05,9.85523843352098e-05
+58273,1792046394325485023,18723031000000,1792046394323566915,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761100702461198,-0.004874331190105331,0.09020899219018498,0.9999999691218849,0.00015645258802946576,2.3340048176476626e-05,0.00016785983229328116,0.6761,-0.0048,0.09010833907579596,1.0,0.0,0.0,0.0,0.17177979505163293,0.28707496917852476,1.1032377636365578,0.019253147949118168,-0.01115952597100773,0.0012262411450861032,0.24735477190485167,0.2935042587962795,0.7609022054728561,0.0173794997845261,-0.014079546253815587,-0.0006125723662625775,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8121884683238081,-0.0630673832131248,-0.4922685739227914,0.253732553266423,0.5177160983380024,-0.09655695679052295,0.553278232287496,1.1032377636365578,1.0455468062102873,1.0455468062102873,1.0853599999999592,0,0,-4.7739322804581146e-05,9.96360452739708e-05
+58413,1792046395492473555,18724198000000,1792046395487567000,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.676115946512539,-0.00487615962399027,0.09016719308473738,0.999999960041048,0.00019696112062845002,2.8864246976664472e-05,0.0001781402224773285,0.6761,-0.0048,0.09004870301097145,1.0,0.0,0.0,0.0,0.15755525315988123,0.27430503465656014,1.182276654507021,0.018432325848438617,-0.010759355171982185,0.001168936741421031,0.23313023001309996,0.2807343242743149,0.8399410963433193,0.01655867768384655,-0.013679375454790041,-0.0006698767699276494,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.8371462296254703,0.013086398585781686,-0.534593045495549,0.23917340020550912,0.552695016541229,-0.03839938831663305,0.553278232287496,1.182276654507021,1.0878712777830448,1.0878712777830448,1.1787200000000526,0,0,-5.685036670174804e-05,-9.999961555895993e-05
+58540,1792046396550481527,18725256000000,1792046396543567796,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761220345365004,-0.004897181247596475,0.09012233934048872,0.9999999597193606,0.0001854172734357319,3.6886029382984136e-05,0.0001904310820105659,0.6761,-0.0048,0.08998942855596107,1.0,0.0,0.0,0.0,0.16890446282969396,0.298223267639116,1.2541676702485753,0.0204538076448213,-0.011684717813070046,0.001123998490113781,0.2444794396829127,0.30465255725687074,0.9118321120848737,0.018580159480229234,-0.014604738095877902,-0.0007148150212348996,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9035975777019999,0.01524753173614953,-0.6441442572234212,0.24445711317872357,0.6352673191031363,-0.03870406006639618,0.553278232287496,1.2541676702485753,1.1974224895109171,1.1974224895109171,1.2633600000001373,0,0,-5.703367530055103e-05,3.7588511496383606e-05
+58572,1792046396817413695,18725523000000,1792046396815567182,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761236842168358,-0.004830861513203449,0.09011443243957061,0.9999999944101594,-1.0458553115733147e-05,4.845699687032632e-05,-1.2848487898352754e-05,0.6761,-0.0048,0.08997434384605262,1.0,0.0,0.0,0.0,0.14712626479870528,0.27454390953197677,1.273406609327274,0.018011774640261533,-0.008767610925723377,0.00111825051013727,0.222701241651924,0.2809731991497315,0.9310710511635724,0.016138126475669465,-0.011687631208531233,-0.0007205630012114104,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.7596187476574641,-0.0749236673845453,-0.5887778532822862,0.2757249288911373,0.5709228565104104,-0.10660238889758451,0.553278232287496,1.273406609327274,1.142056085569782,1.142056085569782,1.2847200000001586,0,0,-5.525009212223176e-05,-9.857356183940453e-05
+58664,1792046397584447258,18726290000000,1792046397583576306,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.676135761318077,-0.004856215516219967,0.09006956173047455,0.9999999925812548,-4.356153264768723e-06,7.66433361650465e-05,1.9676833180555493e-05,0.6761,-0.0048,0.08992175572342785,1.0,0.0,0.0,0.0,0.18319063012268133,0.3358181896993479,1.3360098811293115,0.022545572988266555,-0.011885707046337778,0.0010785850089226347,0.25876560697590006,0.34224747931710264,0.9936743229656099,0.020671924823674487,-0.014805727329145634,-0.0007602285024260457,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9385935372866057,0.1182659871240863,-0.697895088083016,0.1381386773502527,0.690448401048226,0.05390493698802566,0.553278232287496,1.3360098811293115,1.251173320370512,1.251173320370512,1.34608000000022,0,0,-7.491572654419412e-05,-1.0198153126992829e-05
+58768,1792046398450374569,18727156000000,1792046398447566563,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761414753883791,-0.004867021160193486,0.09002425993215055,0.9999999915521861,-1.8339846788228966e-06,8.378963902755744e-05,3.625499890589397e-05,0.6761,-0.0048,0.08986262394623208,1.0,0.0,0.0,0.0,0.17027605684943464,0.3215391473405275,1.4152648934716747,0.02260131056956425,-0.01111459840565879,0.001020599329295704,0.24585103370265338,0.32796843695828226,1.0729293353079732,0.02072766240497218,-0.014034618688466645,-0.0008182141820529765,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0095061849914138,0.07017147888177076,-0.854217491585939,0.19747223962922764,0.8040137860835853,0.00863803017707189,0.553278232287496,1.4152648934716747,1.407495723873435,1.407495723873435,1.4153600000002893,0,0,-5.9868255537749764e-05,9.999858860266215e-05
+58816,1792046398850485310,18727556000000,1792046398847567236,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761433850498983,-0.004870681313634775,0.09000582406859924,0.9999999911144065,-1.1602752526248352e-06,8.615252130357475e-05,4.23136897925347e-05,0.6761,-0.0048,0.0898403167539509,1.0,0.0,0.0,0.0,0.17481307924875789,0.3167826820081082,1.4354249510159798,0.022838945774730033,-0.011268861779194908,0.0010136319321982078,0.2503880561019766,0.32321197162586296,1.0930893928522782,0.020965297610137965,-0.014188882062002764,-0.0008251815791504727,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9288850501598951,0.026702707971160786,-0.8612307722517727,0.22450159609300135,0.779994161590038,-0.02587456378590737,0.553278232287496,1.4354249510159798,1.4145090045392688,1.4145090045392688,1.4473600000003213,0,0,-5.0639242553358936e-05,9.936473452232803e-05
+58899,1792046399542408246,18728248000000,1792046399539567799,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761479834351586,-0.004866528835425775,0.08998239553904376,0.9999999904469518,6.081751018814543e-06,9.073565455072802e-05,4.7739022658727465e-05,0.6761,-0.0048,0.08980912977789948,1.0,0.0,0.0,0.0,0.18312633841877823,0.33947558850668713,1.4760775042205156,0.023057794799728738,-0.01083540175489439,0.000985347317375605,0.25870131527199697,0.3459048781244419,1.133741946056814,0.02118414663513667,-0.013755422037702246,-0.0008534661939730754,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9186121883805758,0.05173630530186949,-0.8691390419626477,0.24700438800859315,0.7754856625212991,-0.011535656412410715,0.553278232287496,1.4760775042205156,1.4224172742501437,1.4224172742501437,1.5027200000003766,0,0,-4.1939377730419676e-05,-5.001328104293208e-05
+58935,1792046399842497555,18728548000000,1792046399835576920,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761471563186395,-0.004880168331641974,0.08996934844089263,0.9999999901550394,-1.7051135535408415e-07,8.965719677329776e-05,5.562682604042792e-05,0.6761,-0.0048,0.08979663009476947,1.0,0.0,0.0,0.0,0.20137295942424027,0.35400393974147126,1.4869248045081722,0.024487750603467164,-0.012891244728076356,0.0009692007297065026,0.276947936277459,0.360433229359226,1.1445892463444707,0.022614102438875096,-0.01581126501088421,-0.0008696127816421779,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9705268379129234,0.07890523703311757,-0.9976967055027541,0.25899027532297975,0.8691994283170059,0.0016749991315296586,0.553278232287496,1.4869248045081722,1.55097493779025,1.55097493779025,1.5267200000004006,0,0,-4.0564455451559727e-05,9.845829293387282e-05
+59007,1792046400442475304,18729148000000,1792046400439567750,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761504553863629,-0.00486385706465754,0.08995145046273817,0.9999999895745437,1.5259149775073438e-05,9.416267972237479e-05,5.651836076927185e-05,0.6761,-0.0048,0.08977327017701293,1.0,0.0,0.0,0.0,0.156221302538114,0.32071738697050267,1.5153921897034885,0.021781106651220017,-0.00993073764620814,0.0009508661319688256,0.23179627939133274,0.3271466765882574,1.173056631539787,0.01990745848662795,-0.012850757929015995,-0.0008879473793798549,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9830208266046628,0.0061893007946541186,-0.9526752910728192,0.30024380145518687,0.8390943725731307,-0.050698169607841,0.553278232287496,1.5153921897034885,1.5059535233603152,1.5059535233603152,1.5747200000004486,0,0,-3.9639582070953534e-05,-9.5720496832935e-05
+59119,1792046401375437048,18730081000000,1792046401371576636,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.676155385465932,-0.0048734927244456164,0.08992525087031512,0.9999999884999861,1.000016681962051e-05,0.00010089375325995053,6.452394426952429e-05,0.6761,-0.0048,0.08973748160971243,1.0,0.0,0.0,0.0,0.16877510124968564,0.32684979465047187,1.5460949971245723,0.023025379982147424,-0.01049695927276086,0.0009355529230104936,0.24435007810290438,0.3332790842682266,1.2037594389608708,0.021151731817555357,-0.013416979555568715,-0.0009032605883381869,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9558524318052566,0.1202933100582965,-0.9899141350924826,0.2732416216934209,0.8508734442613343,0.01994373118995793,0.553278232287496,1.5460949971245723,1.5431923673799786,1.5431923673799786,1.6493600000005233,0,0,-4.360022313606849e-05,-9.986251689320653e-05
+59195,1792046402009374892,18730715000000,1792046402003567588,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761566678751385,-0.00486455336168794,0.08990018512634196,0.9999999880788738,1.683605938475752e-05,0.00010287411911183329,6.647239641240167e-05,0.6761,-0.0048,0.08970668350785638,1.0,0.0,0.0,0.0,0.1545321240250659,0.31699979923832267,1.576789794560768,0.02137782903443714,-0.008896822338880802,0.0009164206148980543,0.23010710087828462,0.3234290888560774,1.2344542363970665,0.019504180869845074,-0.011816842621688658,-0.0009223928964506263,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.007895441116557,0.04200326490458333,-1.1061189512507523,0.2991757752445119,0.939782989372421,-0.0318779949572198,0.553278232287496,1.576789794560768,1.6593971835382484,1.6593971835382484,1.700080000000574,0,0,-5.074695979126608e-05,9.453053203956614e-05
+59279,1792046402709449011,18731415000000,1792046402703576894,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761643608587071,-0.004873720021420269,0.08987521945760359,0.9999999864268887,1.652261697229589e-05,0.00011221958814787165,7.564954721052079e-05,0.6761,-0.0048,0.08966772624676396,1.0,0.0,0.0,0.0,0.16249226183147908,0.32806669942711236,1.629765474975229,0.023276887685761014,-0.009910579664153265,0.0008769121569117907,0.23806723868469784,0.3344959890448671,1.2874299168115275,0.021403239521168946,-0.01283059994696112,-0.0009619013544368898,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,0.9826427166158552,-0.025696713758038853,-1.0912338989892387,0.31150352560405936,0.9200208757350437,-0.08048227789515046,0.553278232287496,1.629765474975229,1.6445121312767346,1.6445121312767346,1.75608000000063,0,0,-5.9713178328395185e-05,-9.994317459594555e-05
+59415,1792046403842413063,18732548000000,1792046403835567510,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761685152992261,-0.004879478841604656,0.08981691693391039,0.9999999849288468,1.4817639671174996e-05,0.00011997923807976235,8.349006414590757e-05,0.6761,-0.0048,0.08960086395606502,1.0,0.0,0.0,0.0,0.1569563513179515,0.3405456522639105,1.7133225177347118,0.023354350861448343,-0.008944890991563835,0.0008202346506674292,0.23253132817117023,0.3469749418816652,1.3709869595710102,0.021480702696856275,-0.01186491127437169,-0.0010185788606812513,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0515540009471187,0.08107172224520107,-1.3097703158702232,0.28858365909527206,1.0757898113267759,-0.004115353348327182,0.553278232287496,1.7133225177347118,1.8630485481577193,1.8630485481577193,1.8467200000007207,0,0,-5.84675112810532e-05,9.99892627292553e-05
+59570,1792046405134452906,18733840000000,1792046405127567408,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761748071071251,-0.004877307726311541,0.08975271554212635,0.9999999839403213,2.564335286975371e-05,0.0001314226513585578,7.505149467067283e-05,0.6761,-0.0048,0.0895259450765811,1.0,0.0,0.0,0.0,0.1528572384224272,0.3373990753095661,1.8033496300997445,0.02335530603323915,-0.008964837734405522,0.0007562440430577866,0.22843221527564597,0.34382836492732083,1.461014071936043,0.021481657868647083,-0.011884858017213378,-0.001082569468290894,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0623834179259606,0.06427106427052844,-1.3579825531596084,0.31793541289817395,1.1034802666715762,-0.006294293155894325,0.553278232287496,1.8033496300997445,1.9112607854471042,1.9112607854471042,1.950080000000824,0,0,-5.478359188929171e-05,7.352049111031817e-05
+59682,1792046406067384945,18734773000000,1792046406059566837,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761797637477682,-0.004886496824980522,0.08971193343977224,0.9999999825174506,3.3797063167180025e-05,0.00014065870154744055,7.403277166515697e-05,0.6761,-0.0048,0.08947325321006215,1.0,0.0,0.0,0.0,0.1541853405656307,0.3526019688990511,1.8476163349016852,0.024356131676254642,-0.008987544607669916,0.0007715958163982222,0.22976031741884947,0.35903125851680584,1.5052807767379837,0.022482483511662574,-0.011907564890477772,-0.0010672176949504584,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0870711591505755,0.04225740937381491,-1.3931212593124842,0.3166295234183733,1.1341812815918224,-0.020066141216277526,0.553278232287496,1.8476163349016852,1.9463994915999803,1.9463994915999803,2.0247200000008987,0,0,-5.7602126561412116e-05,-5.10533349426527e-05
+59806,1792046407100491770,18735806000000,1792046407095576619,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6761857353750559,-0.004878643893541373,0.08966122280101338,0.9999999811155391,3.994779377394387e-05,0.00014928426397876418,7.300800037034959e-05,0.6761,-0.0048,0.08941154480748272,1.0,0.0,0.0,0.0,0.14309896966807834,0.3325266824861919,1.9275712047596396,0.023297427318282455,-0.00803138624499119,0.0015193227285116844,0.2186739465212971,0.3389559721039466,1.585235646595938,0.021423779153690387,-0.010951406527799046,-0.0003194907828369961,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1099664459974279,-0.01907857160273291,-1.4640475016289272,0.3427837984370248,1.1833254947730572,-0.05792393356864533,0.553278232287496,1.9275712047596396,2.0173257339164232,2.0173257339164232,2.1073600000009813,0,0,-6.119198287943129e-05,-9.999668734573248e-05
+59877,1792046407692487784,18736398000000,1792046407687577000,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761881216071931,-0.004876221346803637,0.08962541914070143,0.9999999805018002,4.1491112533594523e-05,0.00015200543063982258,7.491395358955448e-05,0.6761,-0.0048,0.08937539297752561,1.0,0.0,0.0,0.0,0.1415582468475295,0.3291039965501198,1.9678649332904543,0.023067134866272328,-0.007775121068811723,0.0016644224046206508,0.21713322370074825,0.33553328616787453,1.6255293751267528,0.02119348670168026,-0.010695141351619579,-0.00017439110672802977,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0570664223146937,-0.0032170932009988043,-1.5240622221960747,0.3313093966805922,1.2064403320002808,-0.051432986474173645,0.553278232287496,1.9678649332904543,2.0773404544835707,2.0773404544835707,2.1547200000010287,0,0,-6.0655702011801075e-05,-1.2605398001669659e-05
+59993,1792046408659485582,18737365000000,1792046408651567104,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6761924913593287,-0.004889229464525176,0.08957536928568355,0.9999999792231061,3.37851049344972e-05,0.0001600015493726612,7.90868051979256e-05,0.6761,-0.0048,0.08931350846169205,1.0,0.0,0.0,0.0,0.14821723439547646,0.34457027172627,2.038532602417003,0.024300196687702908,-0.008609124098103426,0.001609989891664735,0.2237922112486952,0.35099956134402477,1.6961970442533012,0.02242654852311084,-0.011529144380911282,-0.00022882361968394564,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.096519894881558,-0.04483969040074021,-1.6344654061816177,0.35659529583704025,1.2838214145261866,-0.07262637584233107,0.553278232287496,2.038532602417003,2.187743638469114,2.187743638469114,2.232080000001106,0,0,-6.58557959179199e-05,9.999653469006659e-05
+60093,1792046409492473748,18738198000000,1792046409487567253,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762011568762714,-0.004879786104600214,0.08953548918067676,0.9999999773778687,3.2654244249843484e-05,0.00017334997199178903,7.463654639618974e-05,0.6761,-0.0048,0.0892589121159081,1.0,0.0,0.0,0.0,0.13467422798185125,0.3331776786786514,2.088515461514865,0.023912248410117288,-0.008028845916916178,0.0015798238506549646,0.21024920483506998,0.33960696829640613,1.7461799033511634,0.02203860024552522,-0.010948866199724034,-0.00025898966069371604,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.071541587619628,0.06415813053467911,-1.6061240578255709,0.32214292681781465,1.2601315344559783,-0.00874060899385274,0.553278232287496,2.088515461514865,2.159402290113067,2.159402290113067,2.2987200000011727,0,0,-6.559427747773595e-05,-9.998779168374767e-05
+60233,1792046410659486902,18739365000000,1792046410655566978,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762063102579665,-0.004884250781715589,0.08946590022684625,0.9999999769406821,2.3992144963920815e-05,0.0001776279873382744,7.371685718726329e-05,0.6761,-0.0048,0.08918070519454115,1.0,0.0,0.0,0.0,0.14197977236938975,0.331010072268434,2.168914505329123,0.02426818779244721,-0.008053279841648154,0.0015133445517807793,0.21755474922260848,0.3374393618861887,1.8265789471654212,0.02239453962785514,-0.01097330012445601,-0.0003254689595679012,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0720372032735286,0.019456262592485906,-1.6588085335808167,0.34702823391382537,1.2896897275603236,-0.03498266056915467,0.553278232287496,2.168914505329123,2.2120867658683125,2.2120867658683125,2.392080000001266,0,0,-6.835814412717157e-05,-9.999980984798924e-05
+60349,1792046411625428595,18740331000000,1792046411619576636,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762139939665286,-0.004886030530439286,0.08941100607756047,0.999999974341095,1.959797427751689e-05,0.00019158257815459902,7.531738828095697e-05,0.6761,-0.0048,0.08911595116861086,1.0,0.0,0.0,0.0,0.13800834358608333,0.339581747262616,2.2290712644424735,0.024239780148768836,-0.007277914784515518,0.0014760821336456404,0.2135833204393021,0.3460110368803707,1.886735706278772,0.02236613198417677,-0.010197935067323374,-0.00036273137770304005,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.0977740713790904,0.06477653761082951,-1.8532709755314087,0.3439373434873925,1.4179417767057447,-0.004178369909009182,0.553278232287496,2.2290712644424735,2.406549207818905,2.406549207818905,2.4693600000013434,0,0,-6.568724109504297e-05,6.30920413399238e-05
+60476,1792046412684496099,18741390000000,1792046412683566967,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762176956937795,-0.004885576361433339,0.0893465011578965,0.9999999729713699,2.0708339730792454e-05,0.00019853947991284638,7.518885340070252e-05,0.6761,-0.0048,0.0890432082037707,1.0,0.0,0.0,0.0,0.13228251110336314,0.35153064608565343,2.2892940244859816,0.02422096618828698,-0.007067489692158124,0.001430657773619657,0.2078574879565819,0.35795993570340817,1.94695846632228,0.022347318023694912,-0.00998750997496598,-0.0004081557377290236,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1727178423224738,0.028765740287913143,-1.9230092343970122,0.35466555795173266,1.4814289000889713,-0.0289228159277337,0.553278232287496,2.2892940244859816,2.476287466684508,2.476287466684508,2.554080000001428,0,0,-7.229556109736445e-05,7.880649885295127e-05
+60632,1792046413984454409,18742690000000,1792046413983567125,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762244438812489,-0.004893898317305108,0.08926120121235007,0.9999999702772718,1.965498612985273e-05,0.00020933665002157537,8.173229736869026e-05,0.6761,-0.0048,0.08894826666530584,1.0,0.0,0.0,0.0,0.13542024192122015,0.3483826894091841,2.385638549171772,0.02420314489934774,-0.007087724783125679,0.0013612548101235504,0.21099521877443891,0.35481197902693884,2.0433029910080704,0.022329496734755674,-0.010007745065933535,-0.00047755870122513026,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.1294065144252308,0.021096678812506778,-2.0510015505011667,0.36509464534190306,1.5467188340050593,-0.03279406137135356,0.553278232287496,2.385638549171772,2.604279782788663,2.604279782788663,2.658080000001532,0,0,-7.228278953577837e-05,7.500159801410717e-05
+60800,1792046415384485608,18744090000000,1792046415379567240,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762313150342143,-0.004885192409948339,0.0891731799577164,0.9999999680325438,3.661485055206685e-05,0.00021795151185485174,8.08348126647752e-05,0.6761,-0.0048,0.08884596504868694,1.0,0.0,0.0,0.0,0.14110822626314184,0.3513288192941312,2.4598735313835154,0.0241921964654874,-0.007105847326723607,0.0012939161622366067,0.21668320311636058,0.3577581089118859,2.1175379732198136,0.022318548300895334,-0.010025867609531463,-0.0005448973491120738,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2187760161681445,-0.013064911384166706,-2.0731633080140974,0.38338940959702106,1.5872089165877346,-0.053151160305796155,0.553278232287496,2.4598735313835154,2.6264415403015935,2.6264415403015935,2.770080000001644,0,0,-7.725033637359514e-05,-9.999935188099158e-05
+60983,1792046416909396514,18745615000000,1792046416907566723,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762362322046569,-0.0048876727265932795,0.08905353834220753,0.9999999658832082,3.6239861172711744e-05,0.0002252131182036739,8.741951083166088e-05,0.6761,-0.0048,0.08871999716563791,1.0,0.0,0.0,0.0,0.14106215096575875,0.3574045316966386,2.550548777374415,0.025191359990814403,-0.0071430564801315145,0.0012321818955955844,0.2166371278189775,0.36383382131439335,2.2082132192107133,0.023317711826222335,-0.01006307676293937,-0.0006066316157530962,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2568392866170452,-0.11394995392309301,-2.1470454214980585,0.4252661581014939,1.6382859780217573,-0.12115655241592918,0.553278232287496,2.550548777374415,2.7003236537855546,2.7003236537855546,2.892080000001766,0,0,-9.015428127231851e-05,-9.999911595859885e-05
+61155,1792046418342452534,18747048000000,1792046418335567125,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762408733527614,-0.004889801423506238,0.08893054765534397,0.9999999639756215,3.0539496906197606e-05,0.00023158754428933258,9.447840238170967e-05,0.6761,-0.0048,0.08858629525119154,1.0,0.0,0.0,0.0,0.14938299878700279,0.36068057390046315,2.6472461994248024,0.025174516417300886,-0.007163482989026431,0.0011542592010253924,0.22495797564022155,0.3671098635182179,2.3049106412611007,0.023300868252708818,-0.010083503271834287,-0.0006845543103232881,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2340585457230044,-0.09175201915256398,-2.3423406860944844,0.4329813001949248,1.7530983596708145,-0.1067837758510851,0.553278232287496,2.6472461994248024,2.8956189183819805,2.8956189183819805,3.0067200000018808,0,0,-9.85937383165839e-05,8.823937000380084e-05
+61299,1792046419542398390,18748248000000,1792046419535567474,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762488885598327,-0.00488953804845303,0.0888190451527477,0.9999999616330086,1.883921497316417e-05,0.00024439684291375076,8.995617157401775e-05,0.6761,-0.0048,0.0884626499698053,1.0,0.0,0.0,0.0,0.15278337148244542,0.35239540557531507,2.711163214880779,0.025187609538144064,-0.008190755898476508,0.001088131735712686,0.22835834833566418,0.3588246951930698,2.368827656717077,0.023313961373551996,-0.011110776181284364,-0.0007506817756359943,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3058102360146941,0.05779868097191406,-2.442614838039642,0.4120283101572755,1.8309831764302869,-0.006778807858785665,0.553278232287496,2.711163214880779,2.995893070327138,2.995893070327138,3.102720000001977,0,0,-0.00010542160506080289,9.375041995352546e-05
+61438,1792046420700451249,18749406000000,1792046420699567483,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762525722557057,-0.0048868545074987335,0.088692595462354,0.9999999602000909,2.8748021344643924e-05,0.0002494257435386743,8.94596612190774e-05,0.6761,-0.0048,0.08833086298610998,1.0,0.0,0.0,0.0,0.14962118704734267,0.34509940552997537,2.7525044998397155,0.025177666805770632,-0.008151592724197724,0.0010556303836518986,0.22519616390056144,0.3515286951477301,2.4101689416760137,0.023304018641178564,-0.01107161300700558,-0.0007831831276967821,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2461117145882792,-0.0015792921542063902,-2.4918230711496183,0.4443719982778887,1.8407808663243082,-0.04375870696646764,0.553278232287496,2.7525044998397155,3.0451013034371144,3.0451013034371144,3.1953600000020694,0,0,-0.00012235352988390578,2.1682551837795132e-05
+61559,1792046421709494256,18750415000000,1792046421707566450,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762545707281239,-0.0048898310745469475,0.08856935607945367,0.9999999579951371,5.053749446697536e-05,0.00025133355594530413,9.864073123432212e-05,0.6761,-0.0048,0.08819692689939415,1.0,0.0,0.0,0.0,0.15784804728037966,0.3431649640109854,2.7865873303526776,0.024152330115497847,-0.008187760952069351,0.0010163901146735756,0.2334230241335984,0.34959425362874014,2.444251772188976,0.02227868195090578,-0.011107781234877207,-0.0008224233966751051,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2226265942213703,-0.0033072977634868153,-2.490415175057766,0.45850203554301616,1.8255198622224915,-0.03942285256151864,0.553278232287496,2.7865873303526776,3.043693407345262,3.043693407345262,3.27608000000215,0,0,-0.00014407765539933693,-8.848434071418438e-05
+61674,1792046422667495376,18751373000000,1792046422663566905,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762561288691548,-0.0048916955031907796,0.08842704499360338,0.9999999568021788,5.466813254524908e-05,0.0002535474770350931,0.00010277926536963356,0.6761,-0.0048,0.08805047928956262,1.0,0.0,0.0,0.0,0.15896882830959985,0.33657472391772214,2.821148042056728,0.024143706023946294,-0.008195462351203615,0.0009848605272330302,0.2345438051628186,0.3430040135354769,2.478812483893026,0.022270057859354226,-0.011115482634011471,-0.0008539529841156504,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2762087048953645,-0.037268565664731544,-2.615633454909763,0.48181481313680175,1.9176575731938994,-0.061838501766127346,0.553278232287496,2.821148042056728,3.168911687197259,3.168911687197259,3.352720000002227,0,0,-0.00016105090936272137,9.834470324066586e-05
+61782,1792046423567423704,18752273000000,1792046423563566488,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762585378519772,-0.004890763309261727,0.08827763301921471,0.9999999569678991,4.7908163090417354e-05,0.00025379317097498866,0.00010392737296755881,0.6761,-0.0048,0.08790041669980106,1.0,0.0,0.0,0.0,0.15938800613886245,0.3420195205681331,2.8808861420182814,0.023114464576963423,-0.008198410211105187,0.0014205294820238382,0.2349629829920812,0.34844881018588786,2.5385505838545797,0.021240816412371355,-0.011118430493913043,-0.00041828402932484225,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2494784102238623,0.011525901250601022,-2.7112513722897824,0.4845471677128592,1.962903383037122,-0.030589595938360532,0.553278232287496,2.8808861420182814,3.2645296045772785,3.2645296045772785,3.424720000002299,0,0,-0.00017510190603445418,9.913797146954834e-05
+61889,1792046424459488238,18753165000000,1792046424455567983,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762616587264496,-0.004900281657771837,0.08812378808123489,0.9999999562484484,3.0367126166530032e-05,0.0002595954271540118,0.0001031213724628912,0.6761,-0.0048,0.08773702822258024,1.0,0.0,0.0,0.0,0.15941630630379278,0.33351055736078256,2.8910399235820066,0.02311157098023958,-0.008190896265349362,0.0009206018456134945,0.23499128315701154,0.3399398469785373,2.548704365418305,0.02123792281564751,-0.011110916548157218,-0.000918211665735186,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2410010329688597,-0.006339528822449385,-2.734452953222616,0.5098508385991103,1.968969820068608,-0.03921846764163566,0.553278232287496,2.8910399235820066,3.287731185510112,3.287731185510112,3.49608000000237,0,0,-0.00019238901691612386,9.989907098629231e-05
+61973,1792046425159437931,18753865000000,1792046425155566958,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762574185963967,-0.004900256739387885,0.0879736956691011,0.9999999575705125,4.529975435203732e-05,0.00025203447864352406,0.00010357794906594714,0.6761,-0.0048,0.08759731279367126,1.0,0.0,0.0,0.0,0.16934863151227697,0.3119744644421658,2.909949587102153,0.022112897336330865,-0.009187345853172758,0.00088123080623778,0.2449236083654957,0.31840375405992055,2.567614028938451,0.020239249171738798,-0.012107366135980614,-0.0009575827051109006,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2283707074768464,0.016812563742410934,-2.7048964331136744,0.5284000538346516,1.9415580017209833,-0.015595712374157196,0.553278232287496,2.909949587102153,3.2581746654011705,3.2581746654011705,3.552080000002426,0,0,-0.00020652361051451263,-9.999999025923074e-05
+62061,1792046425892452461,18754598000000,1792046425887576954,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762535654668745,-0.004901526746781879,0.0878122435228985,0.999999958527914,4.751287275826048e-05,0.0002454123688300171,0.00010909780404121878,0.6761,-0.0048,0.08743704868477595,1.0,0.0,0.0,0.0,0.1607858067853864,0.2900043226412595,2.9163235439275668,0.021090123881689425,-0.009169199160246996,0.0008619860579371246,0.23636078363860516,0.29643361225901427,2.573987985763865,0.019216475717097357,-0.012089219443054851,-0.000976827453411556,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2839134582951977,-0.013461562515321542,-2.700951480505528,0.5437243439358208,1.9507085917068303,-0.03633490150363266,0.553278232287496,2.9163235439275668,3.254229712793024,3.254229712793024,3.610720000002485,0,0,-0.00023076354691983626,-9.999999025923074e-05
+62149,1792046426625505566,18755331000000,1792046426623576397,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762542797503389,-0.004907796294857324,0.08764215795427265,0.9999999589662677,3.367593713540426e-05,0.00024423124545742644,0.00011281559052007384,0.6761,-0.0048,0.08725818697543992,1.0,0.0,0.0,0.0,0.17351632373505593,0.28988532787707044,2.926371138952638,0.021086980664425978,-0.009171231071149496,0.0008549696515987629,0.2490913005882747,0.2963146174948252,2.584035580788936,0.01921333249983391,-0.012091251353957352,-0.0009838438597499176,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2886132347584012,-0.05559541278809977,-2.6872622324202577,0.572581205485464,1.940399733530876,-0.06228044007302572,0.553278232287496,2.926371138952638,3.240540464707754,3.240540464707754,3.6693600000025435,0,0,-0.0002584787569634691,-9.999999025923074e-05
+62221,1792046427225501729,18755931000000,1792046427223567411,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.676258890206914,-0.004915162344539116,0.0874879763234746,0.9999999552070771,3.896294256985248e-05,0.00025547377490441856,0.0001193471737609147,0.6761,-0.0048,0.0870955577063719,1.0,0.0,0.0,0.0,0.17034002711615992,0.27741378564717606,2.939957693607855,0.02006328257557181,-0.009154467075677764,0.0008320850625682082,0.24591500396937865,0.2838430752649308,2.597622135444153,0.018189634410979743,-0.01207448735848562,-0.0010067284487804723,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3361514998712938,-0.012361401049188805,-2.801370554543575,0.5678155613032027,2.025038987229118,-0.0296981388804533,0.553278232287496,2.939957693607855,3.354648786831071,3.354648786831071,3.7173600000025915,0,0,-0.00028311896588950256,-7.121216815872563e-05
+62293,1792046427825521969,18756531000000,1792046427823567102,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762539296041289,-0.004914384979306395,0.08730896588304164,0.9999999582158747,3.7614620806945695e-05,0.0002448271008477032,0.00011685865077474538,0.6761,-0.0048,0.08691861337372285,1.0,0.0,0.0,0.0,0.17995355024671872,0.26560028752826526,2.9675573530851067,0.01903652963350122,-0.009141014496424167,0.0007994318700397976,0.25552852709993745,0.27202957714602,2.625221794921405,0.017162881468909152,-0.012061034779232023,-0.001039381641308883,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.2726565001100552,-0.11879468705869804,-2.76794970691307,0.6154070181897643,1.9887007210816863,-0.0966447842499776,0.553278232287496,2.9675573530851067,3.321227939200566,3.321227939200566,3.7653600000026395,0,0,-0.00030826259164315326,-9.999999025923074e-05
+62364,1792046428417502273,18757123000000,1792046428415567423,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.676260885164297,-0.004922975350858556,0.08712947864030353,0.9999999539029262,3.453387413102421e-05,0.00025984622086956037,0.00012216531028840554,0.6761,-0.0048,0.08672922057439042,1.0,0.0,0.0,0.0,0.16127058258552213,0.26712799659358805,2.9695764424895392,0.019115332820488638,-0.008127890984762668,0.0008112515266539848,0.2368455594387409,0.2735572862113428,2.6272408843258375,0.01724168465589657,-0.011047911267570524,-0.0010275619846946958,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.3443984627410164,-0.0932202944960939,-2.8165633731364563,0.6272364983478088,2.0388238472233167,-0.07278320469203198,0.553278232287496,2.9695764424895392,3.3698416054239524,3.3698416054239524,3.812720000002687,0,0,-0.0003328936472410656,-6.376228297989001e-05
+62420,1792046428884500978,18757590000000,1792046428883577066,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762584695422261,-0.004927295931865177,0.08696664064308546,0.9999999537463519,3.422565381342712e-05,0.00025797642790957316,0.00012738495118247824,0.6761,-0.0048,0.08656946971853206,1.0,0.0,0.0,0.0,0.1615062203090888,0.25487193774315503,2.9857133084335086,0.01860233419118386,-0.008117374941326926,0.000796086127340768,0.23708119716230755,0.26130122736090977,2.643377750269807,0.01672868602659179,-0.011037395224134782,-0.0010427273840079125,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.4043420569315455,-0.09546700329563687,-2.8337790360731976,0.6288855383224055,2.072881195749484,-0.07789300688549627,0.553278232287496,2.9857133084335086,3.3870572683606937,3.3870572683606937,3.850080000002724,0,0,-0.00035274335363352636,-9.999999025923074e-05
+62480,1792046429384509969,18758090000000,1792046429383576779,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762484565956506,-0.004932095690100534,0.08677803142811136,0.9999999566916875,1.3177578612954746e-05,0.00024811976636511984,0.00012775922953744222,0.6761,-0.0048,0.08638726294563466,1.0,0.0,0.0,0.0,0.16784692310163468,0.24190436274088245,3.008868404055487,0.017211417205463105,-0.00911457123916982,0.000742006717803179,0.24342189995485344,0.24833365235863722,2.666532845891785,0.015337769040871037,-0.012034591521977675,-0.0010968067935455015,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.4020132290941392,-0.16043180049299513,-2.796845513878501,0.6636040229161482,2.0515536580923617,-0.12101672605577334,0.553278232287496,3.008868404055487,3.350123746165997,3.350123746165997,3.890080000002764,0,0,-0.0003762929951065238,-9.999999025923074e-05
+62532,1792046429817503935,18758523000000,1792046429815576580,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762440072194826,-0.004939994084677524,0.08661481217461774,0.9999999565259535,-6.941884142788604e-06,0.0002484306047387885,0.00012893797134777316,0.6761,-0.0048,0.08622033981744233,1.0,0.0,0.0,0.0,0.18070631024927097,0.23132316091820931,3.0092429272931063,0.01696643667433432,-0.009109620570425338,0.0007426852245151474,0.2562812871024897,0.23775245053596405,2.6669073691294045,0.015092788509742251,-0.012029640853233194,-0.001096128286833533,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.4264701275608678,-0.17458063064370746,-2.8079541295549215,0.669639426111002,2.0715603732406884,-0.1281920342349554,0.553278232287496,3.0092429272931063,3.3612323618424176,3.3612323618424176,3.924720000002799,0,0,-0.00039514639337964583,-9.999999025923074e-05
+62580,1792046430217499701,18758923000000,1792046430211566999,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762587521963477,-0.004946114748173224,0.0864675395649911,0.9999999512525534,-4.36496522013941e-06,0.000261787549222361,0.00014277948558237517,0.6761,-0.0048,0.08605874169846887,1.0,0.0,0.0,0.0,0.1454340984548217,0.23973738415557583,2.9888287968960063,0.017166106102013946,-0.007449760693747209,0.0007855557495732733,0.22100907530804043,0.24616667377333057,2.6464932387323046,0.015292457937421879,-0.010369780976555065,-0.0010532577617754072,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.4606219432630527,-0.2274829706821373,-2.8011006278257904,0.6964777260639188,2.078902584808043,-0.15583357395567143,0.553278232287496,2.9888287968960063,3.3543788601132865,3.3543788601132865,3.956720000002831,0,0,-0.00041362514983519914,-9.999999025923074e-05
+62632,1792046430650516952,18759356000000,1792046430643568123,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762563466088762,-0.004945417531752054,0.08628526512244902,0.9999999524405547,3.5905993068720656e-05,0.0002657029208965014,0.00012113822759231018,0.6761,-0.0048,0.08587508723283696,1.0,0.0,0.0,0.0,0.15348935421694276,0.23148543273581101,3.009031969755434,0.0169566440641527,-0.00809610794010118,0.0007553783140667439,0.2290643310701615,0.23791472235356576,2.666696411591732,0.015082995899560634,-0.011016128222909035,-0.0010834351972819367,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.5141992493736647,-0.16654713412445288,-2.844444575399621,0.6974800448842963,2.1222143398251667,-0.10625931172268815,0.553278232287496,3.009031969755434,3.397722807687117,3.397722807687117,3.9913600000028655,0,0,-0.0004345427119759312,-9.999999025923074e-05
+62680,1792046431050478774,18759756000000,1792046431043566965,DOWN_FORCE_DETACH,10,0.034,0.03400154411792755,0.6762650080314973,-0.00495462991493077,0.08611256993819236,0.9999999457594021,6.490607794623577e-05,0.00027268020037342523,0.00014613954528201425,0.6761,-0.0048,0.0856972801488278,1.0,0.0,0.0,0.0,0.1440493008653238,0.21953112761157534,3.016272323618163,0.016044092836292073,-0.007067518791301653,0.0007534179988007228,0.21962427771854257,0.22596041722933008,2.6739367654544615,0.014170444671700005,-0.009987539074109509,-0.0010853955125479577,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.5373505769623812,-0.15768317849170344,-2.7417978696180167,0.6677814845129575,2.0719746811797135,-0.11716280597696532,0.553278232287496,3.016272323618163,3.295076101905513,3.295076101905513,4.023360000002768,0,0,-0.00045454270807962347,-9.999999025923074e-05
+62724,1792046431417509111,18760123000000,1792046431415567369,DOWN_FORCE_DETACH,10,0.034,0.03400219976902008,0.6762646177101315,-0.00495373470844772,0.08593780127581874,0.9999999498940552,-2.2296940361452183e-06,0.00027979436174741326,0.00011560664005680273,0.6761,-0.0048,0.08552710492562035,1.0,0.0,0.0,0.0,0.14945113268099197,0.23221321877036877,3.0288727057648512,0.016942983378245194,-0.007700034630556327,0.0007450494163834607,0.22502610953421073,0.2386425083881235,2.6865371476011495,0.015069335213653126,-0.010620054913364183,-0.0010937640949652198,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.5666346502740276,-0.08163801408241952,-2.7856210485129025,0.6678620459017314,2.106391952199565,-0.056232090231344074,0.553278232287496,3.0288727057648512,3.3388992808003986,3.3388992808003986,4.052720000002634,0,0,-0.00047289270450476115,-9.999999025923074e-05
+62792,1792046431980504539,18760686000000,1792046431979566971,DOWN_SETTLE,10,0.034,0.03400154411792755,0.6762591588428458,-0.004953325509227885,0.08577445556622583,0.9999999536079839,3.506392819326163e-06,0.0002610462911358452,0.000126765270062654,0.6761,-0.0048,0.08538774058684444,1.0,0.0,0.0,0.0,0.15375318791548026,0.2158921902642214,2.931838933385358,0.015951262830195555,-0.008059494017237196,0.0008087259900756022,0.22932816476869902,0.22232147988197615,2.589503375221656,0.014077614665603488,-0.010979514300045052,-0.0010300875212730784,0.07557497685321875,0.006429289617754755,-0.3423355581637016,-0.0018736481645920673,-0.0029200202828078563,-0.0018388135113486805,1,1.5114839132855091,-0.218313204889106,-2.635035603300843,0.7042448895192305,2.011628982850325,-0.14605556669825467,0.553278232287496,2.931838933385358,3.188313835588339,0.0,0.0,0,0,-1.2050540434641427e-05,0.0001217226306529437
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..725ddfb562c841988dc811412171c1e5cd231a43
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f04bb5d95871d8dfc76cbcf810f27df6782fadaa
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.400000000e+00,DOWN_FORCE_DETACH,1792046385477835195,1.024897636e-05,-6.330714673e-05,-3.510842648e-04,7.108271162e-06,-5.711352517e-05,-3.406911254e-04,6.789359974e-06,-5.676292903e-05,-3.378046454e-04,7.015481205e-01,-6.175618541e-05,8.403898569e-01,7.015449798e-01,-5.556256385e-05,8.404002501e-01,7.017361489e-01,-5.498068519e-05,8.292351967e-01
+5,2.866666667e+00,DOWN_FORCE_DETACH,1792046386374163938,4.323907775e-05,-6.362446673e-05,-3.959183119e-04,4.574528918e-05,-7.024240014e-05,-3.815400647e-04,4.614091478e-05,-6.983845954e-05,-3.789703231e-04,7.015811106e-01,-6.207350541e-05,8.403450229e-01,7.015836168e-01,-6.869143882e-05,8.403594011e-01,7.017755004e-01,-6.805621570e-05,8.291940310e-01
+6,3.650000000e+00,DOWN_FORCE_DETACH,1792046387870160503,4.638661148e-05,-7.276494648e-05,-4.470962830e-04,4.522257205e-05,-7.043876754e-05,-4.436280483e-04,4.573247235e-05,-7.004317009e-05,-4.414994963e-04,7.015842581e-01,-7.121398516e-05,8.402938449e-01,7.015830941e-01,-6.888780622e-05,8.402973131e-01,7.017750920e-01,-6.826092625e-05,8.291315019e-01
+7,4.300000000e+00,DOWN_FORCE_DETACH,1792046389102254616,4.746646669e-05,-7.550342922e-05,-4.632027696e-04,4.769932741e-05,-7.897206971e-05,-4.615674516e-04,4.837420207e-05,-7.852914940e-05,-4.599476333e-04,7.015853379e-01,-7.395246789e-05,8.402777384e-01,7.015855708e-01,-7.742110839e-05,8.402793737e-01,7.017777337e-01,-7.674690556e-05,8.291130537e-01
+8,4.900000000e+00,DOWN_FORCE_DETACH,1792046390232136159,5.814473551e-05,-8.773312241e-05,-4.902700159e-04,5.225143646e-05,-7.096678294e-05,-4.831954125e-04,5.309378317e-05,-7.057591212e-05,-4.819265855e-04,7.015960162e-01,-8.618216108e-05,8.402506712e-01,7.015901229e-01,-6.941582162e-05,8.402577458e-01,7.017824533e-01,-6.879366828e-05,8.290910748e-01
+9,5.350000000e+00,DOWN_FORCE_DETACH,1792046391098008720,6.252401613e-05,-7.789031735e-05,-5.270914942e-04,6.254170768e-05,-7.742915643e-05,-5.213758211e-04,6.353087543e-05,-7.702001975e-05,-5.199707874e-04,7.016003955e-01,-7.633935603e-05,8.402138497e-01,7.016004132e-01,-7.587819511e-05,8.402195654e-01,7.017928904e-01,-7.523777591e-05,8.290530306e-01
+10,5.950000000e+00,DOWN_FORCE_DETACH,1792046392294159876,6.602266197e-05,-9.279841845e-05,-5.859168620e-04,6.574896156e-05,-8.459636307e-05,-5.844591450e-04,6.667204650e-05,-8.410488901e-05,-5.828166359e-04,7.016038941e-01,-9.124745713e-05,8.401550243e-01,7.016036204e-01,-8.304540175e-05,8.401564820e-01,7.017960316e-01,-8.232264517e-05,8.289901847e-01
+11,6.266666667e+00,DOWN_FORCE_DETACH,1792046392928268237,6.816978412e-05,-9.722608609e-05,-6.125554001e-04,6.932938418e-05,-9.827420063e-05,-6.105042372e-04,7.028933920e-05,-9.767217791e-05,-6.089061204e-04,7.016060413e-01,-9.567512477e-05,8.401283858e-01,7.016072009e-01,-9.672323931e-05,8.401304370e-01,7.017996489e-01,-9.588993407e-05,8.289640952e-01
+12,6.616666667e+00,DOWN_FORCE_DETACH,1792046393626523859,7.137242057e-05,-8.345383813e-05,-6.374464362e-04,7.338838683e-05,-8.857792855e-05,-6.317768932e-04,7.432784859e-05,-8.807251691e-05,-6.302030837e-04,7.016092439e-01,-8.190287681e-05,8.401034948e-01,7.016112599e-01,-8.702696722e-05,8.401091643e-01,7.018036874e-01,-8.629027307e-05,8.289427983e-01
+13,6.966666667e+00,DOWN_FORCE_DETACH,1792046394324245905,7.257710594e-05,-9.571684809e-05,-6.632383120e-04,7.188269559e-05,-1.010543891e-04,-6.484837723e-04,7.281570682e-05,-1.004411305e-04,-6.470310721e-04,7.016104486e-01,-9.416588677e-05,8.400777029e-01,7.016097542e-01,-9.950342779e-05,8.400924574e-01,7.018021752e-01,-9.865888671e-05,8.289259703e-01
+14,7.583333333e+00,DOWN_FORCE_DETACH,1792046395490216718,7.640197415e-05,-9.979460234e-05,-7.062012778e-04,7.736608928e-05,-1.002508767e-04,-6.888926683e-04,7.833151937e-05,-9.964759182e-05,-6.874339588e-04,7.016142735e-01,-9.824364102e-05,8.400347399e-01,7.016152376e-01,-9.869991542e-05,8.400520485e-01,7.018076910e-01,-9.786534798e-05,8.288855674e-01
+15,8.150000000e+00,DOWN_FORCE_DETACH,1792046396554171548,8.496715139e-05,-1.204240821e-04,-7.489285958e-04,8.476765698e-05,-1.203984710e-04,-7.487961249e-04,8.564165325e-05,-1.196132759e-04,-7.470749171e-04,7.016228386e-01,-1.188731208e-04,8.399920126e-01,7.016226391e-01,-1.188475096e-04,8.399921451e-01,7.018150012e-01,-1.178310321e-04,8.288259264e-01
+16,8.283333333e+00,DOWN_FORCE_DETACH,1792046396818339281,8.636851097e-05,-5.249361105e-05,-7.577084206e-04,8.627917435e-05,-5.254019403e-05,-7.574961180e-04,8.715200399e-05,-5.239358356e-05,-7.557350753e-04,7.016242400e-01,-5.094264973e-05,8.399832328e-01,7.016241507e-01,-5.098923271e-05,8.399834451e-01,7.018165115e-01,-5.061133972e-05,8.288172663e-01
+17,8.683333333e+00,DOWN_FORCE_DETACH,1792046397586348455,9.830903096e-05,-7.778518403e-05,-8.029409683e-04,9.816689960e-05,-7.769750615e-05,-8.029454153e-04,9.913009567e-05,-7.722615238e-05,-8.009469038e-04,7.016361805e-01,-7.623422271e-05,8.399380002e-01,7.016360384e-01,-7.614654483e-05,8.399379958e-01,7.018284896e-01,-7.544390853e-05,8.287720544e-01
+18,9.150000000e+00,DOWN_FORCE_DETACH,1792046398450161427,1.042348736e-04,-8.852435666e-05,-8.474502599e-04,1.028879878e-04,-7.142180871e-05,-8.461020387e-04,1.038674314e-04,-7.104688233e-05,-8.441116389e-04,7.016421064e-01,-8.697339534e-05,8.398934909e-01,7.016407595e-01,-6.987084739e-05,8.398948391e-01,7.018332270e-01,-6.926463849e-05,8.287288897e-01
+19,9.350000000e+00,DOWN_FORCE_DETACH,1792046398850597071,1.061915847e-04,-9.163292354e-05,-8.659564163e-04,1.058867336e-04,-8.639937365e-05,-8.586721537e-04,1.069000577e-04,-8.587953139e-05,-8.567049410e-04,7.016440631e-01,-9.008196222e-05,8.398749848e-01,7.016437582e-01,-8.484841232e-05,8.398822690e-01,7.018362596e-01,-8.409728755e-05,8.287162964e-01
+20,9.716666667e+00,DOWN_FORCE_DETACH,1792046399546174221,1.100956192e-04,-9.437095507e-05,-8.902686470e-04,1.059772932e-04,-8.056503033e-05,-8.797839266e-04,1.069639142e-04,-8.010431565e-05,-8.779886898e-04,7.016479671e-01,-9.281999375e-05,8.398506725e-01,7.016438488e-01,-7.901406901e-05,8.398611573e-01,7.018363234e-01,-7.832207181e-05,8.286950127e-01
+21,9.866666667e+00,DOWN_FORCE_DETACH,1792046399846164848,1.098844479e-04,-1.025082428e-04,-9.014929488e-04,1.101040642e-04,-8.342161030e-05,-9.005189536e-04,1.111610091e-04,-8.298182532e-05,-8.986364660e-04,7.016477559e-01,-1.009572815e-04,8.398394482e-01,7.016479755e-01,-8.187064898e-05,8.398404222e-01,7.018405205e-01,-8.119958148e-05,8.286743649e-01
+22,1.016666667e+01,DOWN_FORCE_DETACH,1792046400445142035,1.140897290e-04,-8.190528963e-05,-9.193527588e-04,1.131564215e-04,-9.573395865e-05,-9.184566509e-04,1.141605917e-04,-9.518747245e-05,-9.166768768e-04,7.016519612e-01,-8.035432831e-05,8.398215884e-01,7.016510279e-01,-9.418299733e-05,8.398224845e-01,7.018435201e-01,-9.340522861e-05,8.286563245e-01
+23,1.063333333e+01,DOWN_FORCE_DETACH,1792046401376422371,1.171358609e-04,-9.249688390e-05,-9.477827427e-04,1.142788783e-04,-9.190633362e-05,-9.383698855e-04,1.153045603e-04,-9.138338915e-05,-9.369110608e-04,7.016550073e-01,-9.094592258e-05,8.397931584e-01,7.016521504e-01,-9.035537230e-05,8.398025713e-01,7.018446641e-01,-8.960114531e-05,8.286360903e-01
+24,1.095000000e+01,DOWN_FORCE_DETACH,1792046402010378816,1.193521693e-04,-8.618545954e-05,-9.719557338e-04,1.149491531e-04,-8.785099603e-05,-9.613882616e-04,1.159760635e-04,-8.735051788e-05,-9.599560571e-04,7.016572237e-01,-8.463449822e-05,8.397689855e-01,7.016528206e-01,-8.630003471e-05,8.397795529e-01,7.018453356e-01,-8.556827404e-05,8.286130453e-01
+25,1.130000000e+01,DOWN_FORCE_DETACH,1792046402708217422,1.244031398e-04,-9.834560784e-05,-9.994920046e-04,1.201611889e-04,-9.620026579e-05,-9.808056412e-04,1.212509535e-04,-9.562313974e-05,-9.795295956e-04,7.016622746e-01,-9.679464652e-05,8.397414492e-01,7.016580327e-01,-9.464930447e-05,8.397601355e-01,7.018506105e-01,-9.384089590e-05,8.285934718e-01
+26,1.190000000e+01,DOWN_FORCE_DETACH,1792046403839299153,1.340062462e-04,-1.032454569e-04,-1.052478462e-03,1.297470297e-04,-9.842816167e-05,-1.045410106e-03,1.308838640e-04,-9.784982758e-05,-1.043968008e-03,7.016718777e-01,-1.016944956e-04,8.396884627e-01,7.016676185e-01,-9.687720035e-05,8.396955311e-01,7.018602434e-01,-9.606758374e-05,8.285290333e-01
+27,1.258333333e+01,DOWN_FORCE_DETACH,1792046405134329914,1.396502943e-04,-1.033830196e-04,-1.116415134e-03,1.373413961e-04,-1.006177790e-04,-1.105610371e-03,1.384947301e-04,-9.997624355e-05,-1.104229759e-03,7.016775218e-01,-1.018320583e-04,8.396245261e-01,7.016752129e-01,-9.906681771e-05,8.396353308e-01,7.018678543e-01,-9.819399971e-05,8.284687716e-01
+28,1.306666667e+01,DOWN_FORCE_DETACH,1792046406066227015,1.441064549e-04,-1.136032043e-04,-1.158871597e-03,1.403386356e-04,-1.057324506e-04,-1.147164713e-03,1.414666559e-04,-1.050727872e-04,-1.145763673e-03,7.016819779e-01,-1.120522430e-04,8.395820696e-01,7.016782101e-01,-1.041814893e-04,8.395937765e-01,7.018708262e-01,-1.032905433e-04,8.284272377e-01
+29,1.361666667e+01,DOWN_FORCE_DETACH,1792046407098181462,1.491883663e-04,-9.904160980e-05,-1.210033044e-03,1.472570678e-04,-1.006912144e-04,-1.209336378e-03,1.483254952e-04,-1.000212015e-04,-1.207774191e-03,7.016870598e-01,-9.749064848e-05,8.395309081e-01,7.016851285e-01,-9.914025304e-05,8.395316048e-01,7.018776850e-01,-9.823895763e-05,8.283652272e-01
+30,1.393333333e+01,DOWN_FORCE_DETACH,1792046407696265625,1.503836315e-04,-9.595635752e-05,-1.248344378e-03,1.500296946e-04,-9.284653416e-05,-1.240932451e-03,1.510630990e-04,-9.224044794e-05,-1.239334332e-03,7.016882551e-01,-9.440539620e-05,8.394925968e-01,7.016879012e-01,-9.129557284e-05,8.395000087e-01,7.018804226e-01,-9.045820410e-05,8.283336670e-01
+31,1.441666667e+01,DOWN_FORCE_DETACH,1792046408662183732,1.581609204e-04,-1.117460373e-04,-1.293054421e-03,1.545207112e-04,-1.028789746e-04,-1.280928833e-03,1.555117811e-04,-1.022158887e-04,-1.279243160e-03,7.016960324e-01,-1.101950760e-04,8.394478868e-01,7.016923922e-01,-1.013280133e-04,8.394600124e-01,7.018848713e-01,-1.004336449e-04,8.282937582e-01
+32,1.483333333e+01,DOWN_FORCE_DETACH,1792046409492297601,1.638411704e-04,-1.014182025e-04,-1.336651679e-03,1.599384816e-04,-1.053725355e-04,-1.320622568e-03,1.608899198e-04,-1.047234414e-04,-1.318839381e-03,7.017017127e-01,-9.986724113e-05,8.394042895e-01,7.016978100e-01,-1.038215742e-04,8.394203186e-01,7.018902494e-01,-1.029411975e-04,8.282541620e-01
+33,1.541666667e+01,DOWN_FORCE_DETACH,1792046410658369424,1.694747114e-04,-1.028522198e-04,-1.404972409e-03,1.680820451e-04,-1.122825297e-04,-1.405213144e-03,1.689334244e-04,-1.115729592e-04,-1.403020183e-03,7.017073462e-01,-1.013012584e-04,8.393359688e-01,7.017059535e-01,-1.107315684e-04,8.393357280e-01,7.018982929e-01,-1.097907154e-04,8.281699812e-01
+34,1.591666667e+01,DOWN_FORCE_DETACH,1792046411622240471,1.736334268e-04,-1.069311640e-04,-1.462288204e-03,1.705757531e-04,-1.083275645e-04,-1.444563603e-03,1.713136492e-04,-1.076866363e-04,-1.442489283e-03,7.017115049e-01,-1.053802027e-04,8.392786530e-01,7.017084472e-01,-1.067766032e-04,8.392963776e-01,7.019006732e-01,-1.059043924e-04,8.281305121e-01
+35,1.648333333e+01,DOWN_FORCE_DETACH,1792046412686290614,1.805380651e-04,-1.068470217e-04,-1.525732859e-03,1.801864306e-04,-1.066822700e-04,-1.525627717e-03,1.807934391e-04,-1.060854477e-04,-1.523151080e-03,7.017184095e-01,-1.052960604e-04,8.392152083e-01,7.017180579e-01,-1.051313086e-04,8.392153135e-01,7.019101530e-01,-1.043032039e-04,8.280498503e-01
+36,1.716666667e+01,DOWN_FORCE_DETACH,1792046413984916961,1.871281754e-04,-1.155304152e-04,-1.610939648e-03,1.864086994e-04,-1.171000246e-04,-1.608020272e-03,1.869932576e-04,-1.164048294e-04,-1.605441023e-03,7.017249997e-01,-1.139794538e-04,8.391300015e-01,7.017242802e-01,-1.155490633e-04,8.391329209e-01,7.019163528e-01,-1.146225856e-04,8.279675603e-01
+37,1.790000000e+01,DOWN_FORCE_DETACH,1792046415380309324,1.913581155e-04,-1.085308761e-04,-1.702115875e-03,1.866342986e-04,-1.086257366e-04,-1.694258715e-03,1.870464030e-04,-1.079676255e-04,-1.691728223e-03,7.017292296e-01,-1.069799148e-04,8.390388253e-01,7.017245058e-01,-1.070747753e-04,8.390466825e-01,7.019164059e-01,-1.061853817e-04,8.278812731e-01
+38,1.868333333e+01,DOWN_FORCE_DETACH,1792046416910318714,1.989164988e-04,-1.093048244e-04,-1.818602518e-03,1.966300183e-04,-1.108636469e-04,-1.802099068e-03,1.970317963e-04,-1.102107508e-04,-1.799512171e-03,7.017367880e-01,-1.077538631e-04,8.389223387e-01,7.017345015e-01,-1.093126856e-04,8.389388421e-01,7.019263913e-01,-1.084285069e-04,8.277734892e-01
+39,1.940000000e+01,DOWN_FORCE_DETACH,1792046418340305103,2.057411995e-04,-1.100465180e-04,-1.937198783e-03,2.038785268e-04,-1.097793632e-04,-1.930765914e-03,2.040629096e-04,-1.090959280e-04,-1.927876868e-03,7.017436127e-01,-1.084955567e-04,8.388037424e-01,7.017417500e-01,-1.082284018e-04,8.388101753e-01,7.019334224e-01,-1.073136842e-04,8.276451245e-01
+40,2.000000000e+01,DOWN_FORCE_DETACH,1792046419538759150,2.097978050e-04,-1.111328499e-04,-2.058099809e-03,2.062069804e-04,-1.082895109e-04,-2.045859621e-03,2.061176471e-04,-1.075950634e-04,-2.042651222e-03,7.017476693e-01,-1.095818886e-04,8.386828414e-01,7.017440785e-01,-1.067385496e-04,8.386950816e-01,7.019354772e-01,-1.058128196e-04,8.275303501e-01
+41,2.061666667e+01,DOWN_FORCE_DETACH,1792046420702369468,2.164747218e-04,-1.069337742e-04,-2.177700622e-03,2.164267253e-04,-1.059395790e-04,-2.168966052e-03,2.161309086e-04,-1.052610046e-04,-2.165511370e-03,7.017543462e-01,-1.053828129e-04,8.385632406e-01,7.017542982e-01,-1.043886176e-04,8.385719751e-01,7.019454904e-01,-1.034787608e-04,8.274074900e-01
+42,2.115000000e+01,DOWN_FORCE_DETACH,1792046421706020864,2.174654232e-04,-1.118270129e-04,-2.301055278e-03,2.170867855e-04,-1.107999676e-04,-2.282635134e-03,2.165363159e-04,-1.100663079e-04,-2.278887187e-03,7.017553369e-01,-1.102760516e-04,8.384398859e-01,7.017549583e-01,-1.092490062e-04,8.384583061e-01,7.019458958e-01,-1.082840641e-04,8.272941142e-01
+43,2.165000000e+01,DOWN_FORCE_DETACH,1792046422666376555,2.186583020e-04,-1.099113014e-04,-2.446737051e-03,2.182614208e-04,-1.180755382e-04,-2.440435064e-03,2.171964598e-04,-1.172728726e-04,-2.435972897e-03,7.017565298e-01,-1.083603401e-04,8.382942041e-01,7.017561329e-01,-1.165245769e-04,8.383005061e-01,7.019465560e-01,-1.154906288e-04,8.271370285e-01
+44,2.213333333e+01,DOWN_FORCE_DETACH,1792046423564445670,2.214458093e-04,-1.135197329e-04,-2.591804837e-03,2.212685733e-04,-1.132543023e-04,-2.591604854e-03,2.197647893e-04,-1.124652281e-04,-2.586642157e-03,7.017593173e-01,-1.119687716e-04,8.381491364e-01,7.017591401e-01,-1.117033409e-04,8.381493363e-01,7.019491243e-01,-1.106829843e-04,8.269863592e-01
+45,2.260000000e+01,DOWN_FORCE_DETACH,1792046424462410415,2.228147707e-04,-1.187399653e-04,-2.750605540e-03,2.203342889e-04,-1.211975992e-04,-2.732297172e-03,2.183242898e-04,-1.203626081e-04,-2.727138596e-03,7.017606863e-01,-1.171890040e-04,8.379903356e-01,7.017582058e-01,-1.196466379e-04,8.380086440e-01,7.019476838e-01,-1.185803643e-04,8.268458628e-01
+46,2.295000000e+01,DOWN_FORCE_DETACH,1792046425162491942,2.185179915e-04,-1.217336507e-04,-2.899843515e-03,2.182002040e-04,-1.235677396e-04,-2.882416912e-03,2.156145310e-04,-1.226824937e-04,-2.876734594e-03,7.017563895e-01,-1.201826894e-04,8.378410977e-01,7.017560717e-01,-1.220167783e-04,8.378585243e-01,7.019449741e-01,-1.209002499e-04,8.266962668e-01
+47,2.331666667e+01,DOWN_FORCE_DETACH,1792046425894449138,2.185690870e-04,-1.235326449e-04,-3.056367513e-03,2.163885994e-04,-1.255519378e-04,-3.043509163e-03,2.132049783e-04,-1.246533781e-04,-3.037331567e-03,7.017564406e-01,-1.219816836e-04,8.376845737e-01,7.017542601e-01,-1.240009765e-04,8.376974320e-01,7.019425645e-01,-1.228711342e-04,8.265356698e-01
+48,2.368333333e+01,DOWN_FORCE_DETACH,1792046426622491840,2.181155773e-04,-1.291787110e-04,-3.227666324e-03,2.169407846e-04,-1.324425357e-04,-3.213057318e-03,2.131058404e-04,-1.314832879e-04,-3.206281506e-03,7.017559871e-01,-1.276277497e-04,8.375132749e-01,7.017548123e-01,-1.308915744e-04,8.375278839e-01,7.019424654e-01,-1.297010440e-04,8.263667198e-01
+49,2.398333333e+01,DOWN_FORCE_DETACH,1792046427222437499,2.192167440e-04,-1.326590535e-04,-3.386965976e-03,2.191059097e-04,-1.326089704e-04,-3.386832123e-03,2.146241349e-04,-1.316674463e-04,-3.379188345e-03,7.017570882e-01,-1.311080922e-04,8.373539752e-01,7.017569774e-01,-1.310580090e-04,8.373541091e-01,7.019439837e-01,-1.298852025e-04,8.261938130e-01
+50,2.428333333e+01,DOWN_FORCE_DETACH,1792046427822406061,2.164981678e-04,-1.358772783e-04,-3.560984094e-03,2.164109877e-04,-1.360905076e-04,-3.560569264e-03,2.113010524e-04,-1.350927960e-04,-3.552338849e-03,7.017543696e-01,-1.343263170e-04,8.371799571e-01,7.017542825e-01,-1.345395463e-04,8.371803719e-01,7.019406606e-01,-1.333105522e-04,8.260206625e-01
+51,2.460000000e+01,DOWN_FORCE_DETACH,1792046428420433527,2.255980185e-04,-1.418339350e-04,-3.739321621e-03,2.254498446e-04,-1.417859598e-04,-3.719939088e-03,2.199503316e-04,-1.407410499e-04,-3.711612496e-03,7.017634695e-01,-1.402829737e-04,8.370016196e-01,7.017633213e-01,-1.402349985e-04,8.370210021e-01,7.019493099e-01,-1.389588061e-04,8.258613889e-01
+52,2.485000000e+01,DOWN_FORCE_DETACH,1792046428886437040,2.214057891e-04,-1.493919811e-04,-3.905365236e-03,2.223379117e-04,-1.477685642e-04,-3.891112619e-03,2.162233879e-04,-1.467113080e-04,-3.882133890e-03,7.017592773e-01,-1.478410198e-04,8.368355760e-01,7.017602094e-01,-1.462176028e-04,8.368498286e-01,7.019455829e-01,-1.449290642e-04,8.256908675e-01
+53,2.511666667e+01,DOWN_FORCE_DETACH,1792046429386447193,2.113730920e-04,-1.534647901e-04,-4.093920825e-03,2.112140226e-04,-1.534820618e-04,-4.093691824e-03,2.041647455e-04,-1.523637101e-04,-4.084011665e-03,7.017492446e-01,-1.519138288e-04,8.366470204e-01,7.017490855e-01,-1.519311005e-04,8.366472494e-01,7.019335243e-01,-1.505814663e-04,8.254889897e-01
+54,2.535000000e+01,DOWN_FORCE_DETACH,1792046429819815957,2.057648949e-04,-1.603645611e-04,-4.260892092e-03,2.063875017e-04,-1.545341170e-04,-4.243402545e-03,1.987288392e-04,-1.533751112e-04,-4.233545034e-03,7.017436364e-01,-1.588135998e-04,8.364800491e-01,7.017442590e-01,-1.529831557e-04,8.364975386e-01,7.019280884e-01,-1.515928674e-04,8.253394563e-01
+55,2.555000000e+01,DOWN_FORCE_DETACH,1792046430220055723,2.226329938e-04,-1.620602016e-04,-4.404023947e-03,2.230810991e-04,-1.672387311e-04,-4.389854918e-03,2.151800572e-04,-1.659584983e-04,-4.379650157e-03,7.017605045e-01,-1.605092403e-04,8.363369172e-01,7.017609526e-01,-1.656877697e-04,8.363510863e-01,7.019445396e-01,-1.641762545e-04,8.251933512e-01
+56,2.578333333e+01,DOWN_FORCE_DETACH,1792046430650499018,2.189274781e-04,-1.667596310e-04,-4.586976274e-03,2.187343081e-04,-1.669147343e-04,-4.587032727e-03,2.101115041e-04,-1.655957862e-04,-4.576142577e-03,7.017567990e-01,-1.652086696e-04,8.361539649e-01,7.017566058e-01,-1.653637730e-04,8.361539085e-01,7.019394710e-01,-1.638135424e-04,8.249968588e-01
+57,2.598333333e+01,DOWN_FORCE_DETACH,1792046431047041950,2.273396740e-04,-1.756925719e-04,-4.757158993e-03,2.271261234e-04,-1.755761453e-04,-4.757018824e-03,2.180353589e-04,-1.741237884e-04,-4.745732065e-03,7.017652112e-01,-1.741416106e-04,8.359837822e-01,7.017649976e-01,-1.740251840e-04,8.359839224e-01,7.019473949e-01,-1.723415445e-04,8.248272693e-01
+58,2.618333333e+01,DOWN_FORCE_DETACH,1792046431414478895,2.280410105e-04,-1.702626396e-04,-4.931224874e-03,2.287401211e-04,-1.680611173e-04,-4.914511683e-03,2.191422575e-04,-1.666867496e-04,-4.903041620e-03,7.017659125e-01,-1.687116782e-04,8.358097163e-01,7.017666116e-01,-1.665101560e-04,8.358264295e-01,7.019485018e-01,-1.649045058e-04,8.246699597e-01
+59,2.648333333e+01,DOWN_SETTLE,1792046431979236056,2.232135518e-04,-1.754048307e-04,-5.097302631e-03,2.231271412e-04,-1.764950305e-04,-5.091716173e-03,2.127710010e-04,-1.750960609e-04,-5.080709833e-03,7.017610850e-01,-1.738538693e-04,8.356436386e-01,7.017609986e-01,-1.749440691e-04,8.356492250e-01,7.019421305e-01,-1.733138171e-04,8.244922915e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..292c3e5310bff56c980eeee5b9cf570bdc906fe6
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.8641e-02,2.5459e-03,2.4659e+00,-3.6965e-02,3.5430e-02,-2.6410e-05,3.9072e-04,-6.9870e-06,8.9169e-05,7.3016e-07,2.7232e-05,-2.0221e-07,4.0083e-04,2.7242e-05
+1,7.6667e-01,DOWN_FORCE_DETACH,1.8368e-04,-3.8574e-03,2.1810e-02,2.4807e+00,-3.8296e-02,3.6460e-02,-1.8347e-05,1.5174e-02,1.9257e-02,1.4931e-02,-1.3297e-03,1.0570e-03,7.8608e-06,2.8706e-02,1.6987e-03
+2,1.4167e+00,DOWN_FORCE_DETACH,3.6736e-04,8.8864e-03,2.4748e-02,2.5248e+00,-3.8491e-02,3.7327e-02,-1.9563e-05,2.7918e-02,2.2196e-02,5.9040e-02,-1.5252e-03,1.9240e-03,6.6448e-06,6.8977e-02,2.4552e-03
+3,1.8833e+00,DOWN_FORCE_DETACH,5.5319e-04,1.1742e-02,4.2114e-02,2.5884e+00,-3.9689e-02,3.7494e-02,-8.4938e-06,3.0773e-02,3.9562e-02,1.2257e-01,-2.7229e-03,2.0913e-03,1.7714e-05,1.3242e-01,3.4334e-03
+4,2.4000e+00,DOWN_FORCE_DETACH,7.3453e-04,1.6459e-02,3.5334e-02,2.6162e+00,-3.9203e-02,3.7806e-02,-1.5817e-05,3.5490e-02,3.2781e-02,1.5034e-01,-2.2375e-03,2.4035e-03,1.0391e-05,1.5792e-01,3.2838e-03
+5,2.8667e+00,DOWN_FORCE_DETACH,9.2133e-04,3.4210e-03,4.2716e-02,2.6006e+00,-3.9706e-02,3.6909e-02,-8.7428e-06,2.2452e-02,4.0163e-02,1.3478e-01,-2.7403e-03,1.5064e-03,1.7465e-05,1.4242e-01,3.1271e-03
+6,3.6500e+00,DOWN_FORCE_DETACH,1.1036e-03,1.8994e-02,4.2284e-02,2.5773e+00,-3.9666e-02,3.8067e-02,-1.5027e-05,3.8025e-02,3.9731e-02,1.1147e-01,-2.6997e-03,2.6643e-03,1.1181e-05,1.2430e-01,3.7930e-03
+7,4.3000e+00,DOWN_FORCE_DETACH,1.2870e-03,2.6952e-02,4.8475e-02,2.5498e+00,-4.0099e-02,3.8680e-02,-1.7518e-05,4.5984e-02,4.5922e-02,8.4012e-02,-3.1332e-03,3.2772e-03,8.6897e-06,1.0621e-01,4.5340e-03
+8,4.9000e+00,DOWN_FORCE_DETACH,1.4772e-03,3.1100e-02,4.3059e-02,2.5335e+00,-3.9733e-02,3.9001e-02,-2.9836e-05,5.0131e-02,4.0506e-02,6.7648e-02,-2.7666e-03,3.5988e-03,-3.6283e-06,9.3436e-02,4.5393e-03
+9,5.3500e+00,DOWN_FORCE_DETACH,1.6588e-03,3.0098e-02,4.7307e-02,2.5381e+00,-4.0037e-02,3.8938e-02,-3.0342e-05,4.9129e-02,4.4754e-02,7.2290e-02,-3.0706e-03,3.5357e-03,-4.1341e-06,9.8196e-02,4.6829e-03
+10,5.9500e+00,DOWN_FORCE_DETACH,1.8419e-03,3.3458e-02,5.2753e-02,2.5499e+00,-4.0428e-02,3.9182e-02,-3.1913e-05,5.2489e-02,5.0200e-02,8.4082e-02,-3.4616e-03,3.7791e-03,-5.7054e-06,1.1111e-01,5.1249e-03
+11,6.2667e+00,DOWN_FORCE_DETACH,2.0210e-03,3.3323e-02,6.2459e-02,2.5504e+00,-4.1105e-02,3.9178e-02,-2.8153e-05,5.2355e-02,5.9906e-02,8.4581e-02,-4.1388e-03,3.7750e-03,-1.9445e-06,1.1612e-01,5.6018e-03
+12,6.6167e+00,DOWN_FORCE_DETACH,2.2107e-03,3.3043e-02,5.4620e-02,2.5477e+00,-4.0572e-02,3.9165e-02,-3.2757e-05,5.2074e-02,5.2067e-02,8.1939e-02,-3.6062e-03,3.7623e-03,-6.5485e-06,1.1017e-01,5.2115e-03
+13,6.9667e+00,DOWN_FORCE_DETACH,2.3937e-03,3.6014e-02,6.3666e-02,2.5424e+00,-4.1203e-02,3.9379e-02,-2.8928e-05,5.5046e-02,6.1113e-02,7.6634e-02,-4.2372e-03,3.9764e-03,-2.7202e-06,1.1242e-01,5.8108e-03
+14,7.5833e+00,DOWN_FORCE_DETACH,2.5794e-03,3.5563e-02,6.2814e-02,2.5427e+00,-4.1150e-02,3.9350e-02,-3.0551e-05,5.4594e-02,6.0261e-02,7.6882e-02,-4.1837e-03,3.9473e-03,-4.3429e-06,1.1191e-01,5.7519e-03
+15,8.1500e+00,DOWN_FORCE_DETACH,2.7599e-03,3.6771e-02,6.4544e-02,2.5482e+00,-4.1270e-02,3.9429e-02,-2.8363e-05,5.5803e-02,6.1991e-02,8.2440e-02,-4.3045e-03,4.0261e-03,-2.1546e-06,1.1727e-01,5.8939e-03
+16,8.2833e+00,DOWN_FORCE_DETACH,2.9316e-03,3.2935e-02,7.1353e-02,2.5558e+00,-4.1741e-02,3.9154e-02,-2.1551e-05,5.1966e-02,6.8800e-02,9.0032e-02,-4.7748e-03,3.7510e-03,4.6571e-06,1.2466e-01,6.0719e-03
+17,8.6833e+00,DOWN_FORCE_DETACH,3.1268e-03,2.8805e-02,4.1508e-02,2.5547e+00,-3.9674e-02,3.8857e-02,-4.5444e-05,4.7837e-02,3.8955e-02,8.8843e-02,-2.7078e-03,3.4543e-03,-1.9235e-05,1.0816e-01,4.3892e-03
+18,9.1500e+00,DOWN_FORCE_DETACH,3.3084e-03,2.9199e-02,4.3093e-02,2.5707e+00,-3.9775e-02,3.8861e-02,-3.8693e-05,4.8231e-02,4.0540e-02,1.0489e-01,-2.8093e-03,3.4586e-03,-1.2485e-05,1.2236e-01,4.4558e-03
+19,9.3500e+00,DOWN_FORCE_DETACH,3.4945e-03,2.8724e-02,5.3337e-02,2.5665e+00,-4.0481e-02,3.8822e-02,-2.7197e-05,4.7756e-02,5.0784e-02,1.0068e-01,-3.5147e-03,3.4198e-03,-9.8895e-07,1.2246e-01,4.9039e-03
+20,9.7167e+00,DOWN_FORCE_DETACH,3.6810e-03,3.0956e-02,4.8771e-02,2.5590e+00,-4.0156e-02,3.8967e-02,-2.6500e-05,4.9988e-02,4.6218e-02,9.3163e-02,-3.1902e-03,3.5645e-03,-2.9174e-07,1.1539e-01,4.7836e-03
+21,9.8667e+00,DOWN_FORCE_DETACH,3.8606e-03,2.9333e-02,5.0109e-02,2.5638e+00,-4.0244e-02,3.8844e-02,-2.1920e-05,4.8365e-02,4.7556e-02,9.7964e-02,-3.2785e-03,3.4413e-03,4.2882e-06,1.1915e-01,4.7530e-03
+22,1.0167e+01,DOWN_FORCE_DETACH,4.0489e-03,2.9627e-02,5.9021e-02,2.5587e+00,-4.0850e-02,3.8854e-02,-1.3905e-05,4.8659e-02,5.6468e-02,9.2895e-02,-3.8840e-03,3.4510e-03,1.2303e-05,1.1910e-01,5.1957e-03
+23,1.0633e+01,DOWN_FORCE_DETACH,4.2354e-03,3.2076e-02,5.5309e-02,2.5436e+00,-4.0580e-02,3.9008e-02,-9.4796e-06,5.1108e-02,5.2756e-02,7.7800e-02,-3.6139e-03,3.6055e-03,1.6728e-05,1.0700e-01,5.1049e-03
+24,1.0950e+01,DOWN_FORCE_DETACH,4.4169e-03,3.3699e-02,5.2998e-02,2.5406e+00,-4.0411e-02,3.9108e-02,-1.0498e-05,5.2730e-02,5.0446e-02,7.4750e-02,-3.4446e-03,3.7054e-03,1.5710e-05,1.0446e-01,5.0592e-03
+25,1.1300e+01,DOWN_FORCE_DETACH,4.6081e-03,3.3021e-02,5.8753e-02,2.5329e+00,-4.0798e-02,3.9050e-02,-4.2463e-06,5.2053e-02,5.6200e-02,6.7090e-02,-3.8323e-03,3.6475e-03,2.1962e-05,1.0183e-01,5.2907e-03
+26,1.1900e+01,DOWN_FORCE_DETACH,4.7856e-03,3.2490e-02,6.1308e-02,2.5402e+00,-4.0960e-02,3.8986e-02,-4.1041e-06,5.1521e-02,5.8755e-02,7.4375e-02,-3.9937e-03,3.5837e-03,2.2104e-05,1.0788e-01,5.3659e-03
+27,1.2583e+01,DOWN_FORCE_DETACH,4.9678e-03,3.3621e-02,6.4083e-02,2.5385e+00,-4.1149e-02,3.9051e-02,-7.9663e-06,5.2652e-02,6.1530e-02,7.2687e-02,-4.1831e-03,3.6479e-03,1.8242e-05,1.0882e-01,5.5503e-03
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+29,1.3617e+01,DOWN_FORCE_DETACH,5.3407e-03,3.4525e-02,6.5256e-02,2.5489e+00,-4.1250e-02,3.9106e-02,-1.3621e-05,5.3556e-02,6.2703e-02,8.3050e-02,-4.2844e-03,3.7033e-03,1.2587e-05,1.1704e-01,5.6631e-03
+30,1.3933e+01,DOWN_FORCE_DETACH,5.5225e-03,3.4232e-02,5.9930e-02,2.5519e+00,-4.0892e-02,3.9085e-02,-1.7297e-05,5.3263e-02,5.7377e-02,8.6091e-02,-3.9261e-03,3.6825e-03,8.9110e-06,1.1636e-01,5.3829e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..52c35153b88015e42f620b9e887b5817cd64c7b7
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:644fdbee5d6ded67e3c57feebe54408bfeb8cb2d5b6ccdb2725ecdb8a24ce998
+size 8417280
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4246e61a9f051c14f42c0c640f9570f7d7b67958
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,2.733333e+00,2834,6.942370e-01,1.223599e-02,8.245532e-01,1.734860e-05,-5.514411e-05,1.686613e-04,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.733333e+00,2835,6.970501e-01,1.072699e-02,8.364743e-01,3.662519e-05,-4.107798e-05,1.355992e-04,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..00c793b3537c902f089cacc53a4e100703e32854
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..931a9e056586b141a3687346aee5cb3588ea8c37
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9cdee320591ffe9ff2f65afc7d23a2b270099895
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,2.350000000e+00,UP_FORCE_HOLD,1792046375298211959,-8.175289686e-06,-5.134655412e-05,1.689793872e-04,-9.750656594e-06,-5.712001605e-05,1.556741273e-04,-8.674571665e-06,-5.677302274e-05,1.546122601e-04,7.015296962e-01,-4.979559280e-05,8.409099206e-01,7.015281208e-01,-5.556905473e-05,8.408966153e-01,7.017206851e-01,-5.499075406e-05,8.297276137e-01
+53,2.383333333e+00,UP_FORCE_HOLD,1792046375364109451,-4.495792933e-06,-5.438168424e-05,1.772025326e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-3.048986603e-06,-5.416330600e-05,1.759654614e-04,7.015333757e-01,-5.283072292e-05,8.409181437e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263107e-01,-5.238103733e-05,8.297489669e-01
+54,2.433333333e+00,UP_FORCE_HOLD,1792046375462398902,-6.178133730e-06,-5.230561943e-05,1.774857135e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-3.035262709e-06,-5.416255485e-05,1.760223380e-04,7.015316933e-01,-5.075465810e-05,8.409184269e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263244e-01,-5.238028617e-05,8.297490237e-01
+55,2.483333333e+00,UP_FORCE_HOLD,1792046375564986590,-6.609438199e-06,-5.296282091e-05,1.796110431e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-3.024934267e-06,-5.416244799e-05,1.760694568e-04,7.015312620e-01,-5.141185959e-05,8.409205522e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263348e-01,-5.238017931e-05,8.297490709e-01
+56,2.533333333e+00,UP_FORCE_HOLD,1792046375662277828,-6.211068027e-06,-5.268067140e-05,1.823054002e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-3.015679310e-06,-5.416258737e-05,1.761122078e-04,7.015316604e-01,-5.112971007e-05,8.409232466e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263440e-01,-5.238031870e-05,8.297491136e-01
+57,2.600000000e+00,UP_FORCE_HOLD,1792046375798465659,-5.412113765e-06,-5.544479464e-05,1.841390059e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-3.004021892e-06,-5.416281505e-05,1.761645906e-04,7.015324594e-01,-5.389383332e-05,8.409250802e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263557e-01,-5.238054638e-05,8.297491660e-01
+58,2.666666667e+00,UP_FORCE_HOLD,1792046375930179600,-5.305405852e-06,-5.389733538e-05,1.857649640e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-2.992907799e-06,-5.416310144e-05,1.762136192e-04,7.015325661e-01,-5.234637406e-05,8.409267062e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263668e-01,-5.238083277e-05,8.297492150e-01
+59,2.733333333e+00,UP_FORCE_HOLD,1792046376062124617,-6.613045280e-06,-5.287963608e-05,1.842399012e-04,-4.324051767e-06,-5.447151057e-05,1.772899369e-04,-2.982164892e-06,-5.416339941e-05,1.762600735e-04,7.015312584e-01,-5.132867476e-05,8.409251811e-01,7.015335474e-01,-5.292054925e-05,8.409182311e-01,7.017263775e-01,-5.238113074e-05,8.297492615e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..263e90b4dbf21ccddd1976fb20bda54c2069bff8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_10/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.8633e-02,2.5463e-03,2.4659e+00,-3.6965e-02,3.5430e-02,-2.6404e-05,3.9035e-04,-7.3141e-06,8.9169e-05,7.4878e-07,2.7213e-05,-2.0320e-07,4.0047e-04,2.7224e-05
+1,5.0000e-02,UP_FORCE_RAMP,1.1853e-05,-1.7480e-02,2.5372e-03,2.4662e+00,-3.6964e-02,3.5511e-02,-2.7019e-05,1.5434e-03,-1.6356e-05,3.5000e-04,2.1271e-06,1.0755e-04,-8.1799e-07,1.5827e-03,1.0757e-04
+2,1.1667e-01,UP_FORCE_RAMP,2.2029e-05,-1.5960e-02,2.5537e-03,2.4665e+00,-3.6964e-02,3.5617e-02,-2.7630e-05,3.0635e-03,1.2619e-07,6.8951e-04,1.9930e-06,2.1340e-04,-1.4295e-06,3.1401e-03,2.1341e-04
+3,1.6667e-01,UP_FORCE_RAMP,3.5516e-05,-1.4866e-02,2.5634e-03,2.4667e+00,-3.6964e-02,3.5693e-02,-2.8099e-05,4.1576e-03,9.8585e-06,9.2959e-04,2.0936e-06,2.8977e-04,-1.8980e-06,4.2603e-03,2.8978e-04
+4,2.1667e-01,UP_FORCE_RAMP,4.4846e-05,-1.3799e-02,2.5720e-03,2.4670e+00,-3.6964e-02,3.5767e-02,-2.8573e-05,5.2240e-03,1.8394e-05,1.1692e-03,2.2799e-06,3.6423e-04,-2.3720e-06,5.3533e-03,3.6425e-04
+5,2.5000e-01,UP_FORCE_RAMP,6.0023e-05,-1.3101e-02,2.5786e-03,2.4671e+00,-3.6964e-02,3.5816e-02,-2.8880e-05,5.9224e-03,2.5011e-05,1.3251e-03,2.3283e-06,4.1300e-04,-2.6790e-06,6.0689e-03,4.1301e-04
+6,3.1667e-01,UP_FORCE_RAMP,6.9398e-05,-1.1738e-02,2.5950e-03,2.4674e+00,-3.6964e-02,3.5911e-02,-2.9473e-05,7.2850e-03,4.1438e-05,1.6284e-03,2.2464e-06,5.0819e-04,-3.2721e-06,7.4649e-03,5.0820e-04
+7,3.6667e-01,UP_FORCE_RAMP,8.1085e-05,-1.0743e-02,2.6064e-03,2.4677e+00,-3.6964e-02,3.5981e-02,-2.9912e-05,8.2802e-03,5.2851e-05,1.8497e-03,2.2613e-06,5.7775e-04,-3.7113e-06,8.4845e-03,5.7776e-04
+8,4.5000e-01,UP_FORCE_RAMP,9.3131e-05,-9.1864e-03,2.7047e-03,2.4680e+00,-3.6969e-02,3.6090e-02,-3.0688e-05,9.8368e-03,1.5112e-04,2.1973e-03,-2.7679e-06,6.8694e-04,-4.4871e-06,1.0080e-02,6.8696e-04
+9,5.1667e-01,UP_FORCE_RAMP,1.0554e-04,-7.9569e-03,2.7384e-03,2.4683e+00,-3.6970e-02,3.6176e-02,-3.1250e-05,1.1066e-02,1.8480e-04,2.4691e-03,-3.9190e-06,7.7309e-04,-5.0491e-06,1.1340e-02,7.7312e-04
+10,5.6667e-01,UP_FORCE_RAMP,1.1667e-04,-7.0512e-03,2.7576e-03,2.4685e+00,-3.6970e-02,3.6240e-02,-3.1628e-05,1.1972e-02,2.0405e-04,2.6703e-03,-4.4145e-06,8.3652e-04,-5.4275e-06,1.2268e-02,8.3655e-04
+11,6.3333e-01,UP_FORCE_RAMP,1.2564e-04,-5.1474e-03,1.5362e-02,2.4632e+00,-3.7848e-02,3.6375e-02,-2.3412e-05,1.3876e-02,1.2808e-02,-2.6550e-03,-8.8152e-04,9.7205e-04,2.7886e-06,1.9069e-02,1.3122e-03
+12,6.8333e-01,UP_FORCE_RAMP,1.3805e-04,-4.3533e-03,1.4884e-02,2.4639e+00,-3.7815e-02,3.6432e-02,-2.2295e-05,1.4670e-02,1.2330e-02,-1.9145e-03,-8.4935e-04,1.0283e-03,3.9056e-06,1.9259e-02,1.3337e-03
+13,7.6667e-01,UP_FORCE_RAMP,1.5132e-04,-3.0383e-03,1.4357e-02,2.4646e+00,-3.7777e-02,3.6524e-02,-2.3254e-05,1.5985e-02,1.1803e-02,-1.1873e-03,-8.1114e-04,1.1204e-03,2.9466e-06,1.9906e-02,1.3832e-03
+14,7.8333e-01,UP_FORCE_RAMP,1.5894e-04,-2.7731e-03,1.4300e-02,2.4647e+00,-3.7773e-02,3.6542e-02,-2.3375e-05,1.6250e-02,1.1746e-02,-1.0695e-03,-8.0690e-04,1.1390e-03,2.8260e-06,2.0080e-02,1.3959e-03
+15,8.3333e-01,UP_FORCE_RAMP,1.7147e-04,-1.9808e-03,1.4169e-02,2.4651e+00,-3.7763e-02,3.6598e-02,-2.3800e-05,1.7042e-02,1.1615e-02,-7.3481e-04,-7.9693e-04,1.1946e-03,2.4009e-06,2.0637e-02,1.4360e-03
+16,9.0000e-01,UP_FORCE_RAMP,1.8659e-04,-9.4276e-04,1.4048e-02,2.4655e+00,-3.7753e-02,3.6671e-02,-2.4354e-05,1.8080e-02,1.1495e-02,-3.2711e-04,-7.8745e-04,1.2673e-03,1.8466e-06,2.1428e-02,1.4920e-03
+17,9.3333e-01,UP_FORCE_RAMP,1.9590e-04,1.1543e-03,1.9450e-02,2.4520e+00,-3.8130e-02,3.6824e-02,-2.0083e-05,2.0178e-02,1.6896e-02,-1.3855e-02,-1.1635e-03,1.4211e-03,6.1179e-06,2.9742e-02,1.8367e-03
+18,9.8333e-01,UP_FORCE_RAMP,2.1103e-04,1.8129e-03,1.9101e-02,2.4532e+00,-3.8105e-02,3.6871e-02,-2.0610e-05,2.0836e-02,1.6548e-02,-1.2587e-02,-1.1389e-03,1.4679e-03,5.5910e-06,2.9434e-02,1.8579e-03
+19,1.0167e+00,UP_FORCE_RAMP,2.1852e-04,2.2581e-03,1.8966e-02,2.4538e+00,-3.8095e-02,3.6902e-02,-2.0960e-05,2.1281e-02,1.6413e-02,-1.2000e-02,-1.1291e-03,1.4992e-03,5.2404e-06,2.9432e-02,1.8768e-03
+20,1.0833e+00,UP_FORCE_RAMP,2.3176e-04,1.2551e-03,1.7045e-02,2.4414e+00,-3.7960e-02,3.6838e-02,-2.3052e-05,2.0278e-02,1.4491e-02,-2.4385e-02,-9.9359e-04,1.4350e-03,3.1485e-06,3.4869e-02,1.7454e-03
+21,1.1167e+00,UP_FORCE_RAMP,2.3910e-04,1.7579e-03,1.7007e-02,2.4423e+00,-3.7957e-02,3.6874e-02,-2.3327e-05,2.0781e-02,1.4454e-02,-2.3477e-02,-9.9079e-04,1.4704e-03,2.8741e-06,3.4525e-02,1.7730e-03
+22,1.1500e+00,UP_FORCE_RAMP,2.5363e-04,2.2389e-03,1.6974e-02,2.4431e+00,-3.7954e-02,3.6907e-02,-2.3574e-05,2.1262e-02,1.4421e-02,-2.2684e-02,-9.8817e-04,1.5041e-03,2.6265e-06,3.4272e-02,1.7996e-03
+23,1.2000e+00,UP_FORCE_RAMP,2.6891e-04,2.9360e-03,1.6931e-02,2.4442e+00,-3.7951e-02,3.6956e-02,-2.3939e-05,2.1959e-02,1.4378e-02,-2.1624e-02,-9.8459e-04,1.5528e-03,2.2621e-06,3.4007e-02,1.8387e-03
+24,1.2167e+00,UP_FORCE_RAMP,2.7579e-04,2.1268e-03,1.3612e-02,2.4284e+00,-3.7720e-02,3.6904e-02,-2.6205e-05,2.1150e-02,1.1058e-02,-3.7387e-02,-7.5374e-04,1.5007e-03,-4.5984e-09,4.4355e-02,1.6794e-03
+25,1.2667e+00,UP_FORCE_RAMP,2.8950e-04,2.9154e-03,1.3716e-02,2.4304e+00,-3.7725e-02,3.6962e-02,-2.7205e-05,2.1939e-02,1.1163e-02,-3.5405e-02,-7.5889e-04,1.5588e-03,-1.0043e-06,4.3121e-02,1.7337e-03
+26,1.3000e+00,UP_FORCE_RAMP,3.0017e-04,3.3893e-03,1.3751e-02,2.4315e+00,-3.7727e-02,3.6995e-02,-2.7417e-05,2.2413e-02,1.1197e-02,-3.4289e-02,-7.6110e-04,1.5920e-03,-1.2162e-06,4.2467e-02,1.7646e-03
+27,1.3333e+00,UP_FORCE_RAMP,3.1017e-04,1.0391e-03,1.3535e-02,2.4186e+00,-3.7711e-02,3.6835e-02,-2.7872e-05,2.0062e-02,1.0981e-02,-4.7166e-02,-7.4495e-04,1.4318e-03,-1.6711e-06,5.2419e-02,1.6140e-03
+28,1.3833e+00,UP_FORCE_RAMP,3.2334e-04,1.7520e-03,1.3546e-02,2.4209e+00,-3.7711e-02,3.6886e-02,-2.8029e-05,2.0775e-02,1.0993e-02,-4.4883e-02,-7.4536e-04,1.4825e-03,-1.8288e-06,5.0665e-02,1.6593e-03
+29,1.4667e+00,UP_FORCE_RAMP,3.3480e-04,2.9848e-03,1.3552e-02,2.4239e+00,-3.7711e-02,3.6972e-02,-2.8422e-05,2.2008e-02,1.0999e-02,-4.1861e-02,-7.4502e-04,1.5685e-03,-2.2212e-06,4.8556e-02,1.7364e-03
+30,1.5167e+00,UP_FORCE_RAMP,3.4882e-04,3.6673e-03,1.3554e-02,2.4255e+00,-3.7710e-02,3.7019e-02,-2.8664e-05,2.2691e-02,1.1000e-02,-4.0302e-02,-7.4444e-04,1.6160e-03,-2.4631e-06,4.7541e-02,1.7792e-03
+31,1.5500e+00,UP_FORCE_RAMP,3.5816e-04,4.1067e-03,1.3554e-02,2.4265e+00,-3.7710e-02,3.7050e-02,-2.8838e-05,2.3130e-02,1.1001e-02,-3.9326e-02,-7.4397e-04,1.6466e-03,-2.6374e-06,4.6931e-02,1.8068e-03
+32,1.6000e+00,UP_FORCE_RAMP,3.6842e-04,4.7479e-03,1.3554e-02,2.4279e+00,-3.7709e-02,3.7094e-02,-2.9100e-05,2.3771e-02,1.1001e-02,-3.7935e-02,-7.4322e-04,1.6912e-03,-2.8998e-06,4.6100e-02,1.8473e-03
+33,1.6667e+00,UP_FORCE_RAMP,3.8267e-04,8.7242e-03,1.8227e-02,2.4178e+00,-3.8034e-02,3.7380e-02,-2.5551e-05,2.7747e-02,1.5674e-02,-4.8020e-02,-1.0684e-03,1.9767e-03,6.5008e-07,5.7633e-02,2.2470e-03
+34,1.7500e+00,UP_FORCE_RAMP,3.9256e-04,9.4946e-03,1.7946e-02,2.4208e+00,-3.8014e-02,3.7434e-02,-2.6202e-05,2.8518e-02,1.5393e-02,-4.4966e-02,-1.0480e-03,2.0305e-03,-1.5280e-09,5.5427e-02,2.2850e-03
+35,1.7500e+00,UP_FORCE_RAMP,3.9256e-04,9.4946e-03,1.7946e-02,2.4208e+00,-3.8014e-02,3.7434e-02,-2.6202e-05,2.8518e-02,1.5393e-02,-4.4966e-02,-1.0480e-03,2.0305e-03,-1.5280e-09,5.5427e-02,2.2850e-03
+36,1.7667e+00,UP_FORCE_RAMP,4.3761e-04,9.6573e-03,1.7915e-02,2.4214e+00,-3.8012e-02,3.7445e-02,-2.6338e-05,2.8681e-02,1.5362e-02,-4.4425e-02,-1.0456e-03,2.0418e-03,-1.3744e-07,5.5065e-02,2.2940e-03
+37,1.7667e+00,UP_FORCE_RAMP,4.3761e-04,9.6573e-03,1.7915e-02,2.4214e+00,-3.8012e-02,3.7445e-02,-2.6338e-05,2.8681e-02,1.5362e-02,-4.4425e-02,-1.0456e-03,2.0418e-03,-1.3744e-07,5.5065e-02,2.2940e-03
+38,1.7667e+00,UP_FORCE_RAMP,4.3761e-04,9.6573e-03,1.7915e-02,2.4214e+00,-3.8012e-02,3.7445e-02,-2.6338e-05,2.8681e-02,1.5362e-02,-4.4425e-02,-1.0456e-03,2.0418e-03,-1.3744e-07,5.5065e-02,2.2940e-03
+39,1.7833e+00,UP_FORCE_RAMP,4.5038e-04,1.6845e-02,4.8328e-02,2.4095e+00,-4.0131e-02,3.7953e-02,-5.4294e-06,3.5868e-02,4.5774e-02,-5.6338e-02,-3.1645e-03,2.5502e-03,2.0771e-05,8.0968e-02,4.0643e-03
+40,1.8333e+00,UP_FORCE_RAMP,4.6080e-04,1.6881e-02,4.7115e-02,2.4124e+00,-4.0053e-02,3.7960e-02,-2.4042e-06,3.5904e-02,4.4562e-02,-5.3397e-02,-3.0868e-03,2.5564e-03,2.3796e-05,7.8270e-02,4.0080e-03
+41,1.8833e+00,UP_FORCE_RAMP,4.7550e-04,1.7048e-02,4.6204e-02,2.4144e+00,-3.9989e-02,3.7971e-02,-3.4652e-06,3.6072e-02,4.3651e-02,-5.1370e-02,-3.0229e-03,2.5680e-03,2.2736e-05,7.6455e-02,3.9665e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8c227c69366e211651fa719858ea9af9d084cf98
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
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+2679,1792041104255203533,13432937000000,1792041104254094847,DOWN_FORCE_DETACH,1,0.0425,0.04253624007105827,0.6759953712362782,-0.004773823333585407,0.09092207812470576,0.9999999718585513,0.00010591213181314563,-0.00015952388023436598,0.00010516897342121177,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,0.016344231192896082,-0.002486914509062981,0.0302281556385601,2.129202483612167e-05,-0.0010193871636330208,-3.8130544164302095e-05,0.07604191418269093,-0.002062395268611831,-0.22196210322161783,-0.0018700210110991333,-0.003958031895266722,-0.0019517832257930148,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3076686942829068,-0.4914085882000077,0.21780561686781952,0.6695794849594097,0.11318569774518668,-0.3707974590857109,0.44977163125745984,0.0302281556385601,0.23196601438964032,0.23196601438964032,0.23196601438964032,0,0,0.0,0.0
+2795,1792041105222182613,13433904000000,1792041105218094893,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6759973644683587,-0.004779159970179256,0.09092182470012576,0.9999999723623895,0.00010383531013888324,-0.00015666209171528477,0.00010673941307877042,0.6761,-0.0048,0.09099065490084578,1.0,0.0,0.0,0.0,0.03455105416563866,0.019803889485064168,0.020728615512230347,0.001072636643791087,-0.0020519273885518563,-3.243276836083263e-05,0.09424873715543351,0.020228408725515318,-0.23146164334794758,-0.0008186763921441681,-0.004990572120185557,-0.0019460854499895454,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.312824158069019,-0.39531526424556107,0.19314548213899338,0.6501953745646366,0.12750520321637412,-0.3054243466488467,0.44977163125745984,0.020728615512230347,0.2566261491184665,0.2566261491184665,0.30932601438965773,0,0,-1.979954848271704e-05,-9.999999025923074e-05
+2931,1792041106355222167,13435037000000,1792041106354095066,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6759979679309337,-0.004783089000825531,0.0909025852343987,0.9999999727561191,0.00010310335281163611,-0.00015206860681722147,0.00011034248013899166,0.6761,-0.0048,0.09095417717331403,1.0,0.0,0.0,0.0,0.04653656082477802,0.03928341572096372,0.040931458944828664,0.0010990062443680497,-0.0030711510237634294,-6.297996986098916e-05,0.10623424381457287,0.03970793496141487,-0.21125879991534927,-0.0007923067915672053,-0.00600979575539713,-0.001976632651489702,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4853495132740122,-0.4299022027094131,0.01732056328605672,0.6738630878044208,0.2848289789182961,-0.3302968919743403,0.44977163125745984,0.040931458944828664,0.4324510679714031,0.4324510679714031,0.3999660143896855,0,0,-4.0932021179414295e-05,9.831843258834567e-05
+3051,1792041107355199663,13436037000000,1792041107354105193,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6759980536889773,-0.004792563123447499,0.09086023781789605,0.9999999724791826,9.987627086108262e-05,-0.000150314315960292,0.00011796116074979752,0.6761,-0.0048,0.09091017743887372,1.0,0.0,0.0,0.0,0.06082782249953723,0.03244780549699663,0.09102045406915271,0.0011274317128824925,-0.004088673066176071,-0.00011769512599158708,0.12052550548933208,0.03287232473744778,-0.16116980479102522,-0.0007638813230527625,-0.007027317797809771,-0.0020313478076203,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5033259749318573,-0.3730451934953865,0.05331565034963236,0.6727132932112311,0.2640639909446549,-0.28489283743835375,0.44977163125745984,0.09102045406915271,0.39645598090782747,0.39645598090782747,0.47996601438971,0,0,-4.383130566418115e-05,-9.869418757103005e-05
+3136,1792041108064264965,13436746000000,1792041108062095232,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6759963837682204,-0.004791497828134853,0.09083046212812378,0.9999999721753935,0.00010078297668421705,-0.0001503693764697095,0.00011968257507891489,0.6761,-0.0048,0.09087960407307312,1.0,0.0,0.0,0.0,0.05317696417086427,0.04598889933569084,0.12156617916081092,0.0021059181620873653,-0.0031575750397960013,-0.00011653245601764978,0.11287464716065912,0.04641341857614199,-0.130624079699367,0.0002146051261521104,-0.006096219771429702,-0.0020301851376463625,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4775141196330968,-0.3223680077410616,-0.03165637106109007,0.6529061192851165,0.30847849458738275,-0.2564735872439213,0.44977163125745984,0.12156617916081092,0.48142800231854993,0.48142800231854993,0.5366860143897019,0,0,-4.278652562749352e-05,-1.4342262923515498e-05
+3266,1792041109147267400,13437829000000,1792041109146094923,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6759980332742882,-0.004796280871113604,0.09078421615189702,0.9999999729058338,9.928675299899412e-05,-0.00014388108742044773,0.00012276632068224772,0.6761,-0.0048,0.0908233304964722,1.0,0.0,0.0,0.0,0.062113553245625945,0.0393637523692328,0.17175665245750488,0.0020940984420517368,-0.0031225473647068154,-0.00015533669323309664,0.1218112362354208,0.03978827160968395,-0.08043360640267307,0.00020278540611648184,-0.006061192096340516,-0.0020689893748618094,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.51075559717037,-0.43026075322748236,-0.11248055185594184,0.6906721289377328,0.36874168782857075,-0.32529422547877396,0.44977163125745984,0.17175665245750488,0.5622521831134016,0.5622521831134016,0.6233260143896683,0,0,-5.810398572417418e-05,7.430125545238581e-05
+3378,1792041110080175107,13438762000000,1792041110078095164,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6759960196806422,-0.0047954021491057215,0.09072783409153505,0.9999999733657134,9.747561086793153e-05,-0.00014345601429889592,0.00012095583506325669,0.6761,-0.0048,0.0907658323438675,1.0,0.0,0.0,0.0,0.06937383187869359,0.03352956850469295,0.2224837991543271,0.0021005631625728893,-0.0037724120984207296,-0.0001336424114113527,0.12907151486848845,0.0339540877451441,-0.029706459705850848,0.00020925012663763453,-0.0067110568300544305,-0.0020472950930400654,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.513163957116146,-0.3561949349229517,-0.16363820792069025,0.6769085144731278,0.399387426590634,-0.27808866071057814,0.44977163125745984,0.2224837991543271,0.6134098391781501,0.6134098391781501,0.6979660143896393,0,0,-6.358822230853457e-05,-3.186787919518537e-05
+3462,1792041110780234125,13439462000000,1792041110774095206,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6759966360544737,-0.004806126236613657,0.09068788656302156,0.9999999741980268,9.30415067149274e-05,-0.00013861516432127775,0.00012319060245458285,0.6761,-0.0048,0.09071905450303018,1.0,0.0,0.0,0.0,0.061896802592327334,0.041019061986064774,0.2724206264721761,0.0020678487544123106,-0.0031449546383360027,0.0005628758233830633,0.12159448558212219,0.041443581226515924,0.020230367611998153,0.0001765357184770558,-0.006083599369969704,-0.0013507768582456494,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4902118807761144,-0.3715045580175061,-0.2361387292809712,0.6777303086096347,0.4389580902435667,-0.2849854052269237,0.44977163125745984,0.2724206264721761,0.685910360538431,0.685910360538431,0.7539660143896176,0,0,-7.091591332633739e-05,9.989486601658654e-05
+3561,1792041111605205164,13440287000000,1792041111598100909,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6759959568506545,-0.004805493771747627,0.09063323174780441,0.9999999741857223,9.546731609366925e-05,-0.00013548779200412878,0.00012490183714748796,0.6761,-0.0048,0.09065844308118812,1.0,0.0,0.0,0.0,0.06185190945080093,0.0334973189139565,0.32601464069600394,0.002080184234227331,-0.0037986154182655433,-0.0001581459657222354,0.12154959244059578,0.03392183815440765,0.07382438183582603,0.0001888711982920758,-0.006737260149899244,-0.002071798647350948,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4820296615037478,-0.31737408330644484,-0.1693538931437769,0.6588462515135165,0.3961395387244517,-0.24899607356998765,0.44977163125745984,0.32601464069600394,0.6191255244012368,0.6191255244012368,0.819966014389592,0,0,-7.455299117917059e-05,-9.99997404590502e-05
+3649,1792041112339262344,13441021000000,1792041112338096529,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.67599452541727,-0.004806158157350823,0.09058209644839303,0.9999999740848531,9.464490027000631e-05,-0.00013669789386511205,0.00012501674357040475,0.6761,-0.0048,0.09060396900143132,1.0,0.0,0.0,0.0,0.06172170355380233,0.032406891520177984,0.37343310634108334,0.0019156866758266481,-0.003156692106877404,0.0004108582045119777,0.12141938654359719,0.032831410760629134,0.12124284748090543,2.4373639891393093e-05,-0.006095336838511105,-0.001502794477116735,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.565689695793978,-0.3418233424726715,-0.2929107618664166,0.6677896699162748,0.4969036023938866,-0.2677511588359437,0.44977163125745984,0.37343310634108334,0.7426823931238764,0.7426823931238764,0.8786860143895693,0,0,-7.452357451562109e-05,-9.079210580432146e-05
+3745,1792041113139302577,13441821000000,1792041113138095605,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6759981854581439,-0.004807036956265663,0.09053068058832255,0.9999999761250585,8.949668257356828e-05,-0.00012647160293472826,0.00012323970157048473,0.6761,-0.0048,0.09054251923977044,1.0,0.0,0.0,0.0,0.061344325929401096,0.03440056779000727,0.43272580602618194,0.001212163714132671,-0.003164742606819131,0.0006500194951316834,0.12104200891919595,0.03482508703045842,0.180535547166004,-0.0006791493218025839,-0.006103387338452832,-0.0012636331864970293,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5796964587206523,-0.337033991546193,-0.3499087948876949,0.6610695978106356,0.5365780836809398,-0.26551281775785707,0.44977163125745984,0.43272580602618194,0.7996804261451547,0.7996804261451547,0.9426860143895445,0,0,-7.505065622723096e-05,-9.996342228835715e-05
+3781,1792041113439269612,13442121000000,1792041113434104374,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760514286844214,-0.004799830136063586,0.09055311668136262,0.9999999816893098,9.659372459987361e-05,-6.819343232493567e-05,0.0001186741446552298,0.6761,-0.0048,0.09051994826554313,1.0,0.0,0.0,0.0,0.03679187145420843,0.06325593429815991,0.4072700319823498,0.003592049698340931,-0.0024111689288988758,0.0007219576143191427,0.09648955444400328,0.06368045353861106,0.15507977312217183,0.0017007366624056763,-0.005349813660532577,-0.00119169506730957,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.456662187969148,-0.3732349509386933,-0.21647231304347098,0.6847079831136225,0.4152904150452476,-0.2829115682432193,0.44977163125745984,0.4072700319823498,0.6662439443009308,0.6662439443009308,0.9666860143895352,0,0,-7.700378051453261e-05,-9.999999025923074e-05
+3857,1792041114072315874,13442754000000,1792041114070095706,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.676045532569132,-0.004802257449562996,0.09049913550270096,0.9999999831619394,8.225615145167651e-05,-7.385171523632922e-05,0.00011357303835074522,0.6761,-0.0048,0.0904647513535794,1.0,0.0,0.0,0.0,0.039879967202723514,0.07075091228027712,0.4480186675744773,0.004027764191912059,-0.0014214167783686018,0.000684165749931889,0.09957765019251837,0.07117543152072826,0.19582840871429935,0.002136451155976804,-0.004360061510002303,-0.0012294869316968238,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6458404687610773,-0.43129400071193447,-0.452643200266144,0.6894999182803085,0.6133311625452071,-0.3245923429218318,0.44977163125745984,0.4480186675744773,0.9024148315236038,0.9024148315236038,1.0173260143895395,0,0,-9.426731326246626e-05,2.3619868380986644e-05
+3957,1792041114905310974,13443587000000,1792041114898095358,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760551083412044,-0.0048036190690204945,0.09042864843256902,0.9999999847232119,7.759918991249801e-05,-5.910200666579644e-05,0.0001117217920067768,0.6761,-0.0048,0.09038118147959459,1.0,0.0,0.0,0.0,0.041231218427477796,0.06492129527199327,0.5002738145850094,0.004010294923387139,-0.0012071189615506504,0.0006584774418105744,0.10092890141727265,0.06534581451244441,0.24808355572483143,0.002118981887451884,-0.004145763693184351,-0.0012551752398181383,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6430606508682868,-0.38097394220897857,-0.4962432091842749,0.6801172268141065,0.6350270770968437,-0.2878143784400579,0.44977163125745984,0.5002738145850094,0.9460148404417348,0.9460148404417348,1.0839660143896062,0,0,-0.00010294473345581612,-5.030479785362303e-05
+4045,1792041115639240448,13444321000000,1792041115634095889,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760618940681825,-0.004807302371607299,0.09036309105481093,0.9999999860241806,7.21376634604842e-05,-4.510036115754818e-05,0.00011025705381515196,0.6761,-0.0048,0.09030211467163082,1.0,0.0,0.0,0.0,0.03779557107698674,0.06359017255486353,0.564132848897632,0.003998350125767055,-0.0012207351217686378,0.0006064988088892436,0.0974932540667816,0.06401469179531467,0.31194259003745406,0.0021070370898318004,-0.004159379853402339,-0.0013071538727394692,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6179219325838894,-0.4081040387368461,-0.549831678007531,0.6758058261648675,0.6657822243063026,-0.3138324125034646,0.44977163125745984,0.564132848897632,0.9996033092649907,0.9996033092649907,1.1426860143896649,0,0,-0.00011061319882346402,-3.8918841174497904e-05
+4137,1792041116405315813,13445087000000,1792041116402094662,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760590414301356,-0.004810372944637107,0.0902816174646854,0.9999999847712413,7.822114285389581e-05,-4.786818624072516e-05,0.00011614848714015836,0.6761,-0.0048,0.09021933799645046,1.0,0.0,0.0,0.0,0.037213524679861575,0.0597322823371369,0.6331283973504642,0.003984984401150534,-0.0012355648914732565,0.0005507381855290364,0.09691120766965643,0.06015680157758805,0.38093813849028624,0.0020936713652152795,-0.004174209623106957,-0.0013629144960996763,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6537494199068743,-0.41536779621746384,-0.6977768731957698,0.6722934899329343,0.7705943327874492,-0.3153162592403355,0.44977163125745984,0.6331283973504642,1.1475485044532296,1.1475485044532296,1.2039660143897262,0,0,-0.00010649403352627906,9.999999025923074e-05
+4242,1792041117280322934,13445962000000,1792041117278094580,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760579679463858,-0.004816613459669619,0.09018803480020217,0.999999983494052,8.46690693999342e-05,-5.092209478176618e-05,0.00012121406298734195,0.6761,-0.0048,0.09012701896461887,1.0,0.0,0.0,0.0,0.03235207125516459,0.05913536516655144,0.693920895980014,0.0029533398046088055,-0.0012296399362590371,0.0004893943859343838,0.09204975424495944,0.05955988440700259,0.4417306371198362,0.0010620267686735506,-0.004168284667892738,-0.001424258295694329,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5939050959391914,-0.4341920401378997,-0.6806830004555046,0.6811199061138209,0.745382754568694,-0.32854630968245835,0.44977163125745984,0.693920895980014,1.1304546317129645,1.1304546317129645,1.2739660143897962,0,0,-0.00010354070890536272,-5.894441465337792e-05
+4344,1792041118130289976,13446812000000,1792041118130094847,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760620364326946,-0.0048219453227845354,0.09010593404128141,0.999999982178819,9.586972698067195e-05,-4.2891764690346844e-05,0.00012670642470891905,0.6761,-0.0048,0.09003510010014268,1.0,0.0,0.0,0.0,0.041208584816457235,0.05113731530923237,0.7453778709423597,0.0029423218924309585,-0.001239895440731218,0.0004488153653489891,0.10090626780625209,0.05156183454968352,0.49318761208218187,0.0010510088564957035,-0.004178540172364919,-0.0014648373162797236,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.544409938558654,-0.3302161114084348,-0.6348061505874362,0.6504069298036776,0.7017920383995194,-0.26245158821714476,0.44977163125745984,0.7453778709423597,1.084577781844896,1.084577781844896,1.3419660143898642,0,0,-0.00011100864085874929,-9.999997638144293e-05
+4432,1792041118864330358,13447546000000,1792041118858094836,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760666937224235,-0.004818300692560004,0.09002891421987758,0.9999999849932035,8.308516327975363e-05,-3.499507794028096e-05,0.00011544980356003253,0.6761,-0.0048,0.08995016958976784,1.0,0.0,0.0,0.0,0.04082456119201933,0.052494141403879827,0.7841857958943539,0.003017666296338657,-0.0012492272761207121,0.0004178449686584303,0.10052224418181419,0.05291866064433098,0.5319955370341759,0.0011263532604034023,-0.004187872007754413,-0.0014958077129702825,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5565094887089548,-0.3105178657601479,-0.7709650100295876,0.6492481243825531,0.7891309091590067,-0.25030850958738043,0.44977163125745984,0.7841857958943539,1.2207366412870475,1.2207366412870475,1.400686014389923,0,0,-0.00011963945785039976,-7.501202023275084e-05
+4516,1792041119564272311,13448246000000,1792041119558095119,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760710576961807,-0.004820258359430307,0.08994899681914624,0.9999999854863845,7.495521249916393e-05,-2.9448899329427443e-05,0.00011825638957639994,0.6761,-0.0048,0.0898631962340609,1.0,0.0,0.0,0.0,0.031397297482410914,0.05669838612008496,0.8154097140454828,0.003866979836896771,-0.0012632909267861927,0.00040238260894542594,0.09109498047220577,0.05712290536053611,0.5632194551853048,0.0019756668009615163,-0.004201935658419894,-0.0015112700726832868,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5875676877629754,-0.37157402873746165,-0.767548813960961,0.6583846770663142,0.7977232540110253,-0.2885625673379521,0.44977163125745984,0.8154097140454828,1.2173204452184208,1.2173204452184208,1.456686014389979,0,0,-0.00012971202458941645,-9.992614655030536e-05
+4591,1792041120189347587,13448871000000,1792041120182095352,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.676074487359599,-0.004821549721406429,0.08986912274895391,0.9999999853059497,7.039392027092171e-05,-2.8893254645298994e-05,0.00012264110517901916,0.6761,-0.0048,0.08977813404608628,1.0,0.0,0.0,0.0,0.03159777134165708,0.06480179490724369,0.8446686162065131,0.0029469716107787826,-0.0002503790479096704,0.0003838934999480328,0.09129545433145193,0.06522631414769484,0.5924783573463352,0.0010556585748435277,-0.0031890237795433713,-0.00152975918168068,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6562456783116282,-0.3471380144845782,-0.9156935461418912,0.6464496271063122,0.9106305734295517,-0.27763159543985366,0.44977163125745984,0.8446686162065131,1.3654651773993511,1.3654651773993511,1.506686014390029,0,0,-0.00014333038570316236,9.651322382809297e-05
+4667,1792041120822350423,13449504000000,1792041120822095451,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760823493584271,-0.004825863699851598,0.08978751207499151,0.9999999845673422,6.709459203894767e-05,-1.7853892606953405e-05,0.00013224119614784234,0.6761,-0.0048,0.08968345721872409,1.0,0.0,0.0,0.0,0.02242135793677496,0.06496868962056286,0.8747144335749786,0.002892409375705037,-0.0002556130317999438,0.0003579295677213004,0.08211904092656981,0.065393208861014,0.6225241747148006,0.0010010963397697821,-0.0031942577634336447,-0.0015557231139074123,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5969801806145196,-0.36989127246495884,-0.9015133992692309,0.6501093410841998,0.8845017074778755,-0.29401315094125513,0.44977163125745984,0.8747144335749786,1.3512850305266908,1.3512850305266908,1.5573260143900796,0,0,-0.00015698865945687335,-6.756177148148907e-05
+4731,1792041121355349745,13450037000000,1792041121354096014,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760844766350494,-0.004830360978540504,0.08969697806851701,0.9999999835192055,6.24180594489486e-05,-1.616498872243504e-05,0.00014229241798327093,0.6761,-0.0048,0.08959526033756389,1.0,0.0,0.0,0.0,0.022285505711740115,0.056077889700654464,0.8847319263211855,0.0028883963935556795,-0.0002579118034042797,0.00034688258233556537,0.08198318870153497,0.056502408941105614,0.6325416674610076,0.0009970833576204245,-0.0031965565350379806,-0.0015667700992931474,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6243906427270636,-0.26935519800915136,-0.9678512462694076,0.6249945656160832,0.9329561662323086,-0.2244914795241428,0.44977163125745984,0.8847319263211855,1.4176228775268673,1.4176228775268673,1.5999660143901222,0,0,-0.00017329463560392255,9.974290424009097e-05
+4791,1792041121855356933,13450537000000,1792041121850095233,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760815176925098,-0.004823844572185084,0.0896057777346598,0.9999999908904506,1.966096031641016e-06,-1.6914626388287388e-05,9.68090553943964e-05,0.6761,-0.0048,0.08950446841420451,1.0,0.0,0.0,0.0,0.034584818194033036,0.06126472159157658,0.8952285211152429,0.003936187488715468,-0.0012913670804406423,0.0003398100820663347,0.09428250118382789,0.06168924083202773,0.6430382622550649,0.002044874452780213,-0.004230011812074343,-0.001573842599562378,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.600963413040626,-0.37641819456804065,-0.8379322531216296,0.6550113492736099,0.8471203885160471,-0.2924457777425729,0.44977163125745984,0.8952285211152429,1.2877038843790893,1.2877038843790893,1.6399660143901622,0,0,-0.00019032554988559903,-9.999999025923074e-05
+4847,1792041122322311873,13451004000000,1792041122318095139,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760820624997107,-0.004828456062655543,0.08951229723818678,0.9999999897156021,1.0509830221945696e-05,-1.8373925695622547e-05,0.0001075341929011711,0.6761,-0.0048,0.08941077241783818,1.0,0.0,0.0,0.0,0.03507229236674029,0.05044487144143068,0.9048788449735066,0.0029105021262035872,-0.0012752606609835611,0.0003192330553479013,0.09476997535653514,0.05086939068188183,0.6526885861133287,0.001019189090268332,-0.004213905392617262,-0.0015944196262808114,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.6318849587551156,-0.39825002580048274,-0.915982916320718,0.6714193621816401,0.8995651492342955,-0.302277380308743,0.44977163125745984,0.9048788449735066,1.3657545475781778,1.3657545475781778,1.6773260143901996,0,0,-0.000210854456418634,-9.999964331453554e-05
+4899,1792041122755255010,13451437000000,1792041122754094616,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760820548079733,-0.004827733423217202,0.08941722184244713,0.9999999785940537,0.00014172818274803536,-1.9022045232089143e-05,0.00011749910892090022,0.6761,-0.0048,0.0893162339441398,1.0,0.0,0.0,0.0,0.040715572747742367,0.04777119118196444,0.9327364478335558,0.002906193736705054,-0.0012802942423767627,0.0002975469938629367,0.10041325573753722,0.04819571042241559,0.6805461889733778,0.0010148807007697989,-0.004218938974010464,-0.001616105687765776,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5479991897936805,-0.23787529692952145,-0.8667557086630207,0.5869024540439276,0.8512206132052189,-0.2511108272487922,0.44977163125745984,0.9327364478335558,1.3165273399204804,1.3165273399204804,1.7119660143902342,0,0,-0.0002275370872648327,-9.999999025923074e-05
+4947,1792041123155368943,13451837000000,1792041123150095380,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760806561332031,-0.004832020950769577,0.0893210722323706,0.9999999793782738,0.00012714461948745421,-2.1865239262033832e-05,0.00012665888573294273,0.6761,-0.0048,0.08922175129081997,1.0,0.0,0.0,0.0,0.035316394569783284,0.04433942044622322,0.9346824001389988,0.0022088393117003424,-0.0012674888965238163,0.0002874519215151578,0.09501407755957814,0.04476393968667437,0.6824921412788209,0.00031752627576508736,-0.004206133628157517,-0.001626200760113555,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5846381071693891,-0.27842601672418793,-0.8838810140262888,0.6191812896721509,0.8665910064794373,-0.2497875034181188,0.44977163125745984,0.9346824001389988,1.3336526452837487,1.3336526452837487,1.7439660143902662,0,0,-0.00024465560002492746,-9.999999025923074e-05
+4990,1792041123514336079,13452196000000,1792041123510095560,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760814884869493,-0.0048353335374646325,0.08922974253298549,0.9999999801384972,0.00011311779790827753,-2.4030159769534664e-05,0.0001333895974158065,0.6761,-0.0048,0.08913174049189171,1.0,0.0,0.0,0.0,0.03552905759375891,0.04396195121291751,0.9345453790728655,0.0018846282224288867,-0.0012613199948025562,0.0002839323088359425,0.09522674058355377,0.04438647045336866,0.6823551202126876,-6.684813506368308e-06,-0.004199964726436257,-0.0016297203727927703,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5339778897824956,-0.3103118113404346,-0.9091097833318825,0.6392363656359528,0.862897740835272,-0.2594951104592479,0.44977163125745984,0.9345453790728655,1.3588814145893424,1.3588814145893424,1.772686014390295,0,0,-0.0002575434397231443,-9.999999025923074e-05
+5035,1792041123889363107,13452571000000,1792041123886094947,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760775184406506,-0.004840225383136841,0.0891250156079817,0.9999999829955425,8.830928727140137e-05,-2.8396361952476418e-05,0.00012979559149199353,0.6761,-0.0048,0.0890324715758546,1.0,0.0,0.0,0.0,0.04144841927340331,0.03822673878144531,0.9343918525623105,0.0018850143325770076,-0.0012613364150567256,0.00028477983012010653,0.10114610226319816,0.03865125802189646,0.6822015937021326,-6.2987033582472684e-06,-0.0041999811466904265,-0.0016288728515086062,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5563304436445666,-0.281974930527304,-0.916203357561446,0.6419947890903087,0.8718570837220413,-0.23874229895122917,0.44977163125745984,0.9343918525623105,1.3659749888189059,1.3659749888189059,1.802686014390325,0,0,-0.0002732229475957678,-9.999999025923074e-05
+5074,1792041124214401989,13452896000000,1792041124210095185,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760762022959342,-0.004837078558694673,0.08902899714909637,0.9999999855344617,6.963239604802024e-05,-3.0347399257436854e-05,0.00012084827522923837,0.6761,-0.0048,0.08894114758950955,1.0,0.0,0.0,0.0,0.04141401916429236,0.03503547774863748,0.9345521898935227,0.001884491796078011,-0.0012610423084546065,0.00028464097161099377,0.10111170215408721,0.03545999698908863,0.6823619310333447,-6.82123985724392e-06,-0.004199687040088307,-0.001629011710017719,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5134199554636176,-0.35493850850900815,-0.9423187690656665,0.6598805695809562,0.8750973726908261,-0.2832683451243847,0.44977163125745984,0.9345521898935227,1.3920904003231263,1.3920904003231263,1.828686014390351,0,0,-0.0002891248655864916,-9.999999025923074e-05
+5114,1792041124547271730,13453229000000,1792041124546094975,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760697314271678,-0.004845794179063939,0.08891900519618383,0.9999999832785558,8.159004731755101e-05,-4.150987106667096e-05,0.00012847469551486787,0.6761,-0.0048,0.08884210657015316,1.0,0.0,0.0,0.0,0.04187501491064446,0.03261273513096827,0.9429667945483022,0.000869546277811561,-0.0012440607000994528,0.0002711934867442125,0.10157269790043931,0.03303725437141942,0.6907765356881244,-0.001021766758123694,-0.004182705431733154,-0.0016424591948845002,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.473107889959153,-0.2520443992276091,-0.8925468784026704,0.638141876158626,0.832365897664344,-0.20950603240149285,0.44977163125745984,0.9429667945483022,1.3423185096601302,1.3423185096601302,1.8553260143903776,0,0,-0.0003057526010527819,-9.999999025923074e-05
+5154,1792041124880269884,13453562000000,1792041124878094420,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760719485301838,-0.004843019409097613,0.0888182669287904,0.9999999817194947,9.645679436321773e-05,-3.940430855407067e-05,0.00013094755381846466,0.6761,-0.0048,0.08873759120389836,1.0,0.0,0.0,0.0,0.03393516692532123,0.022525374107704436,0.9422456737230691,0.0008617430056975285,-0.0012430665536606066,0.0002654401193124042,0.09363284991511608,0.022949893348155587,0.6900554148628911,-0.0010295700302377264,-0.0041817112852943076,-0.0016482125623163086,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4676930560546195,-0.4270801177974704,-0.9251583771712507,0.6905996873725561,0.8478390134139075,-0.32929744475102757,0.44977163125745984,0.9422456737230691,1.3749300084287106,1.3749300084287106,1.8819660143904042,0,0,-0.0003216919195289921,-9.999536895589074e-05
+5194,1792041125214372916,13453896000000,1792041125214095121,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760701459580046,-0.004840242228094993,0.08870598204253587,0.9999999840748891,7.867370789598011e-05,-4.490727063953138e-05,0.0001228286231595262,0.6761,-0.0048,0.08862736672599678,1.0,0.0,0.0,0.0,0.037547668113724196,0.02304824493011862,0.9441726012300491,0.0008614654624868872,-0.0012433965949916353,0.0002648168550834643,0.09724535110351905,0.02347276417056977,0.6919823423698712,-0.0010298475734483678,-0.004182041326625336,-0.0016488358265452484,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4838011032440226,-0.33773243344007786,-1.0463965126915,0.6654720523683092,0.925651369933364,-0.2713262728188328,0.44977163125745984,0.9441726012300491,1.4961681439489598,1.4961681439489598,1.908686014390431,0,0,-0.000337956754849185,7.369945906188775e-05
+5230,1792041125514374087,13454196000000,1792041125514095340,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760704469034576,-0.004839678095293832,0.08860060892202629,0.9999999841211051,7.542089982759699e-05,-4.409921328042189e-05,0.0001247701932319566,0.6761,-0.0048,0.0885237699745673,1.0,0.0,0.0,0.0,0.041161095827884873,0.02269483427940391,0.9542104075744127,0.0008594717535460445,-0.0012456565237998246,0.00025720688605788034,0.10085877881767973,0.02311935351985506,0.7020201487142348,-0.0010318412823892105,-0.0041843012554335255,-0.0016564457955708324,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4882735358583408,-0.31976908103786733,-1.013110875492045,0.6579483388781268,0.9026585554908912,-0.2594598974611015,0.44977163125745984,0.9542104075744127,1.4628825067495048,1.4628825067495048,1.932686014390455,0,0,-0.0003528467896710393,-9.999999025923074e-05
+5266,1792041125814280327,13454496000000,1792041125810094853,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760701650501344,-0.00484686550845432,0.08849321407042314,0.9999999835097365,7.456030342517773e-05,-4.4336951169468496e-05,0.00012999379649114974,0.6761,-0.0048,0.08841567343810579,1.0,0.0,0.0,0.0,0.034633944925237366,0.020481409165008884,0.944804279903994,0.0008611222869370115,-0.0012432758562632884,0.0002638082518732492,0.09433162791503222,0.020905928405460034,0.692614021043816,-0.0010301907489982435,-0.004181920587896989,-0.0016498444297554636,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4782838804159242,-0.3728284131931617,-0.8935667071149761,0.6883769479834827,0.8190081183744939,-0.28730431386758226,0.44977163125745984,0.944804279903994,1.343338338372436,1.343338338372436,1.956686014390479,0,0,-0.00036784678674880853,-9.999999025923074e-05
+5302,1792041126114309570,13454796000000,1792041126114095366,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760675077533785,-0.004846845995063878,0.08837710113412385,0.9999999837879455,7.041792255823205e-05,-4.930378750177389e-05,0.00012836442553054898,0.6761,-0.0048,0.08830307690252094,1.0,0.0,0.0,0.0,0.038017147421782256,0.02244501761564286,0.9441986991694329,0.0008624842350188238,-0.001242460962137345,0.0002702151894732395,0.09771483041157711,0.02286953685609401,0.692008440309255,-0.0010288288009164311,-0.004181105693771046,-0.0016434374921554733,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4373265042096195,-0.3090651789103519,-0.8980222300744238,0.6716628807756178,0.8043841362138732,-0.2517512531641365,0.44977163125745984,0.9441986991694329,1.3477938613318836,1.3477938613318836,1.980686014390503,0,0,-0.00038284678382657775,-9.999999025923074e-05
+5330,1792041126347355399,13455029000000,1792041126342095281,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760678530719872,-0.004848627395839726,0.0882852655909065,0.9999999836143434,7.09441484544262e-05,-5.06437240589753e-05,0.00012890429914681322,0.6761,-0.0048,0.08821254105910649,1.0,0.0,0.0,0.0,0.04176596367916651,0.022090674028530665,0.9440860075566342,0.0008613576359364197,-0.0012434614107071453,0.0002654664110249283,0.10146364666896136,0.022515193268981815,0.6918957486964562,-0.0010299553999988352,-0.004182106142340846,-0.0016481862706037844,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.506500288119863,-0.35667558538980415,-0.9485030042806328,0.6854116578419355,0.8525131054382709,-0.2795723550814137,0.44977163125745984,0.9440860075566342,1.3982746355380926,1.3982746355380926,1.9993260143905216,0,0,-0.00039393641173698777,-9.999999025923074e-05
+5366,1792041126647345887,13455329000000,1792041126646094822,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760670826929348,-0.004849480355858337,0.08816555463640015,0.9999999835749339,7.028884289198585e-05,-5.17722959509533e-05,0.00012912050297876187,0.6761,-0.0048,0.08809211763602519,1.0,0.0,0.0,0.0,0.03323105345792859,0.009853997907589802,0.945067461764515,-0.00015757288691954099,-0.001223904490361386,0.0002521691440208183,0.09292873644772344,0.010278517148040952,0.692877202904337,-0.002048885922854796,-0.004162549221995087,-0.0016614835376078945,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4363684418047296,-0.3728569824551769,-0.904585253807032,0.6968503360580344,0.8027332341195856,-0.2938499871468833,0.44977163125745984,0.945067461764515,1.3543568850644918,1.3543568850644918,2.0233260143905456,0,0,-0.000408936408814757,-9.999999025923074e-05
+5395,1792041126889385404,13455571000000,1792041126882094947,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760642216222819,-0.004852160045979123,0.0880604125610409,0.999999982736037,7.312685584498188e-05,-5.690305639590535e-05,0.0001318533102326706,0.6761,-0.0048,0.08799174403288672,1.0,0.0,0.0,0.0,0.040408294390210354,0.010138402255678849,0.9538114342870958,-0.00016177927647752373,-0.0012259398122776897,0.0002459162105488634,0.1001059773800052,0.01056292149613,0.7016211754269179,-0.0020530923124127787,-0.004164584543911391,-0.0016677364710798493,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4539631306052017,-0.36783310287435234,-0.9270761809383848,0.7014559638203773,0.8176931159646221,-0.2900747353414189,0.44977163125745984,0.9538114342870958,1.3768478121958447,1.3768478121958447,2.042686014390565,0,0,-0.0004205736633914033,-9.999999025923074e-05
+5422,1792041127114387079,13455796000000,1792041127114095227,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760589724842636,-0.0048567452819525524,0.08795567844073149,0.9999999819816872,7.090866815929622e-05,-6.76691644647933e-05,0.00013368745180315577,0.6761,-0.0048,0.08789591346915437,1.0,0.0,0.0,0.0,0.03317102201379945,0.0017833957982725025,0.9638017314177647,-0.0001647884900121794,-0.0012271809758449812,0.00023695308490670887,0.0928687050035943,0.0022079150387236523,0.7116114725575867,-0.0020561015259474343,-0.004165825707478682,-0.0016766995967220039,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4775095075907643,-0.3887092232436176,-0.8934356034985117,0.7216878137780758,0.7983878271928986,-0.3003543444755833,0.44977163125745984,0.9638017314177647,1.3432072347559716,1.3432072347559716,2.060686014390583,0,0,-0.0004314858881679636,-9.999999025923074e-05
+5454,1792041127380325650,13456062000000,1792041127378095132,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760612728982067,-0.004856061853611987,0.08784551291068166,0.9999999824017355,7.228150120851745e-05,-6.212676994918982e-05,0.00013249544233838911,0.6761,-0.0048,0.0877793759732476,1.0,0.0,0.0,0.0,0.03905665293324984,0.003767899771307879,0.953787044808865,-0.00016264161612555904,-0.0012253459942128003,0.000245760851482065,0.0987543359230447,0.004192419011759029,0.7015967859486871,-0.002053954652060814,-0.004163990725846501,-0.0016678918301466477,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4330608456905096,-0.35782791665163066,-0.9673768238620631,0.7110895304713314,0.8289134886170387,-0.2810755815849353,0.44977163125745984,0.953787044808865,1.417148455119523,1.417148455119523,2.0819660143906042,0,0,-0.000444785885576919,-9.999999025923074e-05
+5482,1792041127614287599,13456296000000,1792041127614095055,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760563312664033,-0.0048569000140010615,0.08773083484085722,0.999999981040788,8.453426993913677e-05,-7.049710356675879e-05,0.00013132175538388535,0.6761,-0.0048,0.08767393302629042,1.0,0.0,0.0,0.0,0.03426004197234953,0.009171107895980527,0.9638197686914725,-0.00016346307489694257,-0.0012279348488445055,0.00023705856253455242,0.09395772496214438,0.009595627136431677,0.7116295098312946,-0.0020547761108321975,-0.004166579580478206,-0.0016765941190941603,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4124775788706891,-0.4624068361224033,-1.0121595010983753,0.7453084260737428,0.8519719658601216,-0.3453118476565329,0.44977163125745984,0.9638197686914725,1.461931132355835,1.461931132355835,2.100686014390623,0,0,-0.000456485883297579,-9.999999025923074e-05
+5510,1792041127847322956,13456529000000,1792041127846095325,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.676058198234138,-0.00486286874471687,0.08762743366982015,0.9999999797176669,9.433147540877215e-05,-6.794054351842935e-05,0.0001359896524601929,0.6761,-0.0048,0.08756622058983342,1.0,0.0,0.0,0.0,0.033158994873218876,0.0004585036986869989,0.9637992464460001,-0.0001641661472037419,-0.0012271034877544339,0.00024015488681512894,0.09285667786301373,0.0008830229391381487,0.7116089875858221,-0.002055479183138997,-0.004165748219388135,-0.0016734977948135838,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4583100050457947,-0.3243132053300784,-1.0831874581944463,0.7118886537827385,0.9067816526284654,-0.25468857517054855,0.44977163125745984,0.9637992464460001,1.532959089451906,1.532959089451906,2.1193260143906416,0,0,-0.0004679876680186716,-1.1170423558756119e-05
+5537,1792041128072334078,13456754000000,1792041128066095501,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760549949675236,-0.0048629222269506245,0.08752075408739862,0.9999999797063193,9.180169186470524e-05,-7.366622649438105e-05,0.00013481825544472593,0.6761,-0.0048,0.08745968647919754,1.0,0.0,0.0,0.0,0.03317346944578075,-0.009138359340930763,0.9538033385543174,-0.00016440161094705814,-0.001224159028857873,0.00024501573757644687,0.0928711524355756,-0.008713840100479613,0.7016130796941396,-0.002055714646882313,-0.004162803760491574,-0.0016686369440522659,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4105428404923204,-0.277915001355227,-0.9863588884683588,0.7044284559504405,0.8282903431913866,-0.22440781028841617,0.44977163125745984,0.9538033385543174,1.4361305197258187,1.4361305197258187,2.1373260143906596,0,0,-0.000479133916204992,-9.999999025923074e-05
+5565,1792041128305292539,13456987000000,1792041128298105497,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760580128769679,-0.004865593793653738,0.08741672757769225,0.999999981188843,7.807292493701174e-05,-6.798995942186387e-05,0.0001354516958131961,0.6761,-0.0048,0.08734670120057719,1.0,0.0,0.0,0.0,0.03319111061637354,0.006342647168342862,0.9638120666845327,-0.00016322285589116,-0.0012266820115534745,0.00023695346325461092,0.09288879360616839,0.0067671664087940115,0.7116218078243547,-0.002054535891826415,-0.0041653267431871754,-0.0016766992183741018,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4418002127927745,-0.29380275072635015,-0.9163741493096879,0.7127602842417589,0.7891822615900614,-0.23746938544376414,0.44977163125745984,0.9638120666845327,1.3661457805671477,1.3661457805671477,2.1559660143906783,0,0,-0.0004907330653739203,-9.999999025923074e-05
+5589,1792041128505363185,13457187000000,1792041128498104568,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760560668596935,-0.004872283858923688,0.08731555816103118,0.9999999810120741,7.181421041427196e-05,-7.275799946947055e-05,0.00013772330452859385,0.6761,-0.0048,0.0872475595876982,1.0,0.0,0.0,0.0,0.02832355998275165,-0.0035118075153522305,0.9636565804141743,-0.0001661046019359885,-0.0012263231257176846,0.00023633002840483066,0.0880212429725465,-0.0030872882749010807,0.7114663215539965,-0.0020574176378712434,-0.0041649678573513855,-0.001677322653223882,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4226615725942025,-0.42040078502985045,-0.8883898142615879,0.7552152652902584,0.764028961643807,-0.31790043304021115,0.44977163125745984,0.9636565804141743,1.3381614455190478,1.3381614455190478,2.1719660143906943,0,0,-0.0005007330634257664,-9.999999025923074e-05
+5617,1792041128739349910,13457421000000,1792041128734095343,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760581333871434,-0.004870567162306686,0.08720190248826051,0.9999999822393587,6.68193506041203e-05,-6.591207923606484e-05,0.0001347401905097322,0.6761,-0.0048,0.08712902500112439,1.0,0.0,0.0,0.0,0.031629388842138166,0.004021933894347979,0.9597807467313482,-0.00018978605541089696,-0.0002131005527723699,0.0002581341866803842,0.09132707183193302,0.004446453134799128,0.7075904878711702,-0.002081099091346152,-0.003151745284406071,-0.0016555184949483286,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4211769425938947,-0.40760639736977955,-0.9597357297658965,0.7590570231282787,0.8115880934752827,-0.3114166295567162,0.44977163125745984,0.9597807467313482,1.4095073610233564,1.4095073610233564,2.190686014390713,0,0,-0.0005124330611464264,-9.999999025923074e-05
+5641,1792041128939394436,13457621000000,1792041128938094979,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.676059036596089,-0.004866814843412107,0.08710072585670328,0.9999999815412692,8.115206346457749e-05,-6.638895924234272e-05,0.000131784574424827,0.6761,-0.0048,0.0870255433890909,1.0,0.0,0.0,0.0,0.02741546808242356,0.009338644529998687,0.9637441525698636,-0.0001917110913787531,-0.00021423094055488803,0.0002520202587461152,0.08711315107221841,0.009763163770449838,0.7115538937096857,-0.002083024127314008,-0.003152875672188589,-0.0016616324228825976,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.507396524605283,-0.4646624498371078,-0.9820587897700385,0.7816345922512342,0.8491961288536968,-0.34036508920826275,0.44977163125745984,0.9637441525698636,1.4318304210274984,1.4318304210274984,2.206686014390729,0,0,-0.0005224330591982726,-9.999999025923074e-05
+5665,1792041129139342069,13457821000000,1792041129134095106,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760582692626755,-0.004874716020400511,0.08699666284435982,0.999999981243518,7.858496698204644e-05,-6.475259773596621e-05,0.0001363353661199975,0.6761,-0.0048,0.08692006177744703,1.0,0.0,0.0,0.0,0.032622677794071304,0.0008217822394092323,0.9737520187325779,-0.00019437268670864107,-0.00021593334865225005,0.0002441136909051495,0.09232036078386616,0.0012463014798603821,0.7215617598724,-0.002085685722643896,-0.003154578080285951,-0.0016695389907235632,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4523434344826232,-0.4174177339892589,-0.9824428583208261,0.7656260554074067,0.8352754053983914,-0.31069117695832466,0.44977163125745984,0.9737520187325779,1.432214489578286,1.432214489578286,2.222686014390745,0,0,-0.0005324330572501187,-9.999999025923074e-05
+5689,1792041129339408345,13458021000000,1792041129338095763,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.676058745166172,-0.004878085979437082,0.08689040205915563,0.999999981515722,7.299757606371376e-05,-6.302582419137552e-05,0.00013824080177614426,0.6761,-0.0048,0.0868125801661928,1.0,0.0,0.0,0.0,0.018431415550300638,0.0012096131705189182,0.98377076970644,-0.00019600099350895717,-0.00021776525429309393,0.0002346095914934677,0.07812909854009549,0.001634132410970068,0.7315805108462621,-0.002087314029444212,-0.003156409985926795,-0.001679043090135245,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.530888961923432,-0.3654589581512339,-0.9652999613844977,0.7598081131925433,0.8464469289977513,-0.2753784268443695,0.44977163125745984,0.98377076970644,1.4150715926419575,1.4150715926419575,2.238686014390761,0,0,-0.0005424330553019649,-9.999999025923074e-05
+5713,1792041129539398769,13458221000000,1792041129538094963,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760543896135133,-0.004877837821740119,0.08677273175888216,0.9999999816548466,6.735546723239264e-05,-7.064075102225392e-05,0.00013640489720126079,0.6761,-0.0048,0.08670309855532819,1.0,0.0,0.0,0.0,0.023641338369201646,-0.006997435741768749,0.9737259852265365,-0.00019560190437734374,-0.00021505363540549795,0.0002434746591408472,0.0833390213589965,-0.006572916501317599,0.7215357263663585,-0.0020869149403125987,-0.003153698367039199,-0.0016701780224878655,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4576808049071157,-0.4396326953749093,-0.9997788956902839,0.7869140022592092,0.848157410043083,-0.3248579799859757,0.44977163125745984,0.9737259852265365,1.4495505269477438,1.4495505269477438,2.254686014390777,0,0,-0.000552433053353811,-9.999999025923074e-05
+5737,1792041129739298490,13458421000000,1792041129738094774,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.676057378458315,-0.004881366936116558,0.08666634197608762,0.9999999820545195,6.406597250641399e-05,-6.598946149604752e-05,0.00013738546981865912,0.6761,-0.0048,0.08659161694485322,1.0,0.0,0.0,0.0,0.015700769202029043,-0.009029493356314937,0.9737107976056607,-0.00019553361789621088,-0.00021484454052167435,0.00024252319355743085,0.0753984521918239,-0.008604974115863787,0.7215205387454828,-0.002086846653831466,-0.0031534892721553753,-0.0016711294880712819,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.47899797745626,-0.2764207909931422,-0.9169331413928801,0.7363586630601161,0.8040291957159817,-0.21375220431030845,0.44977163125745984,0.9737107976056607,1.3667047726503398,1.3667047726503398,2.270686014390793,0,0,-0.0005624330514056572,-9.999999025923074e-05
+5761,1792041129939399853,13458621000000,1792041129934095092,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.676057467252343,-0.004884494893374455,0.08655466745344657,0.9999999814721737,6.72781368709083e-05,-6.593531026154604e-05,0.0001400881999371301,0.6761,-0.0048,0.08647813533476788,1.0,0.0,0.0,0.0,0.014380123514900624,-0.009143369841052242,0.9754374978558038,-0.00019590638930322402,-0.00021517782457738293,0.00024071645626504048,0.07407780650469548,-0.008718850600601092,0.7232472389956258,-0.002087219425238479,-0.003153822556211084,-0.0016729362253636723,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5003833480574997,-0.36634082441085636,-0.8771005591176207,0.7771855071906025,0.7832241299165494,-0.26214657203738057,0.44977163125745984,0.9754374978558038,1.3268721903750806,1.3268721903750806,2.286686014390809,0,0,-0.0005724330494575033,-9.999999025923074e-05
+5785,1792041130139300897,13458821000000,1792041130138095036,DOWN_FORCE_DETACH,1,0.0425,0.04250209406018257,0.6760616190559895,-0.004884280396316562,0.08644670053151852,0.9999999830862656,6.147385965273124e-05,-5.6709570919336094e-05,0.00013518625072338588,0.6761,-0.0048,0.08636265372507217,1.0,0.0,0.0,0.0,0.0049384572780699285,0.0008481660856867897,0.9736568709598556,-0.0002215857984412923,0.0007978304824272997,0.0002569832090217514,0.06463614026786478,0.0012726853261379395,0.7214666120996778,-0.0021128988343765472,-0.002140814249206401,-0.0016566694726069613,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5309918992516722,-0.3680389299734297,-0.9753215279618743,0.7753775530340526,0.8577073244384574,-0.26486280578852295,0.44977163125745984,0.9736568709598556,1.425093159219334,1.425093159219334,2.302686014390825,0,0,-0.0005824330475093495,-9.999999025923074e-05
+5809,1792041130339375899,13459021000000,1792041130338095087,DOWN_FORCE_DETACH,1,0.0425,0.04250143840909004,0.6760629985968974,-0.004886299428676952,0.08633614524500784,0.999999982989678,6.369142270966402e-05,-5.484035789562181e-05,0.00013564455779085992,0.6761,-0.0048,0.08624517211576609,1.0,0.0,0.0,0.0,0.014159359799004768,0.0008213205986978085,0.9737711321760658,-0.00022174113497597215,0.0007961723737205982,0.0002580577850640562,0.07385704278879962,0.0012458398391489583,0.7215808733158879,-0.002113054170911227,-0.0021424723579131027,-0.0016555948965646565,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.5209891924714531,-0.5001270740128295,-0.9558628879337652,0.8108361951315836,0.8459352424143787,-0.34831368033280735,0.44977163125745984,0.9737711321760658,1.405634519191225,1.405634519191225,2.318686014390841,0,0,-0.0005924330455611956,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5c14d4445499a31156b6e55974c463ce9ee510c8
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5435d90148ce898edd4b0fdf80457a52b5c17f00
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,DOWN_FORCE_DETACH,1792041104256905582,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.400190602e-09,-2.394872842e-11,-2.266630217e-10,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293713e-01,1.743974197e-06,8.295726042e-01
+1,5.166666667e-01,DOWN_FORCE_DETACH,1792041105223462058,3.609286137e-06,-7.464619953e-06,1.039266928e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.080559740e-08,-5.026593360e-10,-4.195635950e-09,7.015414808e-01,-5.913658632e-06,8.407419805e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294197e-01,1.743495487e-06,8.295726002e-01
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+7,3.383333333e+00,DOWN_FORCE_DETACH,1792041110780481873,2.144928507e-06,-3.156115569e-05,-2.332215197e-04,1.986644615e-06,-3.200913320e-05,-2.336014941e-04,1.201247592e-06,-3.202186254e-05,-2.329507791e-04,7.015400164e-01,-3.001019437e-05,8.405077197e-01,7.015398581e-01,-3.045817188e-05,8.405073397e-01,7.017305701e-01,-3.027786440e-05,8.293396537e-01
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+9,4.183333333e+00,DOWN_FORCE_DETACH,1792041112342984422,1.209845448e-06,-3.333124209e-05,-3.380333772e-04,9.570371866e-07,-3.320102418e-05,-3.377981148e-04,-2.877486626e-07,-3.321885337e-05,-3.370694657e-04,7.015390813e-01,-3.178028077e-05,8.404029078e-01,7.015388285e-01,-3.165006286e-05,8.404031431e-01,7.017290811e-01,-3.147485522e-05,8.292355350e-01
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+15,6.333333333e+00,DOWN_FORCE_DETACH,1792041116401350334,6.273985070e-05,-3.589218257e-05,-6.412862712e-04,6.347794247e-05,-3.275478781e-05,-6.225802994e-04,6.313029451e-05,-3.270351945e-05,-6.221191842e-04,7.016006113e-01,-3.434122125e-05,8.400996549e-01,7.016013494e-01,-3.120382649e-05,8.401183609e-01,7.017924992e-01,-3.095952130e-05,8.289504852e-01
+16,6.700000000e+00,DOWN_FORCE_DETACH,1792041117280904494,6.476054808e-05,-4.207798534e-05,-7.295990065e-04,6.250582590e-05,-3.639089654e-05,-7.203347074e-04,6.184198761e-05,-3.635512904e-05,-7.197053022e-04,7.016026320e-01,-4.052702402e-05,8.400113422e-01,7.016003773e-01,-3.483993522e-05,8.400206065e-01,7.017912108e-01,-3.461113090e-05,8.288528991e-01
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+18,7.333333333e+00,DOWN_FORCE_DETACH,1792041118861172305,7.283095661e-05,-4.474870114e-05,-8.939948293e-04,7.337384160e-05,-4.022578919e-05,-8.833987852e-04,7.238434124e-05,-4.019240538e-05,-8.825892059e-04,7.016107024e-01,-4.319773982e-05,8.398469464e-01,7.016112453e-01,-3.867482787e-05,8.398575424e-01,7.018017532e-01,-3.844840723e-05,8.286900152e-01
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+20,8.000000000e+00,DOWN_FORCE_DETACH,1792041120193128587,8.045185674e-05,-4.826711166e-05,-1.051121617e-03,7.849620871e-05,-5.071492429e-05,-1.032116712e-03,7.712486518e-05,-5.066020549e-05,-1.031273349e-03,7.016183233e-01,-4.671615034e-05,8.396898196e-01,7.016163677e-01,-4.916396297e-05,8.397088245e-01,7.018064937e-01,-4.891620735e-05,8.285413311e-01
+21,8.333333333e+00,DOWN_FORCE_DETACH,1792041120825028027,8.695795737e-05,-4.932380305e-05,-1.135096611e-03,8.408770873e-05,-4.842301403e-05,-1.118985174e-03,8.251374322e-05,-4.838084219e-05,-1.118129055e-03,7.016248294e-01,-4.777284173e-05,8.396058446e-01,7.016219592e-01,-4.687205271e-05,8.396219560e-01,7.018118826e-01,-4.663684404e-05,8.284544754e-01
+22,8.616666667e+00,DOWN_FORCE_DETACH,1792041121357287169,8.674614596e-05,-5.637712580e-05,-1.228657103e-03,8.641205996e-05,-5.603447920e-05,-1.228531490e-03,8.445184345e-05,-5.599274666e-05,-1.227409280e-03,7.016246176e-01,-5.482616448e-05,8.395122841e-01,7.016242835e-01,-5.448351788e-05,8.395124097e-01,7.018138207e-01,-5.424874851e-05,8.283451952e-01
+23,8.883333333e+00,DOWN_FORCE_DETACH,1792041121855220485,8.702656654e-05,-4.927949127e-05,-1.315330348e-03,8.720268448e-05,-4.936080173e-05,-1.315363037e-03,8.498570955e-05,-4.933938445e-05,-1.314195221e-03,7.016248980e-01,-4.772852994e-05,8.394256108e-01,7.016250742e-01,-4.780984041e-05,8.394255782e-01,7.018143546e-01,-4.759538630e-05,8.282584092e-01
+24,9.133333333e+00,DOWN_FORCE_DETACH,1792041122320958794,8.671640144e-05,-5.480868047e-05,-1.409475476e-03,8.649981910e-05,-5.494997162e-05,-1.409537008e-03,8.390322327e-05,-5.489690096e-05,-1.408373390e-03,7.016245879e-01,-5.325771915e-05,8.393314657e-01,7.016243713e-01,-5.339901030e-05,8.393314042e-01,7.018132721e-01,-5.315290281e-05,8.281642310e-01
+25,9.350000000e+00,DOWN_FORCE_DETACH,1792041122752985563,8.787477100e-05,-5.205879883e-05,-1.502753738e-03,8.795219298e-05,-5.265877522e-05,-1.487597351e-03,8.502200374e-05,-5.260002952e-05,-1.486465114e-03,7.016257463e-01,-5.050783751e-05,8.392381874e-01,7.016258237e-01,-5.110781390e-05,8.392533438e-01,7.018143909e-01,-5.085603137e-05,8.280861393e-01
+26,9.566666667e+00,DOWN_FORCE_DETACH,1792041123152940951,8.688424760e-05,-5.784926189e-05,-1.596638452e-03,8.978920932e-05,-5.635818574e-05,-1.585218555e-03,8.653846734e-05,-5.633680115e-05,-1.583996402e-03,7.016247557e-01,-5.629830056e-05,8.391443027e-01,7.016276607e-01,-5.480722442e-05,8.391557226e-01,7.018159073e-01,-5.459280301e-05,8.279886080e-01
+27,9.766666667e+00,DOWN_FORCE_DETACH,1792041123517017720,8.512319860e-05,-6.296230343e-05,-1.693059383e-03,8.504830010e-05,-6.296584819e-05,-1.693127089e-03,8.129966438e-05,-6.294599830e-05,-1.691729515e-03,7.016229947e-01,-6.141134211e-05,8.390478818e-01,7.016229198e-01,-6.141488687e-05,8.390478141e-01,7.018106685e-01,-6.120200016e-05,8.278808749e-01
+28,9.950000000e+00,DOWN_FORCE_DETACH,1792041123885008421,8.449967193e-05,-6.229920653e-05,-1.793762043e-03,8.419371398e-05,-6.264405974e-05,-1.793861662e-03,8.004389291e-05,-6.260882992e-05,-1.792304743e-03,7.016223712e-01,-6.074824521e-05,8.389471791e-01,7.016220652e-01,-6.109309842e-05,8.389470795e-01,7.018094128e-01,-6.086483177e-05,8.277802997e-01
+29,1.013333333e+01,DOWN_FORCE_DETACH,1792041124216980495,8.194754609e-05,-6.512304574e-05,-1.893028555e-03,8.096278462e-05,-6.139518515e-05,-1.874806234e-03,7.643743763e-05,-6.135996645e-05,-1.873307922e-03,7.016198190e-01,-6.357208442e-05,8.388479126e-01,7.016188343e-01,-5.984422383e-05,8.388661350e-01,7.018058063e-01,-5.961596830e-05,8.276992965e-01
+30,1.030000000e+01,DOWN_FORCE_DETACH,1792041124549210537,7.816454856e-05,-6.609633385e-05,-1.997854494e-03,7.549674074e-05,-6.678235422e-05,-1.993275289e-03,7.034328794e-05,-6.673235077e-05,-1.991559843e-03,7.016160360e-01,-6.454537253e-05,8.387430867e-01,7.016133682e-01,-6.523139290e-05,8.387476659e-01,7.017997121e-01,-6.498835262e-05,8.275810446e-01
+31,1.048333333e+01,DOWN_FORCE_DETACH,1792041124883128219,7.945291052e-05,-6.581936625e-05,-2.102588688e-03,7.927180967e-05,-6.579233843e-05,-2.102157709e-03,7.385568546e-05,-6.572238587e-05,-2.100428636e-03,7.016173244e-01,-6.426840493e-05,8.386383525e-01,7.016171433e-01,-6.424137710e-05,8.386387835e-01,7.018032245e-01,-6.397838772e-05,8.274721758e-01
+32,1.065000000e+01,DOWN_FORCE_DETACH,1792041125215273634,7.696457381e-05,-6.774609756e-05,-2.212264932e-03,7.677704551e-05,-6.744749663e-05,-2.212262033e-03,7.092283772e-05,-6.734341858e-05,-2.210531099e-03,7.016148361e-01,-6.619513624e-05,8.385286763e-01,7.016146485e-01,-6.589653531e-05,8.385286792e-01,7.018002917e-01,-6.559942044e-05,8.273620733e-01
+33,1.080000000e+01,DOWN_FORCE_DETACH,1792041125513133571,7.587457198e-05,-6.954914692e-05,-2.319438184e-03,7.667420202e-05,-7.085761060e-05,-2.308340188e-03,7.049656131e-05,-7.073892172e-05,-2.306656739e-03,7.016137461e-01,-6.799818559e-05,8.384215030e-01,7.016145457e-01,-6.930664927e-05,8.384326010e-01,7.017998654e-01,-6.899492357e-05,8.272659477e-01
+34,1.095000000e+01,DOWN_FORCE_DETACH,1792041125815078001,7.467733030e-05,-7.273837060e-05,-2.430604279e-03,7.430515751e-05,-7.274762891e-05,-2.430609324e-03,6.768003297e-05,-7.266142606e-05,-2.428744821e-03,7.016125488e-01,-7.118740928e-05,8.383103369e-01,7.016121766e-01,-7.119666759e-05,8.383103319e-01,7.017970489e-01,-7.091742791e-05,8.271438596e-01
+35,1.110000000e+01,DOWN_FORCE_DETACH,1792041126113095034,7.516741699e-05,-7.788894237e-05,-2.540831466e-03,7.505338915e-05,-7.808281853e-05,-2.540519148e-03,6.804654670e-05,-7.802637715e-05,-2.538614107e-03,7.016130389e-01,-7.633798105e-05,8.382001097e-01,7.016129249e-01,-7.653185721e-05,8.382004220e-01,7.017974154e-01,-7.628237900e-05,8.270339903e-01
+36,1.121666667e+01,DOWN_FORCE_DETACH,1792041126347196769,7.336194602e-05,-7.406231492e-05,-2.635842492e-03,7.332899396e-05,-7.414707094e-05,-2.635410929e-03,6.589790422e-05,-7.406928904e-05,-2.633368485e-03,7.016112334e-01,-7.251135360e-05,8.381050987e-01,7.016112005e-01,-7.259610962e-05,8.381055303e-01,7.017952668e-01,-7.232529090e-05,8.269392359e-01
+37,1.136666667e+01,DOWN_FORCE_DETACH,1792041126645206792,7.281100082e-05,-7.517015486e-05,-2.753444913e-03,7.286466802e-05,-7.524273133e-05,-2.753317654e-03,6.499581062e-05,-7.517114120e-05,-2.751283134e-03,7.016106825e-01,-7.361919353e-05,8.379874963e-01,7.016107361e-01,-7.369177001e-05,8.379876235e-01,7.017943647e-01,-7.342714306e-05,8.268213213e-01
+38,1.148333333e+01,DOWN_FORCE_DETACH,1792041126884896820,6.705719665e-05,-7.884932302e-05,-2.861875432e-03,6.966079721e-05,-7.774348407e-05,-2.847440941e-03,6.135389294e-05,-7.765906921e-05,-2.845380095e-03,7.016049287e-01,-7.729836170e-05,8.378790658e-01,7.016075323e-01,-7.619252274e-05,8.378935002e-01,7.017907228e-01,-7.591507107e-05,8.267272243e-01
+39,1.160000000e+01,DOWN_FORCE_DETACH,1792041127112911308,6.309019105e-05,-7.994097445e-05,-2.966125499e-03,6.287538585e-05,-8.020507595e-05,-2.965614010e-03,5.396943329e-05,-8.010924090e-05,-2.963489022e-03,7.016009617e-01,-7.839001313e-05,8.377748157e-01,7.016007469e-01,-7.865411463e-05,8.377753272e-01,7.017833383e-01,-7.836524275e-05,8.266091154e-01
+40,1.173333333e+01,DOWN_FORCE_DETACH,1792041127376917685,6.461345137e-05,-8.415715098e-05,-3.078217459e-03,6.433236496e-05,-8.410339071e-05,-3.078500530e-03,5.501951291e-05,-8.398298104e-05,-3.076367831e-03,7.016024849e-01,-8.260618966e-05,8.376627237e-01,7.016022038e-01,-8.255242939e-05,8.376624407e-01,7.017843884e-01,-8.223898289e-05,8.264962366e-01
+41,1.185000000e+01,DOWN_FORCE_DETACH,1792041127611114653,6.262289670e-05,-8.296707171e-05,-3.187849995e-03,6.322456225e-05,-7.904551533e-05,-3.170585931e-03,5.344516281e-05,-7.892821320e-05,-3.168545945e-03,7.016004944e-01,-8.141611039e-05,8.375530912e-01,7.016010960e-01,-7.749455401e-05,8.375703553e-01,7.017828140e-01,-7.718421505e-05,8.264040585e-01
+42,1.196666667e+01,DOWN_FORCE_DETACH,1792041127845182448,6.449329475e-05,-8.990792080e-05,-3.289773976e-03,6.414534421e-05,-8.968734191e-05,-3.289736499e-03,5.391734436e-05,-8.960487927e-05,-3.287543280e-03,7.016023648e-01,-8.835695948e-05,8.374511672e-01,7.016020168e-01,-8.813638059e-05,8.374512047e-01,7.017832862e-01,-8.786088113e-05,8.262850612e-01
+43,1.208333333e+01,DOWN_FORCE_DETACH,1792041128075147694,6.084762623e-05,-8.791142221e-05,-3.400824522e-03,6.051024684e-05,-8.762601571e-05,-3.400677352e-03,4.978355822e-05,-8.752883316e-05,-3.398400717e-03,7.015987191e-01,-8.636046089e-05,8.373401167e-01,7.015983817e-01,-8.607505439e-05,8.373402638e-01,7.017791524e-01,-8.578483502e-05,8.261742037e-01
+44,1.220000000e+01,DOWN_FORCE_DETACH,1792041128309299787,6.113052567e-05,-9.227015855e-05,-3.509032889e-03,6.086364060e-05,-9.249499596e-05,-3.509036800e-03,4.976663490e-05,-9.242872121e-05,-3.506744527e-03,7.015990020e-01,-9.071919723e-05,8.372319083e-01,7.015987351e-01,-9.094403464e-05,8.372319044e-01,7.017791355e-01,-9.068472306e-05,8.260658599e-01
+45,1.230000000e+01,DOWN_FORCE_DETACH,1792041128509312754,6.231719405e-05,-9.680593056e-05,-3.605830666e-03,6.226096906e-05,-9.691674230e-05,-3.605642000e-03,5.081260862e-05,-9.683323451e-05,-3.603378407e-03,7.016001887e-01,-9.525496924e-05,8.371351105e-01,7.016001325e-01,-9.536578098e-05,8.371352992e-01,7.017801815e-01,-9.508923636e-05,8.259692260e-01
+46,1.243333333e+01,DOWN_FORCE_DETACH,1792041128741223803,6.406844136e-05,-9.848825132e-05,-3.718502059e-03,6.196497638e-05,-9.726681946e-05,-3.704819145e-03,5.021812658e-05,-9.714866314e-05,-3.702734990e-03,7.016019399e-01,-9.693729000e-05,8.370224391e-01,7.015998365e-01,-9.571585814e-05,8.370361220e-01,7.017795870e-01,-9.540466500e-05,8.258698694e-01
+47,1.253333333e+01,DOWN_FORCE_DETACH,1792041128941058112,6.231015685e-05,-9.632092677e-05,-3.822861419e-03,6.207402673e-05,-9.669752190e-05,-3.823078462e-03,4.996554113e-05,-9.655750042e-05,-3.820842604e-03,7.016001816e-01,-9.476996545e-05,8.369180798e-01,7.015999455e-01,-9.514656058e-05,8.369178627e-01,7.017793344e-01,-9.481350227e-05,8.257517618e-01
+48,1.263333333e+01,DOWN_FORCE_DETACH,1792041129141047193,6.618149826e-05,-9.848283669e-05,-3.923749650e-03,6.587345722e-05,-9.837194635e-05,-3.923489210e-03,5.349249905e-05,-9.825540639e-05,-3.921252673e-03,7.016040530e-01,-9.693187537e-05,8.368171915e-01,7.016037449e-01,-9.682098503e-05,8.368174520e-01,7.017828614e-01,-9.651140825e-05,8.256513518e-01
+49,1.275000000e+01,DOWN_FORCE_DETACH,1792041129339277969,6.425404020e-05,-1.035208985e-04,-4.030706024e-03,6.407545826e-05,-1.035347306e-04,-4.030724268e-03,5.130731792e-05,-1.034445013e-04,-4.028526143e-03,7.016021255e-01,-1.019699372e-04,8.367102352e-01,7.016019469e-01,-1.019837692e-04,8.367102169e-01,7.017806762e-01,-1.017005032e-04,8.255440783e-01
+50,1.285000000e+01,DOWN_FORCE_DETACH,1792041129539742839,5.989848755e-05,-1.032727408e-04,-4.148376324e-03,5.952569695e-05,-1.031930174e-04,-4.148465890e-03,4.618213966e-05,-1.031001968e-04,-4.146125499e-03,7.015977700e-01,-1.017217795e-04,8.365925649e-01,7.015973972e-01,-1.016420561e-04,8.365924753e-01,7.017755510e-01,-1.013561987e-04,8.254264789e-01
+51,1.295000000e+01,DOWN_FORCE_DETACH,1792041129739125503,6.288733235e-05,-1.068018552e-04,-4.254766107e-03,6.262686841e-05,-1.068073142e-04,-4.254723998e-03,4.899784923e-05,-1.067383077e-04,-4.252349088e-03,7.016007588e-01,-1.052508939e-04,8.364861751e-01,7.016004983e-01,-1.052563529e-04,8.364862172e-01,7.017783667e-01,-1.049943096e-04,8.253202553e-01
+52,1.306666667e+01,DOWN_FORCE_DETACH,1792041129937194082,6.441532484e-05,-1.110375168e-04,-4.363434956e-03,6.419685763e-05,-1.110637599e-04,-4.363314831e-03,5.018241028e-05,-1.109811176e-04,-4.360989927e-03,7.016022868e-01,-1.094865554e-04,8.363775062e-01,7.016020683e-01,-1.095127985e-04,8.363776264e-01,7.017795513e-01,-1.092371194e-04,8.252116145e-01
+53,1.316666667e+01,DOWN_FORCE_DETACH,1792041130137325891,6.674642557e-05,-1.098287540e-04,-4.471821785e-03,6.661545529e-05,-1.094321436e-04,-4.471603558e-03,5.226205218e-05,-1.093272252e-04,-4.469345176e-03,7.016046179e-01,-1.082777927e-04,8.362691194e-01,7.016044869e-01,-1.078811822e-04,8.362693376e-01,7.017816309e-01,-1.075832270e-04,8.251032593e-01
+54,1.326666667e+01,DOWN_FORCE_DETACH,1792041130337219240,6.693192575e-05,-1.052566619e-04,-4.585067497e-03,6.667298018e-05,-1.052190383e-04,-4.585030088e-03,5.188834065e-05,-1.050897719e-04,-4.582793303e-03,7.016048034e-01,-1.037057006e-04,8.361558737e-01,7.016045445e-01,-1.036680770e-04,8.361559111e-01,7.017812572e-01,-1.033457737e-04,8.249898111e-01
+55,1.336666667e+01,DOWN_FORCE_DETACH,1792041130505127562,6.715900260e-05,-1.116281572e-04,-4.684610164e-03,6.668721455e-05,-1.127798518e-04,-4.676511351e-03,5.152827660e-05,-1.126452854e-04,-4.674327445e-03,7.016050305e-01,-1.100771958e-04,8.360563310e-01,7.016045587e-01,-1.112288905e-04,8.360644298e-01,7.017808971e-01,-1.109012873e-04,8.248982770e-01
+56,1.345000000e+01,DOWN_FORCE_DETACH,1792041130670982640,6.487075149e-05,-1.142513540e-04,-4.788031923e-03,6.478843957e-05,-1.142114967e-04,-4.787979879e-03,4.919565923e-05,-1.141078654e-04,-4.785663237e-03,7.016027422e-01,-1.127003927e-04,8.359529093e-01,7.016026599e-01,-1.126605354e-04,8.359529613e-01,7.017785645e-01,-1.123638673e-04,8.247869412e-01
+57,1.353333333e+01,DOWN_FORCE_DETACH,1792041130837018240,5.878917722e-05,-1.158035269e-04,-4.896040538e-03,5.877566030e-05,-1.157101575e-04,-4.896006137e-03,4.268731664e-05,-1.156512332e-04,-4.893563334e-03,7.015966607e-01,-1.142525655e-04,8.358449006e-01,7.015966471e-01,-1.141591961e-04,8.358449351e-01,7.017720562e-01,-1.139072351e-04,8.246790411e-01
+58,1.363333333e+01,DOWN_SETTLE,1792041131037011117,5.464638922e-05,-1.171724980e-04,-5.022091396e-03,5.456517289e-05,-1.169905831e-04,-5.021974770e-03,3.792005524e-05,-1.169009948e-04,-5.019469175e-03,7.015925179e-01,-1.156215366e-04,8.357188498e-01,7.015924367e-01,-1.154396218e-04,8.357189664e-01,7.017672889e-01,-1.151569967e-04,8.245531353e-01
+59,1.385000000e+01,DOWN_SETTLE,1792041131434995313,5.681965059e-05,-1.100062583e-04,-5.109603724e-03,5.540916272e-05,-1.096619462e-04,-5.109455603e-03,3.845076659e-05,-1.095267568e-04,-5.107745008e-03,7.015946911e-01,-1.084552970e-04,8.356313375e-01,7.015932806e-01,-1.081109848e-04,8.356314856e-01,7.017678196e-01,-1.077827586e-04,8.244648594e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..76a4dd2654b3cb83a241b3a151d61f34bba0f3fa
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,2.5285e-03,-9.3253e-05,2.4521e+00,-3.6792e-02,3.6971e-02,-9.0174e-07,1.1457e-04,-2.0859e-06,-1.4067e-05,-1.1176e-08,8.1621e-06,-1.0928e-08,1.1545e-04,8.1621e-06
+1,5.1667e-01,DOWN_FORCE_DETACH,1.1149e-04,4.8246e-03,-1.1975e-04,2.4519e+00,-3.6793e-02,3.7134e-02,-1.1269e-06,2.4107e-03,-2.8580e-05,-2.1911e-04,-1.2293e-06,1.7183e-04,-2.3610e-07,2.4208e-03,1.7183e-04
+2,1.1167e+00,DOWN_FORCE_DETACH,2.1953e-04,5.5667e-03,3.9884e-03,2.4574e+00,-3.7083e-02,3.7183e-02,2.5669e-06,3.1528e-03,4.0795e-03,5.3031e-03,-2.9165e-04,2.2022e-04,3.4577e-06,7.3964e-03,3.6547e-04
+3,1.6333e+00,DOWN_FORCE_DETACH,3.3157e-04,6.8722e-03,4.3720e-03,2.4678e+00,-3.7112e-02,3.7267e-02,2.2108e-06,4.4583e-03,4.4632e-03,1.5677e-02,-3.2073e-04,3.0438e-04,3.1016e-06,1.6898e-02,4.4218e-04
+4,2.0167e+00,DOWN_FORCE_DETACH,4.4458e-04,5.8840e-03,4.8018e-03,2.4667e+00,-3.7142e-02,3.7197e-02,2.1960e-06,3.4701e-03,4.8930e-03,1.4567e-02,-3.5008e-04,2.3443e-04,3.0868e-06,1.5753e-02,4.2133e-04
+5,2.5667e+00,DOWN_FORCE_DETACH,5.5525e-04,5.9565e-03,6.2558e-03,2.4690e+00,-3.7242e-02,3.7199e-02,3.0902e-06,3.5426e-03,6.3470e-03,1.6872e-02,-4.5060e-04,2.3642e-04,3.9810e-06,1.8371e-02,5.0887e-04
+6,3.0333e+00,DOWN_FORCE_DETACH,6.6648e-04,5.6065e-03,7.7786e-03,2.4811e+00,-3.7343e-02,3.7167e-02,3.5996e-06,3.1926e-03,7.8698e-03,2.8947e-02,-5.5138e-04,2.0449e-04,4.4904e-06,3.0167e-02,5.8810e-04
+7,3.3833e+00,DOWN_FORCE_DETACH,7.7586e-04,5.2037e-03,6.5406e-03,2.4772e+00,-3.7252e-02,3.7137e-02,2.4503e-06,2.7898e-03,6.6318e-03,2.5082e-02,-4.6073e-04,1.7449e-04,3.3411e-06,2.6094e-02,4.9267e-04
+8,3.8000e+00,DOWN_FORCE_DETACH,8.8737e-04,4.8405e-03,8.4913e-03,2.4827e+00,-3.7379e-02,3.7106e-02,4.8390e-06,2.4266e-03,8.5825e-03,3.0584e-02,-5.8758e-04,1.4355e-04,5.7298e-06,3.1858e-02,6.0489e-04
+9,4.1833e+00,DOWN_FORCE_DETACH,1.0004e-03,4.9112e-03,1.0130e-02,2.4818e+00,-3.7483e-02,3.7112e-02,7.9792e-06,2.4973e-03,1.0221e-02,2.9673e-02,-6.9189e-04,1.4890e-04,8.8700e-06,3.1484e-02,7.0778e-04
+10,4.6000e+00,DOWN_FORCE_DETACH,1.1087e-03,4.6285e-03,1.0857e-02,2.4844e+00,-3.7519e-02,3.7090e-02,1.2351e-05,2.2146e-03,1.0949e-02,3.2284e-02,-7.2747e-04,1.2710e-04,1.3241e-05,3.4161e-02,7.3861e-04
+11,4.7667e+00,DOWN_FORCE_DETACH,1.2081e-03,-1.3665e-02,1.0528e-02,2.4736e+00,-3.7492e-02,3.5816e-02,1.6557e-05,-1.6079e-02,1.0619e-02,2.1468e-02,-7.0012e-04,-1.1465e-03,1.7448e-05,2.8848e-02,1.3435e-03
+12,5.1000e+00,DOWN_FORCE_DETACH,1.3309e-03,-3.9304e-03,1.0009e-02,2.4762e+00,-3.7447e-02,3.6492e-02,2.2846e-05,-6.3443e-03,1.0100e-02,2.4053e-02,-6.5530e-04,-4.7072e-04,2.3737e-05,2.6848e-02,8.0720e-04
+13,5.5333e+00,DOWN_FORCE_DETACH,1.4424e-03,5.6154e-04,1.0704e-02,2.4775e+00,-3.7487e-02,3.6810e-02,2.7607e-05,-1.8524e-03,1.0795e-02,2.5346e-02,-6.9580e-04,-1.5225e-04,2.8498e-05,2.7611e-02,7.1283e-04
+14,5.9167e+00,DOWN_FORCE_DETACH,1.5523e-03,6.2888e-03,1.0152e-02,2.4854e+00,-3.7450e-02,3.7213e-02,2.4485e-05,3.8749e-03,1.0243e-02,3.3305e-02,-6.5826e-04,2.4998e-04,2.5375e-05,3.5059e-02,7.0458e-04
+15,6.3333e+00,DOWN_FORCE_DETACH,1.6648e-03,1.1028e-02,1.1610e-02,2.4780e+00,-3.7561e-02,3.7547e-02,1.5076e-05,8.6140e-03,1.1701e-02,2.5834e-02,-7.6934e-04,5.8429e-04,1.5967e-05,2.9640e-02,9.6620e-04
+16,6.7000e+00,DOWN_FORCE_DETACH,1.7738e-03,1.2955e-02,1.2668e-02,2.4885e+00,-3.7643e-02,3.7671e-02,3.7974e-06,1.0542e-02,1.2759e-02,3.6328e-02,-8.5196e-04,7.0837e-04,4.6882e-06,3.9920e-02,1.1080e-03
+17,6.9667e+00,DOWN_FORCE_DETACH,1.8869e-03,1.2303e-02,1.4587e-02,2.4926e+00,-3.7773e-02,3.7620e-02,-2.4764e-06,9.8888e-03,1.4678e-02,4.0497e-02,-9.8163e-04,6.5719e-04,-1.5855e-06,4.4196e-02,1.1813e-03
+18,7.3333e+00,DOWN_FORCE_DETACH,1.9983e-03,1.0395e-02,1.3825e-02,2.4965e+00,-3.7713e-02,3.7485e-02,-1.0286e-05,7.9814e-03,1.3916e-02,4.4374e-02,-9.2137e-04,5.2248e-04,-9.3948e-06,4.7185e-02,1.0592e-03
+19,7.6833e+00,DOWN_FORCE_DETACH,2.1094e-03,1.0994e-02,1.5148e-02,2.5022e+00,-3.7800e-02,3.7525e-02,-9.7613e-06,8.5806e-03,1.5239e-02,5.0040e-02,-1.0086e-03,5.6240e-04,-8.8705e-06,5.3008e-02,1.1548e-03
+20,8.0000e+00,DOWN_FORCE_DETACH,2.2204e-03,1.1117e-02,1.6994e-02,2.4979e+00,-3.7923e-02,3.7533e-02,-6.8139e-06,8.7034e-03,1.7085e-02,4.5729e-02,-1.1311e-03,5.7023e-04,-5.9231e-06,4.9586e-02,1.2667e-03
+21,8.3333e+00,DOWN_FORCE_DETACH,2.3312e-03,9.9613e-03,1.6002e-02,2.4997e+00,-3.7850e-02,3.7446e-02,-5.5888e-06,7.5474e-03,1.6093e-02,4.7569e-02,-1.0589e-03,4.8381e-04,-4.6979e-06,5.0781e-02,1.1642e-03
+22,8.6167e+00,DOWN_FORCE_DETACH,2.4412e-03,9.0745e-03,1.7536e-02,2.5039e+00,-3.7948e-02,3.7377e-02,-3.3431e-06,6.6606e-03,1.7627e-02,5.1734e-02,-1.1565e-03,4.1401e-04,-2.4523e-06,5.5059e-02,1.2284e-03
+23,8.8833e+00,DOWN_FORCE_DETACH,2.5505e-03,8.0376e-03,1.4634e-02,2.5021e+00,-3.7732e-02,3.7303e-02,-8.5949e-06,5.6237e-03,1.4725e-02,4.9945e-02,-9.4076e-04,3.4036e-04,-7.7041e-06,5.2373e-02,1.0005e-03
+24,9.1333e+00,DOWN_FORCE_DETACH,2.6640e-03,7.1844e-03,1.7156e-02,2.5070e+00,-3.7893e-02,3.7241e-02,-9.3542e-06,4.7705e-03,1.7247e-02,5.4851e-02,-1.1011e-03,2.7788e-04,-8.4634e-06,5.7696e-02,1.1356e-03
+25,9.3500e+00,DOWN_FORCE_DETACH,2.7719e-03,6.3714e-03,1.7687e-02,2.5153e+00,-3.7919e-02,3.7182e-02,-1.1155e-05,3.9575e-03,1.7778e-02,6.3148e-02,-1.1274e-03,2.1893e-04,-1.0264e-05,6.5722e-02,1.1485e-03
+26,9.5667e+00,DOWN_FORCE_DETACH,2.8821e-03,4.9954e-03,1.9180e-02,2.5205e+00,-3.8016e-02,3.7086e-02,-7.8447e-06,2.5815e-03,1.9271e-02,6.8352e-02,-1.2242e-03,1.2295e-04,-6.9539e-06,7.1064e-02,1.2304e-03
+27,9.7667e+00,DOWN_FORCE_DETACH,2.9956e-03,5.7293e-03,2.0834e-02,2.5195e+00,-3.8127e-02,3.7135e-02,-2.9709e-06,3.3154e-03,2.0925e-02,6.7379e-02,-1.3350e-03,1.7224e-04,-2.0801e-06,7.0631e-02,1.3461e-03
+28,9.9500e+00,DOWN_FORCE_DETACH,3.1056e-03,6.5291e-03,2.1371e-02,2.5273e+00,-3.8161e-02,3.7182e-02,-2.1126e-07,4.1152e-03,2.1462e-02,7.5191e-02,-1.3696e-03,2.1936e-04,6.7955e-07,7.8302e-02,1.3870e-03
+29,1.0133e+01,DOWN_FORCE_DETACH,3.2129e-03,6.5105e-03,1.9714e-02,2.5353e+00,-3.8037e-02,3.7173e-02,-8.1753e-07,4.0966e-03,1.9805e-02,8.3204e-02,-1.2451e-03,2.1021e-04,7.3283e-08,8.5627e-02,1.2628e-03
+30,1.0300e+01,DOWN_FORCE_DETACH,3.3221e-03,8.2728e-03,2.2040e-02,2.5471e+00,-3.8164e-02,3.7286e-02,2.1404e-06,5.8589e-03,2.2131e-02,9.5016e-02,-1.3728e-03,3.2337e-04,3.0312e-06,9.7735e-02,1.4103e-03
+31,1.0483e+01,DOWN_FORCE_DETACH,3.4344e-03,7.9367e-03,2.3123e-02,2.5377e+00,-3.8203e-02,3.7268e-02,7.8628e-06,5.5228e-03,2.3214e-02,8.5570e-02,-1.4110e-03,3.0578e-04,8.7536e-06,8.8835e-02,1.4438e-03
+32,1.0650e+01,DOWN_FORCE_DETACH,3.5500e-03,1.0311e-02,2.5156e-02,2.5390e+00,-3.8314e-02,3.7430e-02,1.3804e-05,7.8973e-03,2.5248e-02,8.6884e-02,-1.5221e-03,4.6737e-04,1.4695e-05,9.0822e-02,1.5923e-03
+33,1.0800e+01,DOWN_FORCE_DETACH,3.6587e-03,1.1847e-02,2.5296e-02,2.5482e+00,-3.8317e-02,3.7529e-02,1.1319e-05,9.4328e-03,2.5387e-02,9.6041e-02,-1.5259e-03,5.6623e-04,1.2210e-05,9.9787e-02,1.6276e-03
+34,1.0950e+01,DOWN_FORCE_DETACH,3.7737e-03,1.3673e-02,2.5503e-02,2.5466e+00,-3.8338e-02,3.7650e-02,2.6968e-06,1.1259e-02,2.5594e-02,9.4510e-02,-1.5462e-03,6.8738e-04,3.5876e-06,9.8560e-02,1.6921e-03
+35,1.1100e+01,DOWN_FORCE_DETACH,3.8866e-03,1.3886e-02,2.5077e-02,2.5513e+00,-3.8304e-02,3.7660e-02,-6.5123e-06,1.1472e-02,2.5168e-02,9.9200e-02,-1.5129e-03,6.9728e-04,-5.6215e-06,1.0298e-01,1.6659e-03
+36,1.1217e+01,DOWN_FORCE_DETACH,3.9839e-03,1.3622e-02,2.4754e-02,2.5543e+00,-3.8274e-02,3.7640e-02,-1.0750e-05,1.1208e-02,2.4845e-02,1.0219e-01,-1.4823e-03,6.7779e-04,-9.8592e-06,1.0577e-01,1.6300e-03
+37,1.1367e+01,DOWN_FORCE_DETACH,4.1061e-03,1.2887e-02,2.4042e-02,2.5571e+00,-3.8202e-02,3.7585e-02,-1.3511e-05,1.0473e-02,2.4133e-02,1.0496e-01,-1.4104e-03,6.2268e-04,-1.2621e-05,1.0820e-01,1.5418e-03
+38,1.1483e+01,DOWN_FORCE_DETACH,4.2211e-03,1.3657e-02,2.5683e-02,2.5689e+00,-3.8286e-02,3.7628e-02,-1.6804e-05,1.1244e-02,2.5774e-02,1.1676e-01,-1.4944e-03,6.6552e-04,-1.5914e-05,1.2009e-01,1.6360e-03
+39,1.1600e+01,DOWN_FORCE_DETACH,4.3288e-03,1.2505e-02,2.5832e-02,2.5593e+00,-3.8276e-02,3.7553e-02,-2.1689e-05,1.0091e-02,2.5923e-02,1.0717e-01,-1.4849e-03,5.9008e-04,-2.0798e-05,1.1072e-01,1.5980e-03
+40,1.1733e+01,DOWN_FORCE_DETACH,4.4427e-03,1.1486e-02,2.9000e-02,2.5605e+00,-3.8471e-02,3.7483e-02,-2.3894e-05,9.0719e-03,2.9091e-02,1.0836e-01,-1.6796e-03,5.2053e-04,-2.3003e-05,1.1257e-01,1.7585e-03
+41,1.1850e+01,DOWN_FORCE_DETACH,4.5564e-03,9.6989e-03,2.7566e-02,2.5692e+00,-3.8365e-02,3.7359e-02,-2.4220e-05,7.2850e-03,2.7657e-02,1.1708e-01,-1.5731e-03,3.9588e-04,-2.3329e-05,1.2052e-01,1.6223e-03
+42,1.1967e+01,DOWN_FORCE_DETACH,4.6627e-03,7.9831e-03,3.0434e-02,2.5624e+00,-3.8566e-02,3.7245e-02,-1.5845e-05,5.5692e-03,3.0525e-02,1.1023e-01,-1.7742e-03,2.8270e-04,-1.4954e-05,1.1451e-01,1.7967e-03
+43,1.2083e+01,DOWN_FORCE_DETACH,4.7757e-03,7.6801e-03,2.9631e-02,2.5654e+00,-3.8512e-02,3.7220e-02,-1.1063e-05,5.2662e-03,2.9723e-02,1.1324e-01,-1.7209e-03,2.5747e-04,-1.0172e-05,1.1719e-01,1.7401e-03
+44,1.2200e+01,DOWN_FORCE_DETACH,4.8880e-03,7.2154e-03,2.8366e-02,2.5682e+00,-3.8413e-02,3.7184e-02,-1.0129e-05,4.8015e-03,2.8457e-02,1.1604e-01,-1.6219e-03,2.2156e-04,-9.2380e-06,1.1958e-01,1.6370e-03
+45,1.2300e+01,DOWN_FORCE_DETACH,4.9862e-03,8.6598e-03,3.1726e-02,2.5727e+00,-3.8604e-02,3.7279e-02,-4.8854e-06,6.2459e-03,3.1817e-02,1.2058e-01,-1.8128e-03,3.1598e-04,-3.9946e-06,1.2486e-01,1.8401e-03
+46,1.2433e+01,DOWN_FORCE_DETACH,5.1066e-03,8.7335e-03,3.3443e-02,2.5742e+00,-3.8667e-02,3.7286e-02,7.2977e-06,6.3196e-03,3.3534e-02,1.2205e-01,-1.8759e-03,3.2370e-04,8.1885e-06,1.2673e-01,1.9037e-03
+47,1.2533e+01,DOWN_FORCE_DETACH,5.2166e-03,8.8118e-03,3.5234e-02,2.5737e+00,-3.8775e-02,3.7291e-02,1.4506e-05,6.3979e-03,3.5326e-02,1.2160e-01,-1.9830e-03,3.2788e-04,1.5397e-05,1.2679e-01,2.0100e-03
+48,1.2633e+01,DOWN_FORCE_DETACH,5.3202e-03,1.1202e-02,3.4244e-02,2.5662e+00,-3.8728e-02,3.7451e-02,1.3477e-05,8.7878e-03,3.4335e-02,1.1410e-01,-1.9364e-03,4.8883e-04,1.4368e-05,1.1948e-01,1.9972e-03
+49,1.2750e+01,DOWN_FORCE_DETACH,5.4301e-03,1.1786e-02,3.3571e-02,2.5654e+00,-3.8701e-02,3.7491e-02,2.1799e-06,9.3721e-03,3.3662e-02,1.1329e-01,-1.9096e-03,5.2864e-04,3.0707e-06,1.1856e-01,1.9814e-03
+50,1.2850e+01,DOWN_FORCE_DETACH,5.5491e-03,1.3316e-02,3.4044e-02,2.5711e+00,-3.8719e-02,3.7588e-02,-7.2681e-06,1.0902e-02,3.4135e-02,1.1900e-01,-1.9271e-03,6.2503e-04,-6.3773e-06,1.2428e-01,2.0259e-03
+51,1.2950e+01,DOWN_FORCE_DETACH,5.6569e-03,1.3148e-02,3.4992e-02,2.5747e+00,-3.8757e-02,3.7571e-02,-1.0560e-05,1.0734e-02,3.5084e-02,1.2260e-01,-1.9654e-03,6.0880e-04,-9.6688e-06,1.2797e-01,2.0576e-03
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5e8101b0220707bcb81df04fbc7f5960d6189713
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..117f0a8296d2edafada17fbabc10e114f5061d69
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..546a889c082a2f30b469236cd5e14a5144168fed
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,7.666666667e-01,UP_FORCE_RAMP,1792041092052831093,-8.011422428e-07,-1.801120358e-06,1.388105206e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.264711916e-08,-6.274452763e-10,-4.997410485e-09,7.015370703e-01,-2.501590368e-07,8.407423293e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294315e-01,1.743370946e-06,8.295725994e-01
+7,8.833333333e-01,UP_FORCE_RAMP,1792041092282717218,-3.452832498e-06,-3.442845382e-06,-3.569776696e-09,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.665890540e-08,-6.703552002e-10,-5.258456892e-09,7.015344186e-01,-1.891884061e-06,8.407409376e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294355e-01,1.743328036e-06,8.295725992e-01
+8,9.500000000e-01,UP_FORCE_RAMP,1792041092416805516,-2.044801275e-06,7.116248031e-07,4.060201194e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.861750268e-08,-6.917977129e-10,-5.382943424e-09,7.015358267e-01,2.262586124e-06,8.407413472e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294375e-01,1.743306593e-06,8.295725990e-01
+9,1.100000000e+00,UP_FORCE_RAMP,1792041092720339417,-7.095104819e-06,1.704001417e-06,-2.458315443e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.228710686e-08,-7.340267161e-10,-5.611473286e-09,7.015307764e-01,3.254962738e-06,8.407384829e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294411e-01,1.743264364e-06,8.295725988e-01
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+41,3.150000000e+00,UP_FORCE_RAMP,1792041096706760703,-2.283416926e-05,2.276086148e-05,3.104282267e-04,-2.012483500e-05,2.133062426e-05,2.989409116e-04,-1.956181798e-05,2.135593426e-05,2.983915163e-04,7.015150373e-01,2.431182280e-05,8.410513694e-01,7.015177466e-01,2.288158558e-05,8.410398821e-01,7.017098070e-01,2.309993265e-05,8.298709959e-01
+42,3.250000000e+00,UP_FORCE_RAMP,1792041096906887825,-2.084684995e-05,2.656745412e-05,3.253034873e-04,-2.196254971e-05,2.324390016e-05,3.209999260e-04,-2.134730136e-05,2.326744311e-05,3.203631474e-04,7.015170246e-01,2.811841545e-05,8.410662447e-01,7.015159089e-01,2.479486149e-05,8.410619411e-01,7.017080215e-01,2.501144150e-05,8.298929676e-01
+43,3.333333333e+00,UP_FORCE_RAMP,1792041097072717522,-2.108877925e-05,2.310668346e-05,3.303094206e-04,-2.196254971e-05,2.324390016e-05,3.209999260e-04,-2.135160624e-05,2.326687714e-05,3.204540660e-04,7.015167827e-01,2.465764478e-05,8.410712506e-01,7.015159089e-01,2.479486149e-05,8.410619411e-01,7.017080172e-01,2.501087554e-05,8.298930585e-01
+44,3.416666667e+00,UP_FORCE_RAMP,1792041097222857664,-2.146817808e-05,2.337119676e-05,3.355705784e-04,-2.196254971e-05,2.324390016e-05,3.209999260e-04,-2.135335245e-05,2.326712900e-05,3.205235310e-04,7.015164033e-01,2.492215808e-05,8.410765118e-01,7.015159089e-01,2.479486149e-05,8.410619411e-01,7.017080155e-01,2.501112739e-05,8.298931279e-01
+45,3.500000000e+00,UP_FORCE_RAMP,1792041097373023935,-2.264173973e-05,2.912474692e-05,3.434330382e-04,-2.255091203e-05,2.889986553e-05,3.427660074e-04,-2.185501302e-05,2.893723363e-05,3.422128283e-04,7.015152297e-01,3.067570824e-05,8.410843742e-01,7.015153206e-01,3.045082685e-05,8.410837072e-01,7.017075138e-01,3.068123202e-05,8.299148172e-01
+46,3.583333333e+00,UP_FORCE_RAMP,1792041097539675074,-2.506640789e-05,2.556177516e-05,3.463487032e-04,-2.255091203e-05,2.889986553e-05,3.427660074e-04,-2.186039243e-05,2.893087200e-05,3.423136301e-04,7.015128051e-01,2.711273648e-05,8.410872899e-01,7.015153206e-01,3.045082685e-05,8.410837072e-01,7.017075084e-01,3.067487039e-05,8.299149180e-01
+47,3.716666667e+00,UP_FORCE_RAMP,1792041097805017281,-2.328217781e-05,2.885042648e-05,3.572791759e-04,-2.255091203e-05,2.889986553e-05,3.427660074e-04,-2.186277024e-05,2.893177504e-05,3.424102655e-04,7.015145893e-01,3.040138780e-05,8.410982204e-01,7.015153206e-01,3.045082685e-05,8.410837072e-01,7.017075061e-01,3.067577343e-05,8.299150147e-01
+48,3.816666667e+00,UP_FORCE_RAMP,1792041097971509314,-2.414780969e-05,2.915620565e-05,3.619475089e-04,-2.255091203e-05,2.889986553e-05,3.427660074e-04,-2.186399519e-05,2.893209846e-05,3.424651322e-04,7.015137237e-01,3.070716697e-05,8.411028887e-01,7.015153206e-01,3.045082685e-05,8.410837072e-01,7.017075048e-01,3.067609685e-05,8.299150695e-01
+49,3.950000000e+00,UP_FORCE_RAMP,1792041098239358080,-2.079904395e-05,3.069212962e-05,3.731130967e-04,-2.225533461e-05,2.730877362e-05,3.650128393e-04,-2.150609418e-05,2.732940518e-05,3.646053939e-04,7.015170724e-01,3.224309094e-05,8.411140543e-01,7.015156161e-01,2.885973494e-05,8.411059540e-01,7.017078627e-01,2.907340357e-05,8.299372098e-01
+50,4.066666667e+00,UP_FORCE_RAMP,1792041098468908348,-2.241377285e-05,2.777714334e-05,3.769714982e-04,-2.225533461e-05,2.730877362e-05,3.650128393e-04,-2.150649959e-05,2.732909856e-05,3.646732834e-04,7.015154577e-01,2.932810467e-05,8.411179127e-01,7.015156161e-01,2.885973494e-05,8.411059540e-01,7.017078623e-01,2.907309695e-05,8.299372777e-01
+51,4.150000000e+00,UP_FORCE_RAMP,1792041098602935515,-2.266074757e-05,2.478019780e-05,3.811895804e-04,-2.225533461e-05,2.730877362e-05,3.650128393e-04,-2.150664417e-05,2.732902219e-05,3.647117647e-04,7.015152107e-01,2.633115912e-05,8.411221308e-01,7.015156161e-01,2.885973494e-05,8.411059540e-01,7.017078622e-01,2.907302058e-05,8.299373162e-01
+52,4.216666667e+00,UP_FORCE_RAMP,1792041098737208778,-2.500618605e-05,2.889669534e-05,3.803962285e-04,-2.225533461e-05,2.730877362e-05,3.650128393e-04,-2.150671906e-05,2.732898161e-05,3.647382181e-04,7.015128653e-01,3.044765666e-05,8.411213374e-01,7.015156161e-01,2.885973494e-05,8.411059540e-01,7.017078621e-01,2.907298000e-05,8.299373426e-01
+53,4.333333333e+00,UP_FORCE_HOLD,1792041098969167125,-2.252714482e-05,2.532962397e-05,3.917791865e-04,-2.311476747e-05,2.625531446e-05,3.857640494e-04,-2.232722709e-05,2.628475621e-05,3.853699237e-04,7.015153443e-01,2.688058529e-05,8.411327204e-01,7.015147567e-01,2.780627578e-05,8.411267052e-01,7.017070416e-01,2.802875460e-05,8.299579743e-01
+54,4.433333333e+00,UP_FORCE_HOLD,1792041099137033195,-2.625298777e-05,2.349748423e-05,3.907687274e-04,-2.311476747e-05,2.625531446e-05,3.857640494e-04,-2.232820904e-05,2.628429605e-05,3.854219059e-04,7.015116185e-01,2.504844555e-05,8.411317099e-01,7.015147567e-01,2.780627578e-05,8.411267052e-01,7.017070406e-01,2.802829444e-05,8.299580263e-01
+55,4.500000000e+00,UP_FORCE_HOLD,1792041099269043583,-2.232420052e-05,2.444878330e-05,3.998643119e-04,-2.311476747e-05,2.625531446e-05,3.857640494e-04,-2.232847863e-05,2.628411911e-05,3.854500275e-04,7.015155473e-01,2.599974462e-05,8.411408055e-01,7.015147567e-01,2.780627578e-05,8.411267052e-01,7.017070404e-01,2.802811750e-05,8.299580544e-01
+56,4.566666667e+00,UP_FORCE_HOLD,1792041099400829686,-2.376884006e-05,3.193309649e-05,3.990571050e-04,-2.311476747e-05,2.625531446e-05,3.857640494e-04,-2.232864915e-05,2.628399619e-05,3.854745031e-04,7.015141026e-01,3.348405781e-05,8.411399983e-01,7.015147567e-01,2.780627578e-05,8.411267052e-01,7.017070402e-01,2.802799458e-05,8.299580789e-01
+57,4.666666667e+00,UP_FORCE_HOLD,1792041099600922285,-2.658025334e-05,2.681481321e-05,3.978921669e-04,-2.311476747e-05,2.625531446e-05,3.857640494e-04,-2.232875388e-05,2.628385394e-05,3.855058029e-04,7.015112912e-01,2.836577454e-05,8.411388334e-01,7.015147567e-01,2.780627578e-05,8.411267052e-01,7.017070401e-01,2.802785233e-05,8.299581102e-01
+58,4.783333333e+00,UP_FORCE_HOLD,1792041099800891245,-2.149931701e-05,2.616882276e-05,4.083563964e-04,-2.206298115e-05,2.596576839e-05,4.058678854e-04,-2.114219557e-05,2.599392103e-05,4.055229680e-04,7.015163722e-01,2.771978408e-05,8.411492976e-01,7.015158085e-01,2.751672971e-05,8.411468091e-01,7.017082266e-01,2.773791942e-05,8.299781274e-01
+59,4.850000000e+00,UP_SETTLE,1792041099935127031,-2.303505763e-05,3.099711657e-05,4.055146844e-04,-2.206298115e-05,2.596576839e-05,4.058678854e-04,-2.114173779e-05,2.599353865e-05,4.055595877e-04,7.015148364e-01,3.254807789e-05,8.411464559e-01,7.015158085e-01,2.751672971e-05,8.411468091e-01,7.017082271e-01,2.773753704e-05,8.299781640e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b421043b62803a7158e22f0747eb01b5ca5e3432
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,2.5274e-03,-9.3373e-05,2.4521e+00,-3.6792e-02,3.6971e-02,-9.0938e-07,1.1368e-04,-1.5130e-06,-1.1921e-05,-3.7253e-08,8.1062e-06,-1.0456e-08,1.1431e-04,8.1063e-06
+1,1.5000e-01,UP_FORCE_RAMP,2.6614e-05,3.4146e-03,-1.0393e-04,2.4520e+00,-3.6792e-02,3.7034e-02,-9.9248e-07,1.0009e-03,-1.2070e-05,-9.7275e-05,-4.5449e-07,7.1414e-05,-9.3562e-08,1.0057e-03,7.1415e-05
+2,2.6667e-01,UP_FORCE_RAMP,4.9534e-05,3.9627e-03,-1.1025e-04,2.4520e+00,-3.6792e-02,3.7073e-02,-1.0454e-06,1.5489e-03,-1.8390e-05,-1.4639e-04,-7.4506e-07,1.1047e-04,-1.4644e-07,1.5560e-03,1.1048e-04
+3,4.3333e-01,UP_FORCE_RAMP,7.8089e-05,4.5770e-03,-1.1702e-04,2.4519e+00,-3.6793e-02,3.7117e-02,-1.1060e-06,2.1633e-03,-2.5158e-05,-1.9741e-04,-1.1213e-06,1.5424e-04,-2.0704e-07,2.1724e-03,1.5424e-04
+4,5.5000e-01,UP_FORCE_RAMP,1.0271e-04,4.9131e-03,-1.2063e-04,2.4519e+00,-3.6793e-02,3.7141e-02,-1.1403e-06,2.4994e-03,-2.8773e-05,-2.2364e-04,-1.3337e-06,1.7818e-04,-2.4139e-07,2.5095e-03,1.7818e-04
+5,6.5000e-01,UP_FORCE_RAMP,1.2797e-04,5.1524e-03,-1.2326e-04,2.4519e+00,-3.6793e-02,3.7158e-02,-1.1643e-06,2.7386e-03,-3.1399e-05,-2.4128e-04,-1.4938e-06,1.9522e-04,-2.6538e-07,2.7494e-03,1.9523e-04
+6,7.6667e-01,UP_FORCE_RAMP,1.5335e-04,5.3850e-03,-1.2575e-04,2.4519e+00,-3.6793e-02,3.7174e-02,-1.1879e-06,2.9713e-03,-3.3892e-05,-2.5868e-04,-1.6615e-06,2.1176e-04,-2.8896e-07,2.9827e-03,2.1177e-04
+7,8.8333e-01,UP_FORCE_RAMP,1.7618e-04,5.5753e-03,-1.2784e-04,2.4519e+00,-3.6793e-02,3.7188e-02,-1.2078e-06,3.1616e-03,-3.5984e-05,-2.7227e-04,-1.7881e-06,2.2532e-04,-3.0892e-07,3.1735e-03,2.2533e-04
+8,9.5000e-01,UP_FORCE_RAMP,2.0096e-04,5.6682e-03,-1.2889e-04,2.4518e+00,-3.6793e-02,3.7195e-02,-1.2176e-06,3.2545e-03,-3.7027e-05,-2.7847e-04,-1.8552e-06,2.3193e-04,-3.1864e-07,3.2666e-03,2.3193e-04
+9,1.1000e+00,UP_FORCE_RAMP,2.2693e-04,5.8426e-03,-1.3086e-04,2.4518e+00,-3.6793e-02,3.7207e-02,-1.2359e-06,3.4289e-03,-3.9000e-05,-2.9039e-04,-1.9819e-06,2.4432e-04,-3.3699e-07,3.4414e-03,2.4433e-04
+10,1.2500e+00,UP_FORCE_RAMP,2.5455e-04,5.9774e-03,-1.3239e-04,2.4518e+00,-3.6794e-02,3.7217e-02,-1.2505e-06,3.5637e-03,-4.0530e-05,-2.9922e-04,-2.0824e-06,2.5392e-04,-3.5160e-07,3.5764e-03,2.5392e-04
+11,1.3500e+00,UP_FORCE_RAMP,2.7973e-04,6.0499e-03,-1.3323e-04,2.4518e+00,-3.6794e-02,3.7222e-02,-1.2584e-06,3.6362e-03,-4.1371e-05,-3.0375e-04,-2.1346e-06,2.5908e-04,-3.5953e-07,3.6491e-03,2.5909e-04
+12,1.4167e+00,UP_FORCE_RAMP,3.0205e-04,6.0917e-03,-1.3386e-04,2.4518e+00,-3.6794e-02,3.7225e-02,-1.2631e-06,3.6780e-03,-4.1997e-05,-3.0661e-04,-2.1607e-06,2.6206e-04,-3.6420e-07,3.6910e-03,2.6206e-04
+13,1.5167e+00,UP_FORCE_RAMP,3.2910e-04,1.0199e-02,5.1000e-04,2.4458e+00,-3.6838e-02,3.7521e-02,-4.1242e-07,7.7852e-03,6.0186e-04,-6.3255e-03,-4.6257e-05,5.5851e-04,4.8651e-07,1.0049e-02,5.6043e-04
+14,1.5833e+00,UP_FORCE_RAMP,3.5136e-04,9.6439e-03,4.9611e-04,2.4467e+00,-3.6837e-02,3.7481e-02,-5.2703e-07,7.2302e-03,5.8797e-04,-5.4216e-03,-4.5367e-05,5.1847e-04,3.7190e-07,9.0563e-03,5.2045e-04
+15,1.6833e+00,UP_FORCE_RAMP,3.8253e-04,8.7834e-03,-8.6184e-04,2.4321e+00,-3.6742e-02,3.7429e-02,-1.6407e-06,6.3697e-03,-7.6998e-04,-2.0031e-02,4.9256e-05,4.6683e-04,-7.4175e-07,2.1033e-02,4.6942e-04
+16,1.7333e+00,UP_FORCE_RAMP,4.0262e-04,8.6208e-03,-9.6163e-04,2.4346e+00,-3.6733e-02,3.7418e-02,-1.9570e-06,6.2071e-03,-8.6977e-04,-1.7501e-02,5.8651e-05,4.5548e-04,-1.0580e-06,1.8589e-02,4.5925e-04
+17,1.8167e+00,UP_FORCE_RAMP,4.3030e-04,9.4537e-03,-3.6003e-03,2.4304e+00,-3.6546e-02,3.7481e-02,-4.2226e-06,7.0400e-03,-3.5085e-03,-2.1735e-02,2.4586e-04,5.1809e-04,-3.3237e-06,2.3115e-02,5.7348e-04
+18,1.8667e+00,UP_FORCE_RAMP,4.5549e-04,9.2207e-03,-2.7083e-03,2.4233e+00,-3.6606e-02,3.7469e-02,-3.3384e-06,6.8070e-03,-2.6165e-03,-2.8785e-02,1.8596e-04,5.0608e-04,-2.4395e-06,2.9694e-02,5.3917e-04
+19,1.9167e+00,UP_FORCE_RAMP,4.8137e-04,8.9910e-03,-2.7158e-03,2.4265e+00,-3.6605e-02,3.7451e-02,-3.1882e-06,6.5772e-03,-2.6240e-03,-2.5601e-02,1.8653e-04,4.8846e-04,-2.2893e-06,2.6562e-02,5.2287e-04
+20,2.0000e+00,UP_FORCE_RAMP,5.1303e-04,1.0171e-02,-2.8147e-03,2.4224e+00,-3.6596e-02,3.7538e-02,-3.1015e-06,7.7573e-03,-2.7228e-03,-2.9765e-02,1.9517e-04,5.7514e-04,-2.2026e-06,3.0879e-02,6.0736e-04
+21,2.0333e+00,UP_FORCE_RAMP,5.3017e-04,9.9376e-03,-2.8071e-03,2.4244e+00,-3.6597e-02,3.7520e-02,-3.0664e-06,7.5238e-03,-2.7152e-03,-2.7745e-02,1.9478e-04,5.5756e-04,-2.1675e-06,2.8875e-02,5.9060e-04
+22,2.0500e+00,UP_FORCE_RAMP,5.5817e-04,9.8243e-03,-2.8008e-03,2.4253e+00,-3.6597e-02,3.7512e-02,-3.0599e-06,7.4106e-03,-2.7089e-03,-2.6855e-02,1.9431e-04,5.4889e-04,-2.1610e-06,2.7991e-02,5.8227e-04
+23,2.0667e+00,UP_FORCE_RAMP,5.7503e-04,9.8950e-03,3.7332e-03,2.4183e+00,-3.7051e-02,3.7520e-02,1.9833e-06,7.4813e-03,3.8251e-03,-3.3860e-02,-2.5928e-04,5.5722e-04,2.8822e-06,3.4887e-02,6.1460e-04
+24,2.0833e+00,UP_FORCE_RAMP,5.9718e-04,9.8132e-03,4.0434e-03,2.4195e+00,-3.7076e-02,3.7514e-02,3.0929e-06,7.3994e-03,4.1353e-03,-3.2629e-02,-2.8434e-04,5.5186e-04,3.9918e-06,3.3713e-02,6.2082e-04
+25,2.1167e+00,UP_FORCE_RAMP,6.3200e-04,9.7178e-03,6.8408e-04,2.4180e+00,-3.6836e-02,3.7509e-02,-1.2613e-06,7.3041e-03,7.7594e-04,-3.4175e-02,-4.4115e-05,5.4638e-04,-3.6238e-07,3.4956e-02,5.4816e-04
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..17bc852cdc1861d6fa6aa31132ae6f49681a1c46
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/fem_node.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f5dae8167aeb6ca71322ce1ccd5e3f28bbea8a3
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/fem_node.csv
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/franka_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13f91b57af7891212ed7fb97979723207642b4ac
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+8446,1792041152259541636,13480941000000,1792041152258095232,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.67599728508417,-0.004781407231278492,0.09074121511566512,0.9999999793109646,9.132516387900729e-05,-0.0001410112165598014,6.779738917933084e-05,0.6761,-0.0048,0.09081781748485758,1.0,0.0,0.0,0.0,0.08067213069576351,0.05596047199620597,0.18637981059338882,0.003153023244287216,-0.0051583105703495325,0.00039882531851552624,0.14036981368555837,0.05638499123665712,-0.06581044826678913,0.0012617102083519612,-0.008096955301983233,-0.0015148273631131865,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.6013772015769937,-0.26898398523067907,0.5209913395029525,0.3393229517332036,-0.18152247180910355,-0.2235226955536931,0.44977163125745984,0.18637981059338882,-0.07121970824549267,-0.07121970824549267,0.21599999999999256,0,0,-0.00013499997394558617,-9.999999025923074e-05
+8518,1792041152859536609,13481541000000,1792041152858104812,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760011942370389,-0.00477468951741551,0.09066642772824655,0.9999999868385195,4.156927478271095e-05,-0.0001244389357651808,2.3511104618275244e-05,0.6761,-0.0048,0.09072909521120541,1.0,0.0,0.0,0.0,0.09879636937403422,0.06445222786877185,0.28236928897637475,0.0031449126887678537,-0.0051949410677512246,0.0007486141924477063,0.15849405236382907,0.06487674710922299,0.030179030116196808,0.0012535996528325987,-0.008133585799384925,-0.0011650384891810064,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.6699166203485738,-0.26713205031141446,0.43246267681499334,0.34717165899852104,-0.10949897337081803,-0.22079192693966843,0.44977163125745984,0.28236928897637475,0.017308954442466495,0.017308954442466495,0.26399999999999546,0,0,-0.0001562711219829912,-9.999270442063164e-05
+8597,1792041153518497544,13482200000000,1792041153518095103,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760003060322992,-0.004781547244409481,0.09057512771729602,0.9999999867060462,4.640881353754636e-05,-0.00012161550513085526,3.2964571458167955e-05,0.6761,-0.0048,0.09062819610263427,1.0,0.0,0.0,0.0,0.08935715100231964,0.057843509196332125,0.381272426433879,0.0031222406110713763,-0.005216591667638363,0.0006822134720569002,0.1490548339921145,0.058268028436783276,0.12908216757370106,0.0012309275751361214,-0.008155236399272063,-0.0012314392095718126,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.6407606142145111,-0.2860184391022696,0.24616110523088036,0.3706611614742406,-0.003411165296755195,-0.2341403762217534,0.44977163125745984,0.381272426433879,0.20361052602657947,0.20361052602657947,0.3167200000000116,0,0,-0.00014610325127920187,9.999999025923074e-05
+8646,1792041153926451247,13482608000000,1792041153926105133,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760583904401097,-0.0047844545550041456,0.09056119883843972,0.9999999916541839,5.3503338135180255e-05,-5.879780169421516e-05,4.2599391406891026e-05,0.6761,-0.0048,0.09057156525986397,1.0,0.0,0.0,0.0,0.0890607981460198,0.05970732123723756,0.43490333982522966,0.0031123681116337464,-0.005228025110969358,0.000642805292094368,0.14875848113581466,0.06013184047768871,0.1827130809650517,0.0012210550756984913,-0.008166669842603058,-0.0012708473895343447,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.7927969740107145,-0.2873805336591625,0.1191760559385939,0.3602728792904609,0.1187133794202769,-0.23866292411869428,0.44977163125745984,0.43490333982522966,0.33059557531886596,0.33059557531886596,0.3493600000000216,0,0,-0.00013116686330552773,9.998881864004545e-05
+8702,1792041154393554379,13483075000000,1792041154390104886,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760627410780147,-0.004782986108629365,0.09052048612332758,0.9999999916186432,5.906231039730531e-05,-4.996869589702355e-05,4.71206007814837e-05,0.6761,-0.0048,0.09051016300682452,1.0,0.0,0.0,0.0,0.06851449131483253,0.09850420606478533,0.4442424669737609,0.00611969079052802,-0.0032621117742753967,0.0006987227364295516,0.1282121743046274,0.09892872530523647,0.19205220811358298,0.004228377754592765,-0.006200756505909098,-0.0012149299451991611,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.8697114722929163,-0.24093407058642355,0.1179142547097124,0.3627028218848902,0.12973395812342556,-0.20341194138343338,0.44977163125745984,0.4442424669737609,0.33185737654774744,0.33185737654774744,0.38672000000003304,0,0,-0.00012695160036127617,9.998118585675115e-05
+8785,1792041155084556668,13483766000000,1792041155082104912,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760687067614006,-0.004787750755485172,0.09046027394973721,0.9999999914722871,6.421341897506035e-05,-3.9953454617024895e-05,5.271288531634429e-05,0.6761,-0.0048,0.09043209991671333,1.0,0.0,0.0,0.0,0.059360955914091566,0.0990589508967927,0.49487332340120843,0.006110407205979129,-0.003272936413818503,0.000656704120556054,0.11905863890388642,0.09948347013724385,0.2426830645410305,0.004219094170043874,-0.006211581145452204,-0.0012569485610726587,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.8966861470180351,-0.18156123091679985,0.05884490914424319,0.34032375628126305,0.1745093510295894,-0.16580632884932206,0.44977163125745984,0.49487332340120843,0.39092672211321666,0.39092672211321666,0.44200000000004996,0,0,-0.0001002028326327079,9.965493294317724e-05
+8873,1792041155818459598,13484500000000,1792041155814095276,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.676068108698329,-0.004788939731311451,0.0903976607666846,0.9999999904479197,7.491849430502621e-05,-3.923926592507934e-05,5.826254682233921e-05,0.6761,-0.0048,0.09036889280409426,1.0,0.0,0.0,0.0,0.059384258912508446,0.09329555780223822,0.555092963982874,0.0060979884045698094,-0.0032853472779461033,0.0006080566773225729,0.1190819419023033,0.09372007704268936,0.30290270512269607,0.004206675368634554,-0.006223992009579804,-0.0013055960043061399,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.85694048535732,-0.29550184583616435,-0.00986377986190584,0.3883230269551558,0.20481098710804838,-0.23701784218147756,0.44977163125745984,0.555092963982874,0.4596354111193657,0.4596354111193657,0.5007200000000674,0,0,-7.35069097992661e-05,9.98667218629123e-05
+8973,1792041156651482298,13485333000000,1792041156646104338,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760693817332518,-0.0047893037676573665,0.09034715942418574,0.9999999898667589,7.958538067120175e-05,-3.604857316941536e-05,6.384367077414446e-05,0.6761,-0.0048,0.09031502594828278,1.0,0.0,0.0,0.0,0.05906851787111996,0.093622780702571,0.6052633571204975,0.0060886664620414255,-0.003296273939500076,0.000567930879638457,0.11876620086091481,0.09404729994302215,0.35307309826031963,0.00419735342610617,-0.006234918671133777,-0.0013457218019902557,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.8460685231740854,-0.2772784502982053,-0.05888950412271929,0.38000697414582973,0.23349200283195845,-0.22722645355584714,0.44977163125745984,0.6052633571204975,0.5086611353801791,0.5086611353801791,0.5673600000000416,0,0,-5.992478300101555e-05,4.35603595124789e-05
+9068,1792041157443483044,13486125000000,1792041157442104848,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760694901874719,-0.004790942488941218,0.09030485329153393,0.9999999894267663,8.386606419133505e-05,-3.4927223139426864e-05,6.584758288562825e-05,0.6761,-0.0048,0.0902683204684007,1.0,0.0,0.0,0.0,0.06815585419460768,0.0951197215806419,0.6353792721849311,0.006082930483063635,-0.003303019673177115,0.000544263934688378,0.12785353718440254,0.09554424082109304,0.38318901332475314,0.00419161744712838,-0.006241664404810816,-0.0013693887469403347,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.9001483500207526,-0.23759103811214655,-0.20249117035610828,0.38118163623024265,0.33794792116691136,-0.1984382276809412,0.44977163125745984,0.6353792721849311,0.6522628016135681,0.6522628016135681,0.630720000000017,0,0,-6.0075895623430735e-05,9.970182598817984e-05
+9161,1792041158218575513,13486900000000,1792041158218104994,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760740685328216,-0.004792638281306122,0.09026686146158899,0.9999999902445812,7.84659233679205e-05,-2.6056974609157595e-05,6.41703596442058e-05,0.6761,-0.0048,0.09021923724603804,1.0,0.0,0.0,0.0,0.06469387701359364,0.09035803360457031,0.6735555915983886,0.0060747200081672295,-0.0033109639082696467,0.0005118704842400044,0.1243915600033885,0.09078255284502146,0.42136533273821075,0.004183406972231974,-0.006249608639903348,-0.0014017821973887083,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.9403752838324231,-0.25157994272730005,-0.19449232814067377,0.39117521631988106,0.3412702831664488,-0.21026681169023903,0.44977163125745984,0.6735555915983886,0.6442639593981336,0.6442639593981336,0.692719999999993,0,0,-6.56399492856855e-05,9.962012745135524e-05
+9260,1792041159043581374,13487725000000,1792041159038104888,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760730642283269,-0.004791375699571959,0.0902102782409365,0.9999999916798485,6.582470724918039e-05,-2.7839020838031982e-05,5.4545982116929734e-05,0.6761,-0.0048,0.09016420238411584,1.0,0.0,0.0,0.0,0.06597149479082928,0.09809009932234122,0.7156529755428074,0.006068145294649235,-0.0033205474768048904,0.0004791404262344363,0.12566917778062414,0.09851461856279237,0.4634627166826294,0.00417683225871398,-0.006259192208438591,-0.0014345122553942765,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.928182628873609,-0.22397711957797514,-0.19516163064460687,0.38193991815133277,0.3364150351109588,-0.19355847446520932,0.44977163125745984,0.7156529755428074,0.6449332619020667,0.6449332619020667,0.7587199999999674,0,0,-6.900371294779462e-05,-9.999999025923074e-05
+9360,1792041159876593570,13488558000000,1792041159870104751,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760766805178358,-0.0047953572985089425,0.09016196452858836,0.9999999921375836,5.922612035093824e-05,-2.2103109227457616e-05,5.6315331441423534e-05,0.6761,-0.0048,0.09010436877752892,1.0,0.0,0.0,0.0,0.06787480084357381,0.09613973845555614,0.7559183101284026,0.006060217886747848,-0.003329048204903939,0.00044681576584819035,0.12757248383336867,0.09656425769600728,0.5037280512682246,0.0041689048508125924,-0.00626769293653764,-0.0014668369157805224,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.9618821415238745,-0.23831643256506285,-0.23155943242198498,0.3753556040110662,0.36913717492379783,-0.20713267370335986,0.44977163125745984,0.7559183101284026,0.6813310636794448,0.6813310636794448,0.8253599999999416,0,0,-7.685762396933272e-05,-9.902266093065321e-05
+9460,1792041160709492960,13489391000000,1792041160706105003,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760810013451343,-0.004794015700476292,0.09010146306795655,0.9999999921356431,5.760643526158955e-05,-1.4928553996189379e-05,6.0251266985491444e-05,0.6761,-0.0048,0.09003594381978756,1.0,0.0,0.0,0.0,0.0589774003926321,0.08288259968783589,0.8059107661676201,0.006049300665993278,-0.003338904638536547,0.0004053804793212885,0.11867508338242695,0.08330711892828703,0.5537205073074423,0.004157987630058023,-0.006277549370170248,-0.0015082722023074242,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,0.9571916113483186,-0.3463115664674953,-0.35688611153747263,0.4169649385005506,0.44622679441378893,-0.27664945212997727,0.44977163125745984,0.8059107661676201,0.8066577427949324,0.8066577427949324,0.8919999999999157,0,0,-8.392734582721306e-05,9.999997638144293e-05
+9564,1792041161576561528,13490258000000,1792041161570105049,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.676087684154378,-0.004796899197968203,0.09003652725237087,0.9999999916186006,5.810537120494951e-05,-5.4492987819184185e-06,6.928011384208543e-05,0.6761,-0.0048,0.08996256648796497,1.0,0.0,0.0,0.0,0.06393395716223116,0.08346705946449717,0.8560714277049959,0.006039259990403808,-0.003345504013548116,0.00036551371230654365,0.12363164015202602,0.08389157870494832,0.6038811688448179,0.004147946954468553,-0.006284148745181817,-0.001548138969322169,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.0185905913400906,-0.2653853001432857,-0.42699581875307957,0.39503094152834006,0.5055550533628403,-0.22152424742018173,0.44977163125745984,0.8560714277049959,0.8767674500105394,0.8767674500105394,0.9613599999998889,0,0,-8.564508433420303e-05,9.997899316627751e-05
+9659,1792041162368602510,13491050000000,1792041162362104563,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760905468630809,-0.004800714091412512,0.08997229848538522,0.9999999909662164,5.890027471117517e-05,-2.4097887629130146e-06,7.7687722716313e-05,0.6761,-0.0048,0.0898922501413329,1.0,0.0,0.0,0.0,0.058072813484175125,0.09517162093946477,0.9061969062998905,0.006003963327172894,-0.0023479214124093374,0.00033996863425213666,0.11777049647396998,0.09559614017991591,0.6540066474397125,0.004112650291237639,-0.005286566144043038,-0.001573684047376576,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.093940847257388,-0.31165908159937983,-0.5632523794020589,0.4161960882993248,0.6122936155330421,-0.24738749928784176,0.44977163125745984,0.9061969062998905,1.0130240106595187,1.0130240106595187,1.0247199999998986,0,0,-9.255568553659532e-05,9.987793511546101e-05
+9739,1792041163034564793,13491716000000,1792041163034104442,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760945099754399,-0.00480672587067873,0.08991762751622698,0.9999999908591938,5.2458278187331255e-05,1.7188933909659959e-06,8.34844374109812e-05,0.6761,-0.0048,0.08982968383929019,1.0,0.0,0.0,0.0,0.04939536402911441,0.08658700448710657,0.9362441551192009,0.005997167008235417,-0.002353484833992191,0.00031462941973823383,0.10909304701890926,0.08701152372755772,0.6840538962590229,0.004105853972300162,-0.005292129565625892,-0.001599023261890479,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.0658137275963857,-0.19704891657867113,-0.5718642305259682,0.384143581123816,0.6057963825649125,-0.17484268285572618,0.44977163125745984,0.9362441551192009,1.021635861783428,1.021635861783428,1.0779999999999519,0,0,-9.584803343090786e-05,9.999999025923074e-05
+9827,1792041163768507789,13492450000000,1792041163766104295,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760953878275175,-0.004792615710879991,0.08985068891085005,0.9999999947691492,7.258759678052535e-06,4.776824916597214e-06,4.276749226078848e-05,0.6761,-0.0048,0.0897578050284026,1.0,0.0,0.0,0.0,0.06710270130227283,0.09874880329442762,0.9664837646917928,0.006016943798344086,-0.0032390254401927234,0.0002787601846432036,0.1268003842920677,0.09917332253487876,0.7142935058316149,0.0041256307624088304,-0.006177670171826424,-0.0016348924969855092,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.0806674601123762,-0.20507091365251998,-0.4645841932627377,0.4121825814693532,0.5385193950508947,-0.18014078415707466,0.44977163125745984,0.9664837646917928,0.9143558245201975,0.9143558245201975,1.1367200000000106,0,0,-0.00010194113566760888,-9.999894942514515e-05
+9927,1792041164601614976,13493283000000,1792041164598095220,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6761028022636644,-0.0048006376069683115,0.08977427814651238,0.9999999942759088,5.026581104618024e-06,1.6907838575194916e-05,5.0792768126057786e-05,0.6761,-0.0048,0.08966973716815847,1.0,0.0,0.0,0.0,0.05758028992805495,0.1003855967963077,1.0065746415278678,0.006092344625984891,-0.002371795785430724,0.0002682726623194928,0.1172779729178498,0.10081011603675884,0.7543843826676899,0.004201031590049636,-0.005310440517064425,-0.00164538001930922,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.0756976943625955,-0.2652760643278738,-0.473063236013679,0.42064336086576604,0.541701652603076,-0.21748140908064992,0.44977163125745984,1.0065746415278678,0.9228348672711388,0.9228348672711388,1.2033600000000773,0,0,-0.0001111857355448872,-9.981373646906206e-05
+10007,1792041165268617167,13493950000000,1792041165266104486,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6761069349591321,-0.004802689564873696,0.08970336009900916,0.9999999837114854,0.00014128547427247814,2.0123522371199963e-05,6.0442964948384924e-05,0.6761,-0.0048,0.0895940935550589,1.0,0.0,0.0,0.0,0.06363489569570352,0.09893388798777912,1.0368895071757753,0.005979677770806701,-0.002376652051448953,0.0002350741122846133,0.12333257868549838,0.09935840722823026,0.7846992483155975,0.0040883647348714455,-0.005315296783082654,-0.0016785785693440994,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1348604616927378,-0.22000196845474904,-0.5879600041225348,0.39376688014064104,0.6316821905198252,-0.22200018924402862,0.44977163125745984,1.0368895071757753,1.0377316353799946,1.0377316353799946,1.2567200000001306,0,0,-0.00011838355725854311,-9.999999025923074e-05
+10086,1792041165926525771,13494608000000,1792041165922104842,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6761044440509195,-0.0048070876349376596,0.08962523728087916,0.9999999855558837,0.00012517326236700054,1.5773101491770628e-05,6.643764380794471e-05,0.6761,-0.0048,0.08951347264632376,1.0,0.0,0.0,0.0,0.05772709547490911,0.09540170961244065,1.056700022169146,0.005975543684594004,-0.0023804428445440306,0.00021834296000721332,0.11742477846470396,0.0958262288528918,0.8045097633089682,0.004084230648658749,-0.0053190875761777315,-0.0016953097216214994,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1475323733376983,-0.23019261674944325,-0.7097316642105883,0.4108630646769278,0.7086397147712657,-0.21269305489935972,0.44977163125745984,1.056700022169146,1.1595032954680482,1.1595032954680482,1.3093600000001833,0,0,-0.00012846378441500476,8.6650715043401e-05
+10158,1792041166526576398,13495208000000,1792041166522104793,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6761108621183527,-0.004811623102133563,0.08955693595767397,0.9999999861711055,0.0001144122075060777,2.611631620177823e-05,7.29961500233474e-05,0.6761,-0.0048,0.08943370114364291,1.0,0.0,0.0,0.0,0.057664245048651704,0.08742241772081723,1.0767401946294899,0.005970129915511013,-0.002384019743912226,0.00020213200758671212,0.11736192803844656,0.08784693696126837,0.824549935769312,0.004078816879575758,-0.005322664475545927,-0.0017115206740420006,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1530749605725619,-0.24709511781689836,-0.6837544530014622,0.4319969396636652,0.6884787101563413,-0.20212460163442242,0.44977163125745984,1.0767401946294899,1.133526084258922,1.133526084258922,1.3573600000002313,0,0,-0.0001380533792658386,-9.605786585454296e-05
+10234,1792041167159581418,13495841000000,1792041167158095328,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6761064798428188,-0.004817608459183452,0.08946174583780594,0.9999999870908678,0.00010044729382569194,1.8247662238844783e-05,8.269517895512484e-05,0.6761,-0.0048,0.08934390772895849,1.0,0.0,0.0,0.0,0.058167799526679755,0.07933274404826936,1.0959234227488273,0.004946130434399759,-0.002368898714261961,0.0001751799026232252,0.1178654825164746,0.0797572632887205,0.8437331638886494,0.0030548173984645045,-0.005307543445895662,-0.0017384727790054875,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1311087838500657,-0.32007263624462245,-0.7485827267268244,0.46253697438118474,0.7176278423855001,-0.24372092240940843,0.44977163125745984,1.0959234227488273,1.1983543579842841,1.1983543579842841,1.408000000000282,0,0,-0.00014690630628230584,-9.298894573651068e-05
+10307,1792041167768589238,13496450000000,1792041167762104877,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6761061283844997,-0.0048195624330813905,0.08936927532455297,0.999999988623887,8.34458710116466e-05,1.9215148113499826e-05,8.284114321859864e-05,0.6761,-0.0048,0.08925079189535022,1.0,0.0,0.0,0.0,0.05816703031405392,0.07931245211547909,1.096415084272331,0.004946037487866012,-0.0023690052952452466,0.00017481747065319054,0.11786471330384878,0.07973697135593023,0.844224825412153,0.0030547244519307567,-0.0053076500268789475,-0.0017388352109755222,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1593516370031236,-0.2945988814370147,-0.8251677483672439,0.4644077461910717,0.7722968039428466,-0.22566683861244263,0.44977163125745984,1.096415084272331,1.2749393796247037,1.2749393796247037,1.4567200000003306,0,0,-0.00015914728310609393,9.326143610011712e-05
+10374,1792041168326638139,13497008000000,1792041168322104736,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.676104079098847,-0.0048206314270896255,0.08927163242319945,0.9999999905963248,6.391012677976619e-05,1.2181442695949376e-05,7.757140418232424e-05,0.6761,-0.0048,0.08915729154972578,1.0,0.0,0.0,0.0,0.05869554751847234,0.0772175304632242,1.1138892041809554,0.003929603933746143,-0.0023541348052851445,0.0001492922037318778,0.1183932305082672,0.07764204970367534,0.8616989453207774,0.002038290897810888,-0.005292779536918845,-0.001764360477896835,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1327400374832106,-0.2843035312197536,-0.8135254396662494,0.46939551840200483,0.7523980471564509,-0.21612576569544964,0.44977163125745984,1.1138892041809554,1.2632970709237092,1.2632970709237092,1.5013600000003753,0,0,-0.0001761543317699551,-9.453479252042313e-05
+10434,1792041168826640397,13497508000000,1792041168822104209,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6761050745564303,-0.004822443136756387,0.08918318467105485,0.9999999917659331,4.6188772582334674e-05,1.5831585491823238e-05,7.434350320405114e-05,0.6761,-0.0048,0.08906555221555304,1.0,0.0,0.0,0.0,0.058658950553043675,0.07551777347961496,1.1239115471111403,0.003921204111888599,-0.002355506363605059,0.00014305298627116658,0.11835663354283853,0.0759422927200661,0.8717212882509624,0.002029891075953344,-0.00529415109523876,-0.0017705996953575462,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1984183675643538,-0.28452729368518104,-0.8152182067496158,0.46948347902642174,0.7682635695443482,-0.22183177844393706,0.44977163125745984,1.1239115471111403,1.2649898380070757,1.2649898380070757,1.5413600000004153,0,0,-0.00019149121747582954,-9.997148528307349e-05
+10494,1792041169326649256,13498008000000,1792041169322104452,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6761009438128622,-0.004828721400415918,0.08907627530250149,0.9999999915713186,4.076330324685202e-05,8.795598460112226e-06,8.100134586020868e-05,0.6761,-0.0048,0.08896736314830658,1.0,0.0,0.0,0.0,0.05861898235277397,0.0657191319834074,1.1325134454273103,0.003917365772047629,-0.0023573990171181394,0.0001341495771351414,0.11831666534256882,0.06614365122385854,0.8803231865671323,0.0020260527361123737,-0.00529604374875184,-0.0017795031044935713,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1893405000984962,-0.3215682508166542,-0.7352412266664679,0.4895939812205918,0.7111178012064365,-0.24330142108808378,0.44977163125745984,1.1325134454273103,1.1850128579239276,1.1850128579239276,1.5813600000004553,0,0,-0.00020345479227332065,-9.998351732510286e-05
+10550,1792041169793645570,13498475000000,1792041169786104692,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760970257577869,-0.004827137568315585,0.08896999049352938,0.9999999893024524,7.427338675444571e-05,-6.563889892320676e-07,8.556280050773586e-05,0.6761,-0.0048,0.08886915258990928,1.0,0.0,0.0,0.0,0.05881018420098038,0.05509813341149791,1.134432862449392,0.002896111098009792,-0.002338024027702617,0.0001242803567528864,0.11850786719077523,0.05552265265194906,0.882242603589214,0.0010047980620745368,-0.005276668759336318,-0.0017893723248758263,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.201633623787488,-0.2888669743338649,-0.797367975491211,0.4959648262055407,0.7521038911719615,-0.21719249859296152,0.44977163125745984,1.134432862449392,1.2471396067486709,1.2471396067486709,1.6187200000004927,0,0,-0.00021842546426706211,-9.999999025923074e-05
+10598,1792041170193584124,13498875000000,1792041170186104742,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760949128968914,-0.004834279442638457,0.08887319414614467,0.9999999903678318,5.779994094261629e-05,-5.332975321721343e-06,8.566170105318319e-05,0.6761,-0.0048,0.08877878247585595,1.0,0.0,0.0,0.0,0.05331123647057611,0.054795791346827355,1.1257032386529366,0.0028972943350334293,-0.0023368547065071685,0.000124288717996097,0.11300891946037096,0.055220310587278505,0.8735129797927587,0.0010059812990981744,-0.005275499438140869,-0.0017893639636326157,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1920547149729708,-0.23616058944787194,-0.8641498411558135,0.4847668338947295,0.7853946582052299,-0.1816490061869029,0.44977163125745984,1.1257032386529366,1.3139214724132733,1.3139214724132733,1.6507200000005247,0,0,-0.0002322709578797807,-9.999999025923074e-05
+10649,1792041170618547757,13499300000000,1792041170618104670,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760945997035543,-0.004833261166124613,0.08877455868554643,0.9999999910052523,5.060944276036314e-05,-5.107507506454318e-06,8.2734258848728e-05,0.6761,-0.0048,0.08867638516386603,1.0,0.0,0.0,0.0,0.05918084385654921,0.05478109719798719,1.1257064766895728,0.0028979262630880543,-0.0023367949161710957,0.0001281835737385064,0.11887852684634406,0.05520561643843834,0.8735162178293948,0.0010066132271527996,-0.005275439647804797,-0.0017854691078902063,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1874079397932171,-0.37780968760249034,-0.8334200067940037,0.5330360441054596,0.7611186815261454,-0.2732297023736915,0.44977163125745984,1.1257064766895728,1.2831916380514636,1.2831916380514636,1.6847200000005587,0,0,-0.00024977612611140474,-9.999999025923074e-05
+10698,1792041171026553294,13499708000000,1792041171022104763,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760970689518737,-0.0048396055585831965,0.0886747299877036,0.9999999899744636,5.380445244599073e-05,-5.341587272350802e-07,9.272935341789436e-05,0.6761,-0.0048,0.08857094418974487,1.0,0.0,0.0,0.0,0.05253581724723282,0.04590339650010216,1.1357031655353587,0.0028948504239631875,-0.002337388220205797,0.00011930148449525342,0.11223350023702768,0.04632791574055331,0.8835129066751807,0.0010035373880279324,-0.005276032951839498,-0.0017943511971334593,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1820702924925723,-0.29396989010741287,-0.8739675625256,0.5198410942665259,0.778738030941211,-0.21904670543402488,0.44977163125745984,1.1357031655353587,1.3237391937830598,1.3237391937830598,1.7173600000005913,0,0,-0.00026794020826645246,-9.999999025923074e-05
+10737,1792041171351664675,13500033000000,1792041171350105287,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760984943597147,-0.004841085234288063,0.08858596796076794,0.9999999901256902,5.091640404383797e-05,-7.215589417634377e-07,9.272800669537582e-05,0.6761,-0.0048,0.0884821947952037,1.0,0.0,0.0,0.0,0.05031770943648304,0.04361313624049621,1.145438251839651,0.0020964500548534565,-0.0023247283103764315,0.0001021780556926782,0.11001539242627789,0.04403765548094736,0.8932479929794731,0.0002051370189182016,-0.005263373042010132,-0.0018114746259360345,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.203004444026993,-0.3451457140751999,-0.8909678511592288,0.5456027057936276,0.7935001985012182,-0.25135528351030256,0.44977163125745984,1.145438251839651,1.3407394824166887,1.3407394824166887,1.7433600000006173,0,0,-0.000278230372681458,-9.999999025923074e-05
+10785,1792041171751580283,13500433000000,1792041171746095201,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760950091565072,-0.004843128330234922,0.08847057668339867,0.9999999900001851,5.0410170524354864e-05,-6.7191268412888535e-06,9.41071858660161e-05,0.6761,-0.0048,0.08836871769087033,1.0,0.0,0.0,0.0,0.050390511650123294,0.0389928547166938,1.1553778582552054,0.0018703626533656127,-0.0023240532687406443,8.648983675000406e-05,0.11008819463991815,0.03941737395714495,0.9031875993950276,-2.095038256964214e-05,-0.005262698000374345,-0.0018271628448787087,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1944240490303257,-0.31836114497224244,-0.9357584026905771,0.5414076234491682,0.8152652483873001,-0.2396380293701717,0.44977163125745984,1.1553778582552054,1.385530033948037,1.385530033948037,1.7753600000006493,0,0,-0.0002909796289016483,-7.410985300294044e-05
+10825,1792041172084657776,13500766000000,1792041172082104408,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760942444770124,-0.00484763356386973,0.08836991922807703,0.9999999896633994,5.0013051096784576e-05,-7.88718671680805e-06,9.773716064591086e-05,0.6761,-0.0048,0.08827013480880393,1.0,0.0,0.0,0.0,0.0562464149544565,0.042621554432479364,1.1654259764406207,0.0018690367081112466,-0.002324925206755092,8.425259010870381e-05,0.11594409794425135,0.043046073672930514,0.9132357175804428,-2.227632782400837e-05,-0.005263569938388793,-0.001829400091520009,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1814827673391015,-0.36749840341783757,-0.9545977470507041,0.5713320813441056,0.819966570836301,-0.2664047257932654,0.44977163125745984,1.1654259764406207,1.4043693783081639,1.4043693783081639,1.802000000000676,0,0,-0.00030077235622513596,-9.999985148135266e-05
+10869,1792041172451661068,13501133000000,1792041172450095118,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760884546621577,-0.004852601484605104,0.0882538650716735,0.9999999896148104,4.821822579041998e-05,-1.6792840125685905e-05,9.801146292799846e-05,0.6761,-0.0048,0.08815786067433592,1.0,0.0,0.0,0.0,0.05038173207365713,0.033383717487841184,1.1652222537904529,0.001867976446866288,-0.002324069790665301,8.36747037281291e-05,0.11007941506345198,0.033808236728292335,0.913031994930275,-2.3336589068966818e-05,-0.005262714522299002,-0.0018299779779005836,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2087890330767865,-0.29688623396325126,-0.9596778738397855,0.5626690929625044,0.8269627024385338,-0.22227222469671024,0.44977163125745984,1.1652222537904529,1.4094495050972453,1.4094495050972453,1.8313600000007053,0,0,-0.00031124941382162783,-9.76983452735169e-05
+10909,1792041172784664661,13501466000000,1792041172778104477,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760930452449433,-0.004854777795542044,0.08815767956641762,0.999999989374954,5.098656914623433e-05,-9.126870208762852e-06,0.00010005011794573504,0.6761,-0.0048,0.08805233346493928,1.0,0.0,0.0,0.0,0.05081148137987839,0.03029566397351464,1.1645735879961672,0.0010735299133461137,-0.0023091853497875787,7.525280607196595e-05,0.11050916436967324,0.03072018321396579,0.9123833291359892,-0.0008177831225891412,-0.00524783008142128,-0.0018383998755567468,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2312664578594206,-0.3229121256581136,-0.9098690203418318,0.5847233191577931,0.7950984656929603,-0.23481027845306268,0.44977163125745984,1.1645735879961672,1.3596406515992916,1.3596406515992916,1.858000000000732,0,0,-0.00032272211874659194,-9.999989311471608e-05
+10941,1792041173051624061,13501733000000,1792041173050095030,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760889039237752,-0.004857160850671185,0.08805743098286012,0.9999999885800768,5.2003920700130776e-05,-1.817815699199446e-05,0.00010605591716862567,0.6761,-0.0048,0.08796478603085368,1.0,0.0,0.0,0.0,0.050891834971175935,0.020942228099314564,1.1750511019168284,0.0008447986035129429,-0.002306567125584536,6.426802121518036e-05,0.11058951796097079,0.021366747339765714,0.9228608430566505,-0.001046514432422312,-0.005245211857218237,-0.0018493846604135324,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.1738308545588558,-0.4195537768404888,-0.8999151352758216,0.6120714116617496,0.7734826042650419,-0.3024440479211337,0.44977163125745984,1.1750511019168284,1.3496867665332815,1.3496867665332815,1.8793600000007533,0,0,-0.00033232957631221103,-9.965977629112217e-05
+10977,1792041173351566497,13502033000000,1792041173346104550,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760865751870887,-0.004857832172996183,0.08795220361567566,0.9999999888324903,4.9424423924360554e-05,-2.3469363024161094e-05,0.00010384747991330243,0.6761,-0.0048,0.08786330349546893,1.0,0.0,0.0,0.0,0.04166788322390511,0.02091744722868967,1.1750217635399542,0.0008443047011034838,-0.0023073902814352188,6.31832548698768e-05,0.10136556621369996,0.02134196646914082,0.9228315046797763,-0.0010470083348317711,-0.00524603501306892,-0.001850469426758836,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.222800984530311,-0.38194152967533757,-1.0109210487367386,0.6136630021306394,0.8515239510741037,-0.27618691013180746,0.44977163125745984,1.1750217635399542,1.4606926799941984,1.4606926799941984,1.9033600000007773,0,0,-0.00034371514617412134,-9.085516647212017e-05
+11017,1792041173684632947,13502366000000,1792041173682104276,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760838801509887,-0.004858469419845971,0.08783288267590018,0.9999999879690131,6.023475584590535e-05,-2.765167715428305e-05,0.00010541345723210775,0.6761,-0.0048,0.08774660599455907,1.0,0.0,0.0,0.0,0.049614929159676906,0.014114082286985604,1.185024923255429,0.0008340831782072647,-0.0020194186482748572,6.0300813474587064e-05,0.10931261214947176,0.014538601527436754,0.9328346643952512,-0.0010572298577279902,-0.004958063379908558,-0.0018533518681541257,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2476058274279327,-0.37031474032571404,-1.0361104114230362,0.6245922207619033,0.8705146129065424,-0.26465790504732906,0.44977163125745984,1.185024923255429,1.485882042680496,1.485882042680496,1.930000000000804,0,0,-0.00035773088186000674,2.4611272765255707e-05
+11050,1792041173959616239,13502641000000,1792041173958104831,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760809581818387,-0.004864381160895509,0.08773229725575032,0.9999999862968804,7.222250559048989e-05,-3.2598146181768e-05,0.00011211768007682423,0.6761,-0.0048,0.08764695814292262,1.0,0.0,0.0,0.0,0.04162217426164399,0.015234342718457201,1.1850182091225467,0.000841611439126837,-0.0023077958396300097,5.508209317324963e-05,0.10131985725143884,0.01565886195890835,0.9328279502623688,-0.001049701596808418,-0.005246440571263711,-0.001858570588455463,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2304678137317582,-0.3668000098942229,-0.9893995118460355,0.6360436988038268,0.8310486060069158,-0.2581491516929773,0.44977163125745984,1.1850182091225467,1.4391711431034953,1.4391711431034953,1.952000000000826,0,0,-0.0003677909037283752,-9.999999025923074e-05
+11088,1792041174276672754,13502958000000,1792041174270106949,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760842215296933,-0.004864737701013354,0.0876206757053352,0.9999999863116779,7.16975835531144e-05,-2.7970076864060437e-05,0.00011356337409628965,0.6761,-0.0048,0.08752822852888724,1.0,0.0,0.0,0.0,0.041542778341431004,0.011538946150510359,1.1750058883094034,0.000833084209907464,-0.0019362302086864468,6.377709164828e-05,0.10124046133122586,0.01196346539096151,0.9228156294492256,-0.001058228826027791,-0.004874874940320148,-0.0018498755899804327,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2310254213939162,-0.33617826726891287,-0.9744295475490253,0.6367726278211063,0.8178474288971311,-0.24192699461610281,0.44977163125745984,1.1750058883094034,1.4242011788064852,1.4242011788064852,1.9773600000008513,0,0,-0.0003821612384561065,-9.999999025923074e-05
+11120,1792041174543675825,13503225000000,1792041174542094926,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760844175793528,-0.004870299876831344,0.087518484616404,0.9999999869911139,6.167372358720601e-05,-2.9132746152438025e-05,0.00011317363403294252,0.6761,-0.0048,0.08742448332219481,1.0,0.0,0.0,0.0,0.04865513292094716,0.011411224679505876,1.1821402703594652,0.0008412486194327435,-0.0022771610805690464,5.70180122420696e-05,0.10835281591074201,0.011835743919957026,0.9299500114992872,-0.0010500644165025114,-0.005215805812202747,-0.0018566346693866431,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2466223581602203,-0.4424861365949061,-1.0168029534558265,0.6746014119632844,0.845113777805385,-0.3107589420026622,0.44977163125745984,1.1821402703594652,1.4665745847132863,1.4665745847132863,1.9987200000008727,0,0,-0.0003937662164208141,-7.50099940757309e-05
+11156,1792041174843675518,13503525000000,1792041174838104834,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760805722141587,-0.0048719740761506425,0.08739960054856391,0.9999999869368067,5.348077833986745e-05,-3.495703733974429e-05,0.00011613381382226692,0.6761,-0.0048,0.08730455578146076,1.0,0.0,0.0,0.0,0.0418686186280894,0.018767800354149187,1.1846297458948012,-7.002522781024488e-05,-0.0012788453580507586,6.114676723213046e-05,0.10156630161788426,0.019192319594600337,0.9324394870346232,-0.0019613382637455,-0.0042174900896844595,-0.0018525059143965823,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2531722076103338,-0.4007905788732645,-0.9830779793623579,0.6675892869573925,0.8234663450414305,-0.28885677645799956,0.44977163125745984,1.1846297458948012,1.4328496106198176,1.4328496106198176,2.0227200000008967,0,0,-0.0004058197444992403,-9.999999025923074e-05
+11188,1792041175109652097,13503791000000,1792041175102105247,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760811758029296,-0.004872944524366335,0.08729213634203768,0.9999999873913342,4.8633481919912396e-05,-3.213122571063006e-05,0.0001151632085709966,0.6761,-0.0048,0.08719499073548233,1.0,0.0,0.0,0.0,0.038959910423407774,0.008602902531219833,1.184567401582324,-0.00020580863002851398,-0.0012755072678453882,5.9482464497379386e-05,0.09865759341320263,0.009027421771670983,0.9323771427221461,-0.002097121665963769,-0.004214151999479089,-0.0018541702171313333,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2434322232937007,-0.33860251638475447,-0.9874452681877154,0.6716114556288708,0.8189371840798413,-0.2378537731999041,0.44977163125745984,1.184567401582324,1.4372168994451753,1.4372168994451753,2.044000000000918,0,0,-0.00041790387976112085,-9.999999025923074e-05
+11220,1792041175376712334,13504058000000,1792041175374105295,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760828586132417,-0.004876366798091512,0.08718193630508529,0.9999999870348348,5.793275107438008e-05,-2.7114733376792205e-05,0.00011524661477857202,0.6761,-0.0048,0.0870820170365477,1.0,0.0,0.0,0.0,0.04172097925206109,0.01066354479771219,1.1845133994137786,-0.00020537177799640166,-0.001275559637338513,5.898648479247615e-05,0.10141866224185594,0.01108806403816334,0.9323231405536008,-0.0020966848139316566,-0.004214204368972214,-0.0018546661968362366,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2001529112474552,-0.35646610430771813,-0.9824437587696155,0.6846296386339307,0.8003361985079326,-0.24759342964679595,0.44977163125745984,1.1845133994137786,1.4322153900270753,1.4322153900270753,2.0653600000009393,0,0,-0.00042936016037972555,-9.999911595859885e-05
+11248,1792041175609638618,13504291000000,1792041175602105043,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760778171068524,-0.0048774263572520455,0.0870784074676026,0.9999999863514791,6.134303560940443e-05,-3.4792484956910284e-05,0.00011733039260491996,0.6761,-0.0048,0.08698066060997721,1.0,0.0,0.0,0.0,0.04189765566782345,0.008724064139387819,1.18456221104214,-0.00020720945584523837,-0.0012769674900378046,5.967322889705376e-05,0.1015953386576183,0.00914858337983897,0.9323719521819622,-0.0020985224917804933,-0.0042156122216715055,-0.001853979452731659,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2422590681493675,-0.38514470576531773,-1.012071500678305,0.7005647894079255,0.8308762437257112,-0.2670933103225016,0.44977163125745984,1.18456221104214,1.4618431319357648,1.4618431319357648,2.084000000000958,0,0,-0.00044083248104262305,-9.999999025923074e-05
+11280,1792041175876703584,13504558000000,1792041175874104420,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760799242556528,-0.00487825285220627,0.08695954021671452,0.999999986110731,6.176771010122942e-05,-3.1557256964368535e-05,0.00012004287457481896,0.6761,-0.0048,0.08686143188152164,1.0,0.0,0.0,0.0,0.032662183883169764,0.008874576728172828,1.194587031541797,-0.00020763551539636715,-0.00127747240174278,5.045880160989215e-05,0.09235986687296462,0.009299095968623978,0.9423967726816191,-0.002098948551331622,-0.004216117133376481,-0.0018631938800188206,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.2945120193352637,-0.398951832469746,-0.893741306262823,0.7133298716858408,0.7693523940189132,-0.27428559497754007,0.44977163125745984,1.194587031541797,1.3435129375202828,1.3435129375202828,2.1053600000009793,0,0,-0.00045187524144316,-9.999999025923074e-05
+11308,1792041176109680544,13504791000000,1792041176106095285,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760838034267868,-0.004875978855361202,0.08685942724183367,0.9999999865397563,5.8204682341140635e-05,-2.632968080161135e-05,0.00011950863805825865,0.6761,-0.0048,0.08675479901410137,1.0,0.0,0.0,0.0,0.03261387653950149,0.008795329822761199,1.1923761181425903,-0.0002072608450647284,-0.0012770621329148539,5.154018406376432e-05,0.09231155952929634,0.009219849063212349,0.9401858592824124,-0.0020985738809999833,-0.004215706864548555,-0.0018621124975649484,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3774729174344706,-0.45941937504489416,-1.0242343764537838,0.727835521118369,0.8767726479770601,-0.3192505008582061,0.44977163125745984,1.1923761181425903,1.4740060077112436,1.4740060077112436,2.124000000000998,0,0,-0.0004629944024101259,-8.786043700770847e-05
+11336,1792041176343619792,13505025000000,1792041176338104684,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.676086083147963,-0.004879204298861846,0.08675347894901071,0.9999999864022014,5.3839305096365886e-05,-2.2744118538251037e-05,0.0001233794777201886,0.6761,-0.0048,0.08664511264099933,1.0,0.0,0.0,0.0,0.023441135736756553,0.011515515295478526,1.195701349932146,0.0005882012361805528,-0.0012958922726083425,6.000429435252565e-05,0.0831388187265514,0.011940034535929676,0.9435110910719682,-0.0013031117997547022,-0.004234537004242043,-0.001853648387276187,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3068347779227223,-0.4040202781569226,-0.9811111815977318,0.7196424897858169,0.8281951815197464,-0.2817721631371936,0.44977163125745984,1.195701349932146,1.4308828128551916,1.4308828128551916,2.1427200000010167,0,0,-0.00047439967900827904,-9.999999025923074e-05
+11364,1792041176576684998,13505258000000,1792041176574104809,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.676080581905786,-0.004880075886328634,0.08663521872774889,0.9999999855616742,5.575471544402445e-05,-3.04850475585823e-05,0.00012759933137377046,0.6761,-0.0048,0.08653345694860604,1.0,0.0,0.0,0.0,0.03242139951379371,0.010113439807989278,1.2010889634822746,0.0008092263984276252,-0.0012857806326719208,4.9204634619737144e-05,0.09211908250358856,0.010537959048440428,0.9488987046220967,-0.0010820866375076297,-0.004224425364305622,-0.0018644480470089756,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3663081105888146,-0.40911002623449044,-0.9852498360980567,0.7359881865792476,0.8502558352007656,-0.2803356215993774,0.44977163125745984,1.2010889634822746,1.4350214673555166,1.4350214673555166,2.1613600000010353,0,0,-0.0004845231571057581,-9.999999025923074e-05
+11392,1792041176809643512,13505491000000,1792041176802104537,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760778414373549,-0.004881841877280647,0.08652229825731989,0.9999999855317915,5.643337788204383e-05,-3.038070114265003e-05,0.00012756005739806916,0.6761,-0.0048,0.08641932842461221,1.0,0.0,0.0,0.0,0.02373807378514594,-0.0006161600349699776,1.2045797829304843,-0.00021061450646677198,-0.0012785285140936172,4.129210410337746e-05,0.08343575677494079,-0.00019164079451882777,0.9523895240703063,-0.002101927542402027,-0.004217173245727318,-0.0018723605775253353,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3349406711008227,-0.41836384494897694,-0.9404726070249754,0.7450935344687287,0.8133944934032808,-0.2856087533991377,0.44977163125745984,1.2045797829304843,1.3902442382824352,1.3902442382824352,2.180000000001054,0,0,-0.0004956077545401324,-9.999999025923074e-05
+11420,1792041177043688600,13505725000000,1792041177042104475,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760739494109107,-0.004881410337079166,0.0864059355327807,0.9999999855203434,5.78629612040309e-05,-3.318697503041095e-05,0.00012630391819110155,0.6761,-0.0048,0.08630199316031764,1.0,0.0,0.0,0.0,0.026538331882831397,0.004901265255139369,1.1945703376678587,-0.00020842454224132803,-0.0012770052036609214,5.04310128045559e-05,0.08623601487262625,0.005325784495590518,0.9423800788076808,-0.002099737578176583,-0.004215649935294622,-0.0018632216688241568,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3643005288323977,-0.3857189678348362,-1.0078819781849793,0.7329934512739922,0.8647702481556591,-0.2618754019394489,0.44977163125745984,1.1945703376678587,1.457653609442439,1.457653609442439,2.1987200000010727,0,0,-0.0005073077522607924,-9.999999025923074e-05
+11444,1792041177243669888,13505925000000,1792041177242104698,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760764820184647,-0.004877200469998765,0.08630716879184754,0.9999999854122499,5.8189702221483634e-05,-3.009900638634765e-05,0.00012777469633145733,0.6761,-0.0048,0.08619954287348838,1.0,0.0,0.0,0.0,0.036066578278904866,-0.0005711782977156875,1.194672147511321,-0.00016225355967238136,-0.0012781194340519548,0.0002308817186392493,0.09576426126869972,-0.00014665905726453778,0.942481888651143,-0.0020535665956076363,-0.004216764165685656,-0.0016827709629894634,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3789356286288028,-0.5561216588135816,-0.9544812754748102,0.7881686712681396,0.8350349818199391,-0.3735160421101061,0.44977163125745984,1.194672147511321,1.40425290673227,1.40425290673227,2.2147200000010887,0,0,-0.0005171713272869846,-9.999999025923074e-05
+11472,1792041177476623441,13506158000000,1792041177470104415,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760875770321935,-0.0048731105697110465,0.08619568007918291,0.9999999847044504,6.424448144857667e-05,-1.6036760663861096e-05,0.0001328511666983199,0.6761,-0.0048,0.08607781293328579,1.0,0.0,0.0,0.0,0.02269468918199922,0.021940106753185307,1.1888697586638843,0.0007879959175893594,-0.0002872773548104222,8.107945986466454e-05,0.08239237217179407,0.022364625993636457,0.9366794998037064,-0.0011033171183458955,-0.003225922086444123,-0.0018325732217640482,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3984769488335365,-0.42858118151219365,-0.9599503491880489,0.7511682449388892,0.8433005087693354,-0.2881480052044952,0.44977163125745984,1.1888697586638843,1.4097219804455088,1.4097219804455088,2.2333600000011073,0,0,-0.0005280776472591217,-9.999999025923074e-05
+11496,1792041177676596082,13506358000000,1792041177670104568,DOWN_FORCE_DETACH,2,0.042,0.042002368718385696,0.6760842660122516,-0.004876247021419678,0.0860894402865152,0.9999999837300932,6.689681004605258e-05,-2.2446934436748304e-05,0.0001378536528519093,0.6761,-0.0048,0.08597120240402975,1.0,0.0,0.0,0.0,0.027444958580631514,0.021662564923199287,1.193714516170865,0.0007873430814541091,-0.0002880932585116046,7.7787458830801e-05,0.08714264157042637,0.022087084163650437,0.9415242573106871,-0.0011039699544811458,-0.0032267379901453055,-0.0018358652227979117,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4374424757236448,-0.3425785898957114,-1.004509095756735,0.7361148079068214,0.8863758212768794,-0.22545342108324512,0.44977163125745984,1.193714516170865,1.4542807270141949,1.4542807270141949,2.2493600000011233,0,0,-0.0005380776453109678,-9.999999025923074e-05
+11520,1792041177876704931,13506558000000,1792041177870104431,DOWN_FORCE_DETACH,2,0.042,0.04200171306729317,0.6760840987548525,-0.004872272794278634,0.08597848165442236,0.9999999880983665,4.183829219902635e-05,-1.4956666398133733e-05,0.00011520410834076114,0.6761,-0.0048,0.08586259187516335,1.0,0.0,0.0,0.0,0.03202439043798155,0.02205483943228167,1.2050295749797038,0.0008119292843209547,-0.0012994766094657005,5.3470852357200786e-05,0.0917220734277764,0.02247935867273282,0.9528393161195258,-0.0010793837516143003,-0.004238121341099401,-0.001860181829271512,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.425962040171123,-0.4135588043565113,-1.0427991327172907,0.7773526581981997,0.9020746467457248,-0.27373048560686253,0.44977163125745984,1.2050295749797038,1.4925707639747505,1.4925707639747505,2.2653600000011394,0,0,-0.000548077643362814,-9.999999025923074e-05
+11544,1792041178070706080,13506752000000,1792041178070104563,DOWN_SETTLE,2,0.042,0.04200171306729317,0.6760880396142683,-0.00487647888464361,0.08587521851078937,0.9999999860444957,5.038339643274252e-05,-1.649135942455415e-05,0.0001286212320793666,0.6761,-0.0048,0.08575533363753514,1.0,0.0,0.0,0.0,0.03149473555014932,0.02530568527802709,1.205337066568122,0.0018304999899835604,-0.0012687594134331115,6.532276735080858e-05,0.09119241853994417,0.02573020451847824,0.9531468077079441,-6.081304595169446e-05,-0.004207404145066812,-0.0018483299142779042,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.4475672112116735,-0.40208088128241365,-0.9894408653445845,0.7558869538146219,0.8811914719577394,-0.25916524030315347,0.44977163125745984,1.205337066568122,1.4392124966020443,0.0,0.0,0,0,-0.0005559776414731048,0.00035000000974076933
+11596,1792041178503665025,13507185000000,1792041178502104575,DOWN_SETTLE,2,0.042,0.042002368718385696,0.676080150429858,-0.004876857962331989,0.08577294802707132,0.9999999845053891,6.113925252098145e-05,-2.7926662329040557e-05,0.0001338438616827701,0.6761,-0.0048,0.08568070350297728,1.0,0.0,0.0,0.0,0.03231104040967136,0.028340673995827126,1.1200514560999282,0.0008293141451914733,-0.001280320784504942,0.00012215938844716652,0.09200872339946621,0.028765193236278276,0.8678611972397503,-0.0010619988907437817,-0.004218965516138643,-0.0017914932931815462,0.05969768298979485,0.00042451924045114976,-0.25219025886017793,-0.001891313035935255,-0.002938644731633701,-0.0019136526816287127,1,1.3574873114469261,-0.41363414091654777,-0.883119838555528,0.7553118023855658,0.7986991668820106,-0.27030540320398005,0.44977163125745984,1.1200514560999282,1.332891469812988,0.0,0.0,0,0,-1.0609355373289477e-05,0.00010716520579080278
diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..16721b091641a0fd53130d13200f072dbeb1bb36
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eea43d24e42a3a8dbb7c6efadd8a29237d76294a
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,2.000000000e+00,DOWN_FORCE_DETACH,1792041153521303810,1.986258982e-06,-2.358069850e-05,-3.061152988e-04,6.378047618e-07,-2.746102648e-05,-3.015981608e-04,-4.695757547e-07,-2.742928949e-05,-3.003687188e-04,7.015398577e-01,-2.202973718e-05,8.404348259e-01,7.015385093e-01,-2.591006516e-05,8.404393430e-01,7.017289012e-01,-2.568753531e-05,8.292722379e-01
+6,2.216666667e+00,DOWN_FORCE_DETACH,1792041153923404761,5.193798511e-05,-2.170860414e-05,-3.249364662e-04,5.145421185e-05,-2.156133980e-05,-3.245555481e-04,5.139340201e-05,-2.156173821e-05,-3.235115016e-04,7.015898095e-01,-2.015764282e-05,8.404160047e-01,7.015893257e-01,-2.001037848e-05,8.404163856e-01,7.017807641e-01,-1.981998404e-05,8.292490951e-01
+7,2.466666667e+00,DOWN_FORCE_DETACH,1792041154389339899,6.555965335e-05,-2.255396933e-05,-3.594652368e-04,6.380321777e-05,-2.438554146e-05,-3.460861815e-04,6.406731053e-05,-2.437674871e-05,-3.450839524e-04,7.016034311e-01,-2.100300801e-05,8.403814760e-01,7.016016747e-01,-2.283458014e-05,8.403948550e-01,7.017934381e-01,-2.263499453e-05,8.292275227e-01
+8,2.833333333e+00,DOWN_FORCE_DETACH,1792041155085444697,7.000390687e-05,-3.018100686e-05,-4.202639373e-04,6.732700726e-05,-2.549931131e-05,-4.145963717e-04,6.758428999e-05,-2.547042168e-05,-4.135082290e-04,7.016078754e-01,-2.863004554e-05,8.403206773e-01,7.016051985e-01,-2.394834999e-05,8.403263448e-01,7.017969550e-01,-2.372866751e-05,8.291590984e-01
+9,3.216666667e+00,DOWN_FORCE_DETACH,1792041155819334457,6.909912187e-05,-3.128072773e-05,-4.828329317e-04,6.870306429e-05,-3.338476130e-05,-4.787625955e-04,6.891679934e-05,-3.332532279e-05,-4.777725336e-04,7.016069706e-01,-2.972976641e-05,8.402581083e-01,7.016065745e-01,-3.183379998e-05,8.402621786e-01,7.017982875e-01,-3.158356861e-05,8.290948341e-01
+10,3.650000000e+00,DOWN_FORCE_DETACH,1792041156649514887,7.229654066e-05,-3.090953634e-05,-5.313589342e-04,6.747307791e-05,-3.463790555e-05,-5.233792000e-04,6.764934645e-05,-3.457135016e-05,-5.226754941e-04,7.016101680e-01,-2.935857502e-05,8.402095823e-01,7.016053446e-01,-3.308694423e-05,8.402175620e-01,7.017970201e-01,-3.282959599e-05,8.290499312e-01
+11,4.083333333e+00,DOWN_FORCE_DETACH,1792041157447361763,6.994177124e-05,-3.481070973e-05,-5.766109358e-04,7.144843274e-05,-3.459103159e-05,-5.668970297e-04,7.159384142e-05,-3.453360404e-05,-5.663542729e-04,7.016078133e-01,-3.325974841e-05,8.401643303e-01,7.016093199e-01,-3.304007027e-05,8.401740442e-01,7.018009646e-01,-3.279184986e-05,8.290062524e-01
+12,4.483333333e+00,DOWN_FORCE_DETACH,1792041158214894352,7.417135899e-05,-3.925356651e-05,-6.137123973e-04,6.969013702e-05,-3.378675426e-05,-6.091313085e-04,6.975799985e-05,-3.372149611e-05,-6.086763071e-04,7.016120428e-01,-3.770260519e-05,8.401272288e-01,7.016075616e-01,-3.223579294e-05,8.401318099e-01,7.017991287e-01,-3.197974193e-05,8.289639303e-01
+13,4.900000000e+00,DOWN_FORCE_DETACH,1792041159045388251,7.467006096e-05,-3.338048927e-05,-6.700152262e-04,7.329312394e-05,-3.392188611e-05,-6.511006806e-04,7.330827319e-05,-3.389456183e-05,-6.507124542e-04,7.016125415e-01,-3.182952795e-05,8.400709260e-01,7.016111646e-01,-3.237092479e-05,8.400898405e-01,7.018026790e-01,-3.215280766e-05,8.289218942e-01
+14,5.316666667e+00,DOWN_FORCE_DETACH,1792041159877406663,7.760217056e-05,-3.758885720e-05,-7.213125994e-04,7.946771805e-05,-2.994210555e-05,-7.163177543e-04,7.936054128e-05,-2.988547422e-05,-7.157317990e-04,7.016154737e-01,-3.603789588e-05,8.400196286e-01,7.016173392e-01,-2.839114422e-05,8.400246234e-01,7.018087313e-01,-2.814372004e-05,8.288568749e-01
+15,5.733333333e+00,DOWN_FORCE_DETACH,1792041160710270540,8.229849061e-05,-3.644595186e-05,-7.790748191e-04,8.234807749e-05,-3.672676911e-05,-7.751090042e-04,8.215304848e-05,-3.664525216e-05,-7.744507977e-04,7.016201700e-01,-3.489499053e-05,8.399618664e-01,7.016202196e-01,-3.517580779e-05,8.399658322e-01,7.018115238e-01,-3.490349799e-05,8.287981559e-01
+16,6.166666667e+00,DOWN_FORCE_DETACH,1792041161574017277,8.597834033e-05,-3.827446629e-05,-8.475383170e-04,8.583268719e-05,-4.043855171e-05,-8.361044527e-04,8.551755493e-05,-4.035790810e-05,-8.353800065e-04,7.016238498e-01,-3.672350497e-05,8.398934029e-01,7.016237042e-01,-3.888759039e-05,8.399048367e-01,7.018148883e-01,-3.861615392e-05,8.287372266e-01
+17,6.583333333e+00,DOWN_FORCE_DETACH,1792041162371954593,9.172692189e-05,-4.274118113e-05,-9.092192352e-04,8.913842052e-05,-3.973660225e-05,-9.017521046e-04,8.866588376e-05,-3.970052887e-05,-9.008776352e-04,7.016295984e-01,-4.119021981e-05,8.398317220e-01,7.016270099e-01,-3.818564093e-05,8.398391891e-01,7.018180366e-01,-3.795877469e-05,8.286717290e-01
+18,6.933333333e+00,DOWN_FORCE_DETACH,1792041163037466099,9.363884371e-05,-4.527074014e-05,-9.661293660e-04,9.218286502e-05,-4.519923641e-05,-9.486741015e-04,9.164048239e-05,-4.514050853e-05,-9.478509995e-04,7.016315103e-01,-4.371977882e-05,8.397748118e-01,7.016300543e-01,-4.364827509e-05,8.397922671e-01,7.018210112e-01,-4.339875435e-05,8.286247557e-01
+19,7.333333333e+00,DOWN_FORCE_DETACH,1792041163769520434,9.668497299e-05,-3.504596226e-05,-1.029848976e-03,9.743260728e-05,-4.174158499e-05,-1.014013933e-03,9.680000039e-05,-4.171241104e-05,-1.013103885e-03,7.016345565e-01,-3.349500094e-05,8.397110922e-01,7.016353041e-01,-4.019062367e-05,8.397269273e-01,7.018261707e-01,-3.997065686e-05,8.285595028e-01
+20,7.766666667e+00,DOWN_FORCE_DETACH,1792041164601478958,1.055899165e-04,-4.022202570e-05,-1.103631868e-03,1.021464851e-04,-4.286911566e-05,-1.099634561e-03,1.013062722e-04,-4.283191801e-05,-1.098633042e-03,7.016434614e-01,-3.867106438e-05,8.396373093e-01,7.016400180e-01,-4.131815434e-05,8.396413066e-01,7.018306770e-01,-4.109016384e-05,8.284739736e-01
+21,8.116666667e+00,DOWN_FORCE_DETACH,1792041165265534858,1.067523755e-04,-4.416046055e-05,-1.176652619e-03,1.079305583e-04,-4.529459394e-05,-1.165747238e-03,1.069669281e-04,-4.523953068e-05,-1.164774270e-03,7.016446239e-01,-4.260949923e-05,8.395642886e-01,7.016458020e-01,-4.374363262e-05,8.395751939e-01,7.018363377e-01,-4.349777650e-05,8.284078324e-01
+22,8.466666667e+00,DOWN_FORCE_DETACH,1792041165929533899,1.085893040e-04,-4.836182905e-05,-1.253088371e-03,1.055439126e-04,-4.695880613e-05,-1.238041860e-03,1.042580253e-04,-4.688858176e-05,-1.237075815e-03,7.016464608e-01,-4.681086773e-05,8.394878528e-01,7.016434154e-01,-4.540784481e-05,8.395028993e-01,7.018336288e-01,-4.514682758e-05,8.283355308e-01
+23,8.783333333e+00,DOWN_FORCE_DETACH,1792041166529508773,1.082758547e-04,-5.722414957e-05,-1.330292789e-03,1.082934097e-04,-5.380957960e-05,-1.321345869e-03,1.067603411e-04,-5.374538415e-05,-1.320242562e-03,7.016461473e-01,-5.567318824e-05,8.394106484e-01,7.016461649e-01,-5.225861828e-05,8.394195953e-01,7.018361311e-01,-5.200362997e-05,8.282523641e-01
+24,9.100000000e+00,DOWN_FORCE_DETACH,1792041167161667352,1.099559151e-04,-6.163568355e-05,-1.416391379e-03,1.085212807e-04,-6.070270803e-05,-1.412652322e-03,1.066124895e-04,-6.068594251e-05,-1.411458952e-03,7.016478274e-01,-6.008472222e-05,8.393245498e-01,7.016463928e-01,-5.915174671e-05,8.393282889e-01,7.018359832e-01,-5.894418833e-05,8.281611477e-01
+25,9.400000000e+00,DOWN_FORCE_DETACH,1792041167769917500,1.082261745e-04,-6.287686071e-05,-1.508543469e-03,1.079766442e-04,-6.194171400e-05,-1.504678947e-03,1.056962657e-04,-6.187910276e-05,-1.503406566e-03,7.016460977e-01,-6.132589939e-05,8.392323977e-01,7.016458481e-01,-6.039075268e-05,8.392362622e-01,7.018350670e-01,-6.013734858e-05,8.280692001e-01
+26,9.683333333e+00,DOWN_FORCE_DETACH,1792041168325562845,1.043148319e-04,-6.301069103e-05,-1.608849648e-03,1.057260195e-04,-6.364032724e-05,-1.590689039e-03,1.030993912e-04,-6.357445399e-05,-1.589368730e-03,7.016421863e-01,-6.145972971e-05,8.391320915e-01,7.016435975e-01,-6.208936592e-05,8.391502521e-01,7.018324701e-01,-6.183269982e-05,8.279832379e-01
+27,9.933333333e+00,DOWN_FORCE_DETACH,1792041168825654452,1.061194870e-04,-6.529834719e-05,-1.698058576e-03,1.057075559e-04,-6.079242194e-05,-1.691419904e-03,1.026398068e-04,-6.072948426e-05,-1.689922676e-03,7.016439910e-01,-6.374738587e-05,8.390428826e-01,7.016435790e-01,-5.924146061e-05,8.390495213e-01,7.018320106e-01,-5.898773009e-05,8.278826840e-01
+28,1.018333333e+01,DOWN_FORCE_DETACH,1792041169323564928,1.002577768e-04,-6.892040776e-05,-1.807463690e-03,1.001862107e-04,-6.890662680e-05,-1.807443811e-03,9.656779349e-05,-6.881870465e-05,-1.805679646e-03,7.016381293e-01,-6.736944643e-05,8.389334775e-01,7.016380577e-01,-6.735566547e-05,8.389334974e-01,7.018259385e-01,-6.707695048e-05,8.277669270e-01
+29,1.041666667e+01,DOWN_FORCE_DETACH,1792041169789547631,9.967740494e-05,-7.122683145e-05,-1.908801043e-03,9.965583899e-05,-7.122918866e-05,-1.908534582e-03,9.562949853e-05,-7.115608889e-05,-1.906627227e-03,7.016375489e-01,-6.967587013e-05,8.388321401e-01,7.016375273e-01,-6.967822734e-05,8.388324066e-01,7.018250002e-01,-6.941433471e-05,8.276659794e-01
+30,1.063333333e+01,DOWN_FORCE_DETACH,1792041170191044122,9.803085790e-05,-7.930771243e-05,-2.002465261e-03,9.806506778e-05,-7.224837727e-05,-2.001161160e-03,9.367879775e-05,-7.217477710e-05,-1.999188255e-03,7.016359023e-01,-7.775675111e-05,8.387384759e-01,7.016359365e-01,-7.069741595e-05,8.387397800e-01,7.018230495e-01,-7.043302292e-05,8.275734184e-01
+31,1.085000000e+01,DOWN_FORCE_DETACH,1792041170621584013,9.735380994e-05,-7.084020630e-05,-2.103303124e-03,9.552702440e-05,-7.817165051e-05,-2.096594882e-03,9.073898177e-05,-7.806606072e-05,-2.094656835e-03,7.016352253e-01,-6.928924498e-05,8.386376381e-01,7.016333985e-01,-7.662068919e-05,8.386443463e-01,7.018201097e-01,-7.632430655e-05,8.274779498e-01
+32,1.106666667e+01,DOWN_FORCE_DETACH,1792041171022813703,9.975552683e-05,-8.670900552e-05,-2.202065359e-03,9.822501571e-05,-8.056488126e-05,-2.188307310e-03,9.319079242e-05,-8.042346233e-05,-2.186437262e-03,7.016376270e-01,-8.515804420e-05,8.385388758e-01,7.016360965e-01,-7.901391994e-05,8.385526339e-01,7.018225615e-01,-7.868170815e-05,8.273861694e-01
+33,1.123333333e+01,DOWN_FORCE_DETACH,1792041171353576931,9.836892090e-05,-8.367351726e-05,-2.295990890e-03,9.674137643e-05,-8.284907211e-05,-2.289638986e-03,9.134629261e-05,-8.270451412e-05,-2.287636628e-03,7.016362404e-01,-8.212255593e-05,8.384449503e-01,7.016346129e-01,-8.129811079e-05,8.384513022e-01,7.018207170e-01,-8.096275995e-05,8.272849700e-01
+34,1.145000000e+01,DOWN_FORCE_DETACH,1792041171751617973,9.630630198e-05,-8.555858161e-05,-2.409961204e-03,9.612911774e-05,-8.573300714e-05,-2.410231107e-03,9.033408058e-05,-8.559644207e-05,-2.408094203e-03,7.016341778e-01,-8.400762029e-05,8.383309800e-01,7.016340006e-01,-8.418204582e-05,8.383307101e-01,7.018197048e-01,-8.385468790e-05,8.271645124e-01
+35,1.163333333e+01,DOWN_FORCE_DETACH,1792041172085591011,9.554162249e-05,-9.006381525e-05,-2.510618659e-03,9.695695208e-05,-8.778246648e-05,-2.498372315e-03,9.084390561e-05,-8.767137298e-05,-2.496301914e-03,7.016334131e-01,-8.851285393e-05,8.382303225e-01,7.016348284e-01,-8.623150516e-05,8.382425689e-01,7.018202146e-01,-8.592961881e-05,8.270763047e-01
+36,1.181666667e+01,DOWN_FORCE_DETACH,1792041172451592308,8.975180763e-05,-9.503173598e-05,-2.626672815e-03,8.968494071e-05,-9.521132893e-05,-2.626627700e-03,8.295968459e-05,-9.510132667e-05,-2.624270789e-03,7.016276233e-01,-9.348077466e-05,8.381142684e-01,7.016275564e-01,-9.366036761e-05,8.381143135e-01,7.018123304e-01,-9.335957250e-05,8.269483359e-01
+37,1.200000000e+01,DOWN_FORCE_DETACH,1792041172781607200,9.589311815e-05,-9.065495799e-05,-2.721789817e-03,9.172932587e-05,-9.963172857e-05,-2.716613055e-03,8.464047098e-05,-9.950596563e-05,-2.714342240e-03,7.016337646e-01,-8.910399667e-05,8.380191514e-01,7.016296008e-01,-9.808076725e-05,8.380243281e-01,7.018140112e-01,-9.776421145e-05,8.268582644e-01
+38,1.213333333e+01,DOWN_FORCE_DETACH,1792041173049602278,8.984868500e-05,-9.647339320e-05,-2.823724048e-03,8.979977940e-05,-9.637826182e-05,-2.823015778e-03,8.227013789e-05,-9.624073004e-05,-2.820531747e-03,7.016277202e-01,-9.492243188e-05,8.379172171e-01,7.016276713e-01,-9.482730050e-05,8.379179254e-01,7.018116409e-01,-9.449897587e-05,8.267520749e-01
+39,1.230000000e+01,DOWN_FORCE_DETACH,1792041173349644633,8.627999185e-05,-9.936584957e-05,-2.928898949e-03,8.615618959e-05,-9.931187769e-05,-2.928829851e-03,7.817469537e-05,-9.918985213e-05,-2.926319573e-03,7.016241515e-01,-9.781488825e-05,8.378120422e-01,7.016240277e-01,-9.776091637e-05,8.378121113e-01,7.018075454e-01,-9.744809795e-05,8.266462871e-01
+40,1.246666667e+01,DOWN_FORCE_DETACH,1792041173681615211,8.661082645e-05,-1.036376459e-04,-3.044487715e-03,8.531570552e-05,-1.043023177e-04,-3.034869440e-03,7.687305986e-05,-1.041820677e-04,-3.032386078e-03,7.016244823e-01,-1.020866846e-04,8.376964535e-01,7.016231872e-01,-1.027513563e-04,8.377060717e-01,7.018062438e-01,-1.024403136e-04,8.265402206e-01
+41,1.261666667e+01,DOWN_FORCE_DETACH,1792041173963669022,8.251635567e-05,-1.050508105e-04,-3.150601348e-03,8.238974100e-05,-1.050459843e-04,-3.150579422e-03,7.343585293e-05,-1.048826179e-04,-3.148016051e-03,7.016203878e-01,-1.034998491e-04,8.375903398e-01,7.016202612e-01,-1.034950230e-04,8.375903618e-01,7.018028066e-01,-1.031408637e-04,8.264245906e-01
+42,1.278333333e+01,DOWN_FORCE_DETACH,1792041174280129716,8.612047159e-05,-1.115335258e-04,-3.259092082e-03,8.485546174e-05,-1.062401580e-04,-3.248850243e-03,7.554819838e-05,-1.060705798e-04,-3.246319905e-03,7.016239920e-01,-1.099825645e-04,8.374818491e-01,7.016227269e-01,-1.046891967e-04,8.374920909e-01,7.018049189e-01,-1.043288256e-04,8.263262867e-01
+43,1.291666667e+01,DOWN_FORCE_DETACH,1792041174545792406,8.529557448e-05,-1.083953322e-04,-3.363250562e-03,8.501957715e-05,-1.079001235e-04,-3.349755823e-03,7.530631782e-05,-1.077645073e-04,-3.347138989e-03,7.016231671e-01,-1.068443708e-04,8.373776906e-01,7.016228911e-01,-1.063491622e-04,8.373911854e-01,7.018046771e-01,-1.060227531e-04,8.262254677e-01
+44,1.308333333e+01,DOWN_FORCE_DETACH,1792041174845634011,8.354065842e-05,-1.165146283e-04,-3.479167452e-03,8.351595978e-05,-1.164418033e-04,-3.478758230e-03,7.326730658e-05,-1.162793421e-04,-3.476029795e-03,7.016214121e-01,-1.149636670e-04,8.372617737e-01,7.016213874e-01,-1.148908419e-04,8.372621830e-01,7.018026381e-01,-1.145375880e-04,8.260965769e-01
+45,1.321666667e+01,DOWN_FORCE_DETACH,1792041175111673198,8.213704857e-05,-1.121533708e-04,-3.590100622e-03,8.184109766e-05,-1.121841079e-04,-3.589630882e-03,7.115401813e-05,-1.120279969e-04,-3.586744265e-03,7.016200085e-01,-1.106024095e-04,8.371508406e-01,7.016197126e-01,-1.106331466e-04,8.371513103e-01,7.018005248e-01,-1.102862427e-04,8.259858624e-01
+46,1.335000000e+01,DOWN_FORCE_DETACH,1792041175377631276,8.268947341e-05,-1.201782791e-04,-3.700849030e-03,8.293228560e-05,-1.214372879e-04,-3.684806733e-03,7.193564748e-05,-1.212681632e-04,-3.682116714e-03,7.016205610e-01,-1.186273178e-04,8.370400922e-01,7.016208038e-01,-1.198863265e-04,8.370561345e-01,7.018013064e-01,-1.195264090e-04,8.258904899e-01
+47,1.346666667e+01,DOWN_FORCE_DETACH,1792041175609633969,7.921631893e-05,-1.200549952e-04,-3.801636447e-03,7.902565435e-05,-1.198929021e-04,-3.801294822e-03,6.757003262e-05,-1.197292590e-04,-3.798382971e-03,7.016170878e-01,-1.185040339e-04,8.369393047e-01,7.016168971e-01,-1.183419407e-04,8.369396464e-01,7.017969408e-01,-1.179875048e-04,8.257742237e-01
+48,1.360000000e+01,DOWN_FORCE_DETACH,1792041175877752578,8.224341572e-05,-1.242029378e-04,-3.920457936e-03,8.198120090e-05,-1.241839101e-04,-3.920256277e-03,7.014899910e-05,-1.239666507e-04,-3.917245176e-03,7.016201149e-01,-1.226519765e-04,8.368204833e-01,7.016198527e-01,-1.226329487e-04,8.368206849e-01,7.017995197e-01,-1.222248965e-04,8.256553615e-01
+49,1.371666667e+01,DOWN_FORCE_DETACH,1792041176109661157,8.510057226e-05,-1.184091067e-04,-4.021110645e-03,8.669063147e-05,-1.215077618e-04,-4.002235616e-03,7.469083220e-05,-1.213086278e-04,-3.999356999e-03,7.016229721e-01,-1.168581454e-04,8.367198305e-01,7.016245621e-01,-1.199568005e-04,8.367387056e-01,7.018040616e-01,-1.195668737e-04,8.255732497e-01
+50,1.383333333e+01,DOWN_FORCE_DETACH,1792041176342291871,8.630001910e-05,-1.194008722e-04,-4.126871153e-03,8.505276348e-05,-1.215715785e-04,-4.113345417e-03,7.269608900e-05,-1.213748108e-04,-4.110423283e-03,7.016241715e-01,-1.178499108e-04,8.366140700e-01,7.016229242e-01,-1.200206172e-04,8.366275958e-01,7.018020668e-01,-1.196330566e-04,8.254621834e-01
+51,1.395000000e+01,DOWN_FORCE_DETACH,1792041176575662139,8.183866585e-05,-1.261910823e-04,-4.244194120e-03,8.162954055e-05,-1.263313440e-04,-4.244262750e-03,6.868699304e-05,-1.261659870e-04,-4.241135120e-03,7.016197101e-01,-1.246401209e-04,8.364967471e-01,7.016195010e-01,-1.247803826e-04,8.364966784e-01,7.017980577e-01,-1.244242328e-04,8.253314715e-01
+52,1.406666667e+01,DOWN_FORCE_DETACH,1792041176809771233,7.913858283e-05,-1.242721287e-04,-4.358239630e-03,8.103322723e-05,-1.224381687e-04,-4.338847968e-03,6.777300389e-05,-1.222342886e-04,-4.335815663e-03,7.016170101e-01,-1.227211673e-04,8.363827016e-01,7.016189047e-01,-1.208872073e-04,8.364020932e-01,7.017971437e-01,-1.204925345e-04,8.252367910e-01
+53,1.418333333e+01,DOWN_FORCE_DETACH,1792041177041667819,7.542072223e-05,-1.240466397e-04,-4.475548497e-03,7.640957169e-05,-1.240692662e-04,-4.457186528e-03,6.261210476e-05,-1.239114351e-04,-4.454116441e-03,7.016132922e-01,-1.224956784e-04,8.362653927e-01,7.016142811e-01,-1.225183048e-04,8.362837547e-01,7.017919828e-01,-1.221696809e-04,8.251184902e-01
+54,1.428333333e+01,DOWN_FORCE_DETACH,1792041177239667670,7.509082938e-05,-1.185725112e-04,-4.574485759e-03,7.571286112e-05,-1.214022159e-04,-4.555886724e-03,6.148392056e-05,-1.212507527e-04,-4.552809191e-03,7.016129623e-01,-1.170215498e-04,8.361664554e-01,7.016135843e-01,-1.198512546e-04,8.361850545e-01,7.017908547e-01,-1.195089985e-04,8.250197975e-01
+55,1.440000000e+01,DOWN_FORCE_DETACH,1792041177474465992,8.886710377e-05,-1.133551741e-04,-4.683132690e-03,8.660857885e-05,-1.183337925e-04,-4.668312606e-03,7.220745569e-05,-1.181776721e-04,-4.665307825e-03,7.016267386e-01,-1.118042128e-04,8.360578085e-01,7.016244801e-01,-1.167828312e-04,8.360726286e-01,7.018015782e-01,-1.164359179e-04,8.249072988e-01
+56,1.450000000e+01,DOWN_FORCE_DETACH,1792041177673680820,8.483199825e-05,-1.174676402e-04,-4.790160493e-03,8.463371178e-05,-1.175610932e-04,-4.789859533e-03,6.973682903e-05,-1.173639136e-04,-4.786655040e-03,7.016227035e-01,-1.159166789e-04,8.359507807e-01,7.016225052e-01,-1.160101319e-04,8.359510817e-01,7.017991076e-01,-1.156221595e-04,8.247859516e-01
+57,1.460000000e+01,DOWN_FORCE_DETACH,1792041177873693236,8.348614559e-05,-1.172935625e-04,-4.902662416e-03,8.336194673e-05,-1.172963920e-04,-4.902278490e-03,6.798192459e-05,-1.171071309e-04,-4.898903379e-03,7.016213576e-01,-1.157426012e-04,8.358382788e-01,7.016212334e-01,-1.157454307e-04,8.358386627e-01,7.017973527e-01,-1.153653767e-04,8.246737033e-01
+58,1.470000000e+01,DOWN_SETTLE,1792041178073694691,8.899226195e-05,-1.203921480e-04,-5.007117140e-03,8.954696540e-05,-1.179784511e-04,-4.989378915e-03,7.401567605e-05,-1.178111068e-04,-4.986123305e-03,7.016268637e-01,-1.188411867e-04,8.357338240e-01,7.016274184e-01,-1.164274898e-04,8.357515623e-01,7.018033864e-01,-1.160693526e-04,8.245864833e-01
+59,1.493333333e+01,DOWN_SETTLE,1792041178506978841,8.167768665e-05,-1.189676742e-04,-5.107718695e-03,8.397363800e-05,-1.204117608e-04,-5.091022468e-03,6.793961360e-05,-1.202344214e-04,-5.088663304e-03,7.016195492e-01,-1.174167129e-04,8.356332225e-01,7.016218451e-01,-1.188607995e-04,8.356499187e-01,7.017973104e-01,-1.184926672e-04,8.244839433e-01
diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/simulation_data.csv b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06f5adb3184ba99d6742acde49e75a110f5a3aa5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,1.3587e-03,-2.6889e-04,2.4515e+00,-3.6781e-02,3.6891e-02,-2.7040e-06,1.3239e-04,4.4153e-06,-2.7180e-05,-4.8801e-07,9.4958e-06,-5.7087e-08,1.3523e-04,9.5085e-06
+1,4.5000e-01,DOWN_FORCE_DETACH,1.1407e-04,4.1221e-03,-2.9854e-04,2.4511e+00,-3.6783e-02,3.7088e-02,-3.0860e-06,2.8958e-03,-2.5235e-05,-4.7231e-04,-2.4959e-06,2.0671e-04,-4.3909e-07,2.9342e-03,2.0672e-04
+2,9.6667e-01,DOWN_FORCE_DETACH,2.2578e-04,6.4519e-03,2.5214e-03,2.4626e+00,-3.6985e-02,3.7244e-02,-9.2238e-07,5.2256e-03,2.7947e-03,1.1100e-02,-2.0452e-04,3.6310e-04,1.7245e-06,1.2582e-02,4.1674e-04
+3,1.3667e+00,DOWN_FORCE_DETACH,3.4062e-04,6.2272e-03,6.3978e-03,2.4842e+00,-3.7258e-02,3.7210e-02,2.5921e-06,5.0009e-03,6.6711e-03,3.2624e-02,-4.7679e-04,3.2920e-04,5.2390e-06,3.3672e-02,5.7942e-04
+4,1.6667e+00,DOWN_FORCE_DETACH,4.5192e-04,6.1913e-03,4.2723e-03,2.5051e+00,-3.7107e-02,3.7191e-02,2.1959e-06,4.9651e-03,4.5456e-03,5.3537e-02,-3.2671e-04,3.1011e-04,4.8428e-06,5.3959e-02,4.5048e-04
+5,2.0000e+00,DOWN_FORCE_DETACH,5.6300e-04,6.4594e-03,9.2415e-03,2.5175e+00,-3.7443e-02,3.7198e-02,6.8328e-06,5.2331e-03,9.5148e-03,6.5974e-02,-6.6236e-04,3.1711e-04,9.4797e-06,6.6861e-02,7.3442e-04
+6,2.2167e+00,DOWN_FORCE_DETACH,6.7429e-04,5.2662e-03,9.1974e-03,2.5159e+00,-3.7429e-02,3.7111e-02,7.6052e-06,4.0399e-03,9.4707e-03,6.4321e-02,-6.4844e-04,2.2929e-04,1.0252e-05,6.5140e-02,6.8786e-04
+7,2.4667e+00,DOWN_FORCE_DETACH,7.8978e-04,-1.1485e-02,8.6303e-03,2.5021e+00,-3.7381e-02,3.5934e-02,1.1518e-05,-1.2712e-02,8.9036e-03,5.0601e-02,-6.0004e-04,-9.4773e-04,1.4165e-05,5.2928e-02,1.1218e-03
+8,2.8333e+00,DOWN_FORCE_DETACH,9.0151e-04,-4.5163e-03,9.3837e-03,2.5063e+00,-3.7416e-02,3.6426e-02,1.9281e-05,-5.7425e-03,9.6571e-03,5.4773e-02,-6.3487e-04,-4.5492e-04,2.1928e-05,5.5913e-02,7.8134e-04
+9,3.2167e+00,DOWN_FORCE_DETACH,1.0147e-03,1.4404e-03,1.2951e-02,2.5040e+00,-3.7646e-02,3.6856e-02,2.7209e-05,2.1413e-04,1.3225e-02,5.2464e-02,-8.6511e-04,-2.5634e-05,2.9856e-05,5.4105e-02,8.6600e-04
+10,3.6500e+00,DOWN_FORCE_DETACH,1.1264e-03,8.1154e-03,1.3470e-02,2.4898e+00,-3.7673e-02,3.7341e-02,2.8528e-05,6.8891e-03,1.3744e-02,3.8240e-02,-8.9246e-04,4.5978e-04,3.1175e-05,4.1215e-02,1.0044e-03
+11,4.0833e+00,DOWN_FORCE_DETACH,1.2386e-03,1.1369e-02,1.3029e-02,2.4815e+00,-3.7646e-02,3.7577e-02,2.1483e-05,1.0143e-02,1.3303e-02,2.9979e-02,-8.6572e-04,6.9552e-04,2.4130e-05,3.4330e-02,1.1108e-03
+12,4.4833e+00,DOWN_FORCE_DETACH,1.3556e-03,1.5142e-02,1.2561e-02,2.4778e+00,-3.7626e-02,3.7842e-02,1.1510e-05,1.3916e-02,1.2834e-02,2.6213e-02,-8.4481e-04,9.6101e-04,1.4157e-05,3.2334e-02,1.2796e-03
+13,4.9000e+00,DOWN_FORCE_DETACH,1.4658e-03,1.5529e-02,1.2628e-02,2.4740e+00,-3.7642e-02,3.7868e-02,1.6868e-06,1.4302e-02,1.2902e-02,2.2461e-02,-8.6150e-04,9.8638e-04,4.3337e-06,2.9589e-02,1.3096e-03
+14,5.3167e+00,DOWN_FORCE_DETACH,1.5807e-03,1.5040e-02,1.1365e-02,2.4829e+00,-3.7560e-02,3.7826e-02,-6.8075e-06,1.3814e-02,1.1638e-02,3.1405e-02,-7.7974e-04,9.4501e-04,-4.1606e-06,3.6229e-02,1.2252e-03
+15,5.7333e+00,DOWN_FORCE_DETACH,1.6907e-03,1.5057e-02,1.4033e-02,2.4874e+00,-3.7745e-02,3.7820e-02,-1.1602e-05,1.3830e-02,1.4306e-02,3.5829e-02,-9.6468e-04,9.3925e-04,-8.9546e-06,4.0984e-02,1.3464e-03
+16,6.1667e+00,DOWN_FORCE_DETACH,1.8012e-03,1.5074e-02,1.5354e-02,2.4899e+00,-3.7836e-02,3.7819e-02,-1.4822e-05,1.3848e-02,1.5627e-02,3.8309e-02,-1.0554e-03,9.3814e-04,-1.2175e-05,4.3629e-02,1.4122e-03
+17,6.5833e+00,DOWN_FORCE_DETACH,1.9149e-03,1.5288e-02,1.4785e-02,2.4954e+00,-3.7795e-02,3.7832e-02,-1.8248e-05,1.4062e-02,1.5059e-02,4.3901e-02,-1.0139e-03,9.5040e-04,-1.5602e-05,4.8495e-02,1.3898e-03
+18,6.9333e+00,DOWN_FORCE_DETACH,2.0281e-03,1.4957e-02,1.6529e-02,2.4954e+00,-3.7913e-02,3.7809e-02,-1.6140e-05,1.3731e-02,1.6803e-02,4.3898e-02,-1.1318e-03,9.2820e-04,-1.3493e-05,4.8968e-02,1.4638e-03
+19,7.3333e+00,DOWN_FORCE_DETACH,2.1416e-03,1.3936e-02,1.5031e-02,2.4981e+00,-3.7804e-02,3.7734e-02,-1.5458e-05,1.2709e-02,1.5304e-02,4.6576e-02,-1.0231e-03,8.5303e-04,-1.2811e-05,5.0647e-02,1.3321e-03
+20,7.7667e+00,DOWN_FORCE_DETACH,2.2536e-03,1.3253e-02,1.5397e-02,2.5039e+00,-3.7830e-02,3.7677e-02,-1.1193e-05,1.2027e-02,1.5670e-02,5.2393e-02,-1.0493e-03,7.9563e-04,-8.5462e-06,5.5993e-02,1.3169e-03
+21,8.1167e+00,DOWN_FORCE_DETACH,2.3625e-03,1.1483e-02,1.6044e-02,2.5038e+00,-3.7876e-02,3.7548e-02,-7.1861e-06,1.0256e-02,1.6317e-02,5.2288e-02,-1.0948e-03,6.6660e-04,-4.5392e-06,5.5726e-02,1.2818e-03
+22,8.4667e+00,DOWN_FORCE_DETACH,2.4799e-03,1.2465e-02,1.6412e-02,2.5038e+00,-3.7894e-02,3.7610e-02,-4.8749e-06,1.1239e-02,1.6686e-02,5.2248e-02,-1.1130e-03,7.2888e-04,-2.2280e-06,5.5987e-02,1.3304e-03
+23,8.7833e+00,DOWN_FORCE_DETACH,2.5886e-03,1.1163e-02,1.8825e-02,2.5105e+00,-3.8044e-02,3.7512e-02,-3.7790e-06,9.9365e-03,1.9098e-02,5.8992e-02,-1.2637e-03,6.3047e-04,-1.1321e-06,6.2798e-02,1.4122e-03
+24,9.1000e+00,DOWN_FORCE_DETACH,2.7032e-03,1.0604e-02,2.1216e-02,2.5175e+00,-3.8191e-02,3.7469e-02,-5.9558e-06,9.3778e-03,2.1490e-02,6.5967e-02,-1.4107e-03,5.8782e-04,-3.3089e-06,7.0010e-02,1.5282e-03
+25,9.4000e+00,DOWN_FORCE_DETACH,2.8133e-03,9.6195e-03,2.1865e-02,2.5220e+00,-3.8223e-02,3.7400e-02,-8.6897e-06,8.3932e-03,2.2138e-02,7.0432e-02,-1.4422e-03,5.1923e-04,-6.0428e-06,7.4305e-02,1.5328e-03
+26,9.6833e+00,DOWN_FORCE_DETACH,2.9334e-03,9.2307e-03,2.2685e-02,2.5225e+00,-3.8271e-02,3.7375e-02,-9.7189e-06,8.0044e-03,2.2958e-02,7.0906e-02,-1.4905e-03,4.9358e-04,-7.0720e-06,7.4959e-02,1.5701e-03
+27,9.9333e+00,DOWN_FORCE_DETACH,3.0378e-03,7.9456e-03,2.1758e-02,2.5338e+00,-3.8208e-02,3.7281e-02,-9.6770e-06,6.7193e-03,2.2031e-02,8.2269e-02,-1.4272e-03,3.9992e-04,-7.0301e-06,8.5433e-02,1.4822e-03
+28,1.0183e+01,DOWN_FORCE_DETACH,3.1583e-03,8.0578e-03,2.5379e-02,2.5381e+00,-3.8453e-02,3.7280e-02,-3.4005e-06,6.8315e-03,2.5653e-02,8.6534e-02,-1.6722e-03,3.9919e-04,-7.5357e-07,9.0514e-02,1.7192e-03
+29,1.0417e+01,DOWN_FORCE_DETACH,3.2667e-03,7.7219e-03,2.5787e-02,2.5452e+00,-3.8465e-02,3.7250e-02,7.8144e-08,6.4957e-03,2.6060e-02,9.3646e-02,-1.6838e-03,3.6840e-04,2.7250e-06,9.7421e-02,1.7236e-03
+30,1.0633e+01,DOWN_FORCE_DETACH,3.3754e-03,9.2223e-03,2.6512e-02,2.5581e+00,-3.8482e-02,3.7346e-02,3.7276e-06,7.9960e-03,2.6785e-02,1.0660e-01,-1.7015e-03,4.6507e-04,6.3745e-06,1.1020e-01,1.7639e-03
+31,1.0850e+01,DOWN_FORCE_DETACH,3.4950e-03,1.1444e-02,2.9215e-02,2.5581e+00,-3.8632e-02,3.7502e-02,9.5030e-06,1.0218e-02,2.9488e-02,1.0652e-01,-1.8517e-03,6.2033e-04,1.2150e-05,1.1099e-01,1.9529e-03
+32,1.1067e+01,DOWN_FORCE_DETACH,3.6087e-03,1.2167e-02,3.0304e-02,2.5530e+00,-3.8676e-02,3.7554e-02,1.4478e-05,1.0941e-02,3.0578e-02,1.0146e-01,-1.8957e-03,6.7275e-04,1.7125e-05,1.0653e-01,2.0116e-03
+33,1.1233e+01,DOWN_FORCE_DETACH,3.7137e-03,1.4524e-02,3.1515e-02,2.5620e+00,-3.8741e-02,3.7707e-02,1.5667e-05,1.3298e-02,3.1788e-02,1.1043e-01,-1.9600e-03,8.2616e-04,1.8314e-05,1.1568e-01,2.1271e-03
+34,1.1450e+01,DOWN_FORCE_DETACH,3.8359e-03,1.5188e-02,3.3326e-02,2.5563e+00,-3.8865e-02,3.7750e-02,1.0096e-05,1.3962e-02,3.3600e-02,1.0474e-01,-2.0840e-03,8.6896e-04,1.2743e-05,1.1088e-01,2.2579e-03
+35,1.1633e+01,DOWN_FORCE_DETACH,3.9413e-03,1.6725e-02,3.3491e-02,2.5659e+00,-3.8874e-02,3.7845e-02,-5.4654e-07,1.5499e-02,3.3764e-02,1.1436e-01,-2.0931e-03,9.6402e-04,2.1004e-06,1.2024e-01,2.3044e-03
+36,1.1817e+01,DOWN_FORCE_DETACH,4.0609e-03,1.8617e-02,3.4716e-02,2.5723e+00,-3.8947e-02,3.7970e-02,-8.1185e-06,1.7391e-02,3.4989e-02,1.2076e-01,-2.1660e-03,1.0891e-03,-5.4716e-06,1.2692e-01,2.4244e-03
+37,1.2000e+01,DOWN_FORCE_DETACH,4.1709e-03,1.7664e-02,3.6570e-02,2.5774e+00,-3.9049e-02,3.7902e-02,-1.1053e-05,1.6438e-02,3.6843e-02,1.2590e-01,-2.2682e-03,1.0204e-03,-8.4066e-06,1.3221e-01,2.4872e-03
+38,1.2133e+01,DOWN_FORCE_DETACH,4.2802e-03,1.8919e-02,3.5555e-02,2.5780e+00,-3.8960e-02,3.7981e-02,-1.3541e-05,1.7692e-02,3.5829e-02,1.2641e-01,-2.1796e-03,1.0995e-03,-1.0894e-05,1.3258e-01,2.4412e-03
+39,1.2300e+01,DOWN_FORCE_DETACH,4.3884e-03,1.7630e-02,3.6034e-02,2.5779e+00,-3.8967e-02,3.7888e-02,-1.6244e-05,1.6404e-02,3.6307e-02,1.2640e-01,-2.1865e-03,1.0066e-03,-1.3597e-05,1.3253e-01,2.4071e-03
+40,1.2467e+01,DOWN_FORCE_DETACH,4.5094e-03,1.6582e-02,3.7513e-02,2.5900e+00,-3.9037e-02,3.7808e-02,-2.1571e-05,1.5355e-02,3.7786e-02,1.3841e-01,-2.2559e-03,9.2712e-04,-1.8925e-05,1.4429e-01,2.4390e-03
+41,1.2617e+01,DOWN_FORCE_DETACH,4.6208e-03,1.4321e-02,3.9274e-02,2.5837e+00,-3.9133e-02,3.7658e-02,-2.5155e-05,1.3095e-02,3.9547e-02,1.3213e-01,-2.3522e-03,7.7692e-04,-2.2508e-05,1.3855e-01,2.4773e-03
+42,1.2783e+01,DOWN_FORCE_DETACH,4.7368e-03,1.2207e-02,3.9085e-02,2.5900e+00,-3.9110e-02,3.7514e-02,-2.4905e-05,1.0981e-02,3.9358e-02,1.3850e-01,-2.3291e-03,6.3266e-04,-2.2258e-05,1.4440e-01,2.4136e-03
+43,1.2917e+01,DOWN_FORCE_DETACH,4.8447e-03,1.0772e-02,3.9349e-02,2.5954e+00,-3.9130e-02,3.7412e-02,-1.9431e-05,9.5460e-03,3.9622e-02,1.4384e-01,-2.3488e-03,5.3060e-04,-1.6785e-05,1.4950e-01,2.4080e-03
+44,1.3083e+01,DOWN_FORCE_DETACH,4.9637e-03,9.5906e-03,4.2125e-02,2.5901e+00,-3.9313e-02,3.7331e-02,-1.2375e-05,8.3643e-03,4.2398e-02,1.3860e-01,-2.5326e-03,4.4955e-04,-9.7277e-06,1.4518e-01,2.5722e-03
+45,1.3217e+01,DOWN_FORCE_DETACH,5.0768e-03,1.0218e-02,4.1957e-02,2.5964e+00,-3.9272e-02,3.7368e-02,-8.7552e-06,8.9916e-03,4.2230e-02,1.4484e-01,-2.4908e-03,4.8643e-04,-6.1084e-06,1.5114e-01,2.5379e-03
+46,1.3350e+01,DOWN_FORCE_DETACH,5.1902e-03,1.0738e-02,4.5031e-02,2.6059e+00,-3.9426e-02,3.7399e-02,7.8580e-08,9.5120e-03,4.5304e-02,1.5435e-01,-2.6449e-03,5.1791e-04,2.7255e-06,1.6114e-01,2.6951e-03
+47,1.3467e+01,DOWN_FORCE_DETACH,5.2929e-03,1.2146e-02,4.4981e-02,2.6006e+00,-3.9384e-02,3.7496e-02,7.6778e-06,1.0920e-02,4.5255e-02,1.4904e-01,-2.6032e-03,6.1448e-04,1.0325e-05,1.5614e-01,2.6748e-03
+48,1.3600e+01,DOWN_FORCE_DETACH,5.4138e-03,1.3649e-02,4.5560e-02,2.6021e+00,-3.9402e-02,3.7592e-02,1.3473e-05,1.2422e-02,4.5833e-02,1.5060e-01,-2.6214e-03,7.1068e-04,1.6120e-05,1.5791e-01,2.7160e-03
+49,1.3717e+01,DOWN_FORCE_DETACH,5.5169e-03,1.2793e-02,4.6283e-02,2.6108e+00,-3.9451e-02,3.7527e-02,1.2449e-05,1.1566e-02,4.6556e-02,1.5923e-01,-2.6705e-03,6.4539e-04,1.5096e-05,1.6630e-01,2.7474e-03
+50,1.3833e+01,DOWN_FORCE_DETACH,5.6248e-03,1.4637e-02,4.5898e-02,2.6152e+00,-3.9425e-02,3.7646e-02,8.5757e-07,1.3410e-02,4.6172e-02,1.6363e-01,-2.6441e-03,7.6430e-04,3.5045e-06,1.7055e-01,2.7524e-03
+51,1.3950e+01,DOWN_FORCE_DETACH,5.7441e-03,1.6124e-02,4.5291e-02,2.6102e+00,-3.9379e-02,3.7744e-02,-9.9206e-06,1.4898e-02,4.5565e-02,1.5868e-01,-2.5986e-03,8.6305e-04,-7.2737e-06,1.6576e-01,2.7382e-03
+52,1.4067e+01,DOWN_FORCE_DETACH,5.8600e-03,1.7227e-02,4.4690e-02,2.6237e+00,-3.9316e-02,3.7809e-02,-1.4892e-05,1.6000e-02,4.4964e-02,1.7218e-01,-2.5353e-03,9.2747e-04,-1.2245e-05,1.7868e-01,2.6997e-03
+53,1.4183e+01,DOWN_FORCE_DETACH,5.9789e-03,1.8342e-02,4.4863e-02,2.6270e+00,-3.9302e-02,3.7875e-02,-1.7040e-05,1.7116e-02,4.5136e-02,1.7548e-01,-2.5211e-03,9.9421e-04,-1.4393e-05,1.8200e-01,2.7101e-03
+54,1.4283e+01,DOWN_FORCE_DETACH,6.0825e-03,1.7189e-02,4.3615e-02,2.6262e+00,-3.9197e-02,3.7794e-02,-2.1803e-05,1.5963e-02,4.3888e-02,1.7465e-01,-2.4165e-03,9.1283e-04,-1.9156e-05,1.8079e-01,2.5832e-03
+55,1.4400e+01,DOWN_FORCE_DETACH,6.1954e-03,1.1428e-02,4.2702e-02,2.6241e+00,-3.9128e-02,3.7410e-02,-2.4955e-05,1.0201e-02,4.2975e-02,1.7261e-01,-2.3475e-03,5.2836e-04,-2.2308e-05,1.7817e-01,2.4063e-03
+56,1.4500e+01,DOWN_FORCE_DETACH,6.3038e-03,9.7212e-03,4.2416e-02,2.6152e+00,-3.9120e-02,3.7304e-02,-2.5082e-05,8.4949e-03,4.2689e-02,1.6365e-01,-2.3389e-03,4.2253e-04,-2.2436e-05,1.6934e-01,2.3769e-03
+57,1.4600e+01,DOWN_FORCE_DETACH,6.4184e-03,1.0783e-02,4.2803e-02,2.6316e+00,-3.9151e-02,3.7366e-02,-2.0859e-05,9.5563e-03,4.3076e-02,1.8001e-01,-2.3700e-03,4.8525e-04,-1.8212e-05,1.8534e-01,2.4192e-03
+58,1.4700e+01,DOWN_SETTLE,6.5254e-03,7.9387e-03,4.2596e-02,2.6339e+00,-3.9153e-02,3.7173e-02,-1.5740e-05,6.7125e-03,4.2870e-02,1.8234e-01,-2.3719e-03,2.9178e-04,-1.3093e-05,1.8743e-01,2.3898e-03
+59,1.4933e+01,DOWN_SETTLE,6.6473e-03,1.0235e-02,4.3502e-02,2.5886e+00,-3.9219e-02,3.7357e-02,-2.3524e-06,9.0090e-03,4.3775e-02,1.3705e-01,-2.4386e-03,4.7551e-04,2.9449e-07,1.4415e-01,2.4845e-03
diff --git a/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/up/camera_frames_60hz.tar b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..46cb2726a8845256f37eef980da0a0e6299795e5
--- /dev/null
+++ b/Part2/Fixed/s2/cylinder_0050_12.5/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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