diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..091ae476c4879d251553965d141457917b027f66
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-7.0290e-03,1.9383e-03,2.4542e+00,-3.6919e-02,3.6270e-02,6.5448e-06,3.6510e-04,1.2103e-05,2.3365e-04,-9.6485e-07,2.4732e-05,4.5993e-07,4.3364e-04,2.4755e-05
+1,1.2333e+00,DOWN_FORCE_DETACH,2.9901e-04,4.7078e-03,2.9214e-02,2.4894e+00,-3.8827e-02,3.7089e-02,1.2223e-04,1.2102e-02,2.7288e-02,3.5480e-02,-1.9086e-03,8.4400e-04,1.1614e-04,4.6367e-02,2.0901e-03
+2,2.2667e+00,DOWN_FORCE_DETACH,5.9841e-04,-2.1235e-02,3.7270e-02,2.5208e+00,-3.9304e-02,3.5261e-02,1.2754e-04,-1.3841e-02,3.5344e-02,6.6839e-02,-2.3862e-03,-9.8341e-04,1.2145e-04,7.6865e-02,2.5837e-03
+3,3.5500e+00,DOWN_FORCE_DETACH,9.0029e-04,-9.3886e-04,3.6378e-02,2.4935e+00,-3.9282e-02,3.6644e-02,1.1472e-04,6.4552e-03,3.4452e-02,3.9505e-02,-2.3639e-03,3.9917e-04,1.0864e-04,5.2813e-02,2.3999e-03
+4,4.9667e+00,DOWN_FORCE_DETACH,1.2012e-03,1.5768e-02,3.6315e-02,2.4560e+00,-3.9347e-02,3.7892e-02,3.3589e-05,2.3162e-02,3.4388e-02,2.0475e-03,-2.4295e-03,1.6472e-03,2.7504e-05,4.1512e-02,2.9354e-03
+5,6.4500e+00,DOWN_FORCE_DETACH,1.4996e-03,1.5588e-02,3.7437e-02,2.4674e+00,-3.9423e-02,3.7871e-02,5.5878e-06,2.2982e-02,3.5511e-02,1.3405e-02,-2.5050e-03,1.6256e-03,-4.9715e-07,4.4372e-02,2.9863e-03
+6,7.7500e+00,DOWN_FORCE_DETACH,1.8020e-03,1.3097e-02,4.0568e-02,2.4882e+00,-3.9596e-02,3.7675e-02,2.9368e-06,2.0491e-02,3.8641e-02,3.4244e-02,-2.6782e-03,1.4303e-03,-3.1482e-06,5.5549e-02,3.0362e-03
+7,8.9833e+00,DOWN_FORCE_DETACH,2.1023e-03,1.3789e-02,4.2385e-02,2.5013e+00,-3.9664e-02,3.7710e-02,-7.5815e-06,2.1183e-02,4.0459e-02,4.7358e-02,-2.7458e-03,1.4656e-03,-1.3666e-05,6.5791e-02,3.1124e-03
+8,1.0050e+01,DOWN_FORCE_DETACH,2.4013e-03,1.3169e-02,4.3038e-02,2.5197e+00,-3.9669e-02,3.7648e-02,-3.1690e-05,2.0563e-02,4.1112e-02,6.5753e-02,-2.7506e-03,1.4027e-03,-3.7775e-05,8.0228e-02,3.0879e-03
+9,1.1033e+01,DOWN_FORCE_DETACH,2.7016e-03,1.2919e-02,4.5387e-02,2.5306e+00,-3.9795e-02,3.7618e-02,-4.2106e-05,2.0313e-02,4.3460e-02,7.6589e-02,-2.8769e-03,1.3728e-03,-4.8191e-05,9.0373e-02,3.1881e-03
+10,1.2033e+01,DOWN_FORCE_DETACH,2.9996e-03,1.0798e-02,5.0406e-02,2.5391e+00,-4.0088e-02,3.7462e-02,-3.7144e-05,1.8192e-02,4.8480e-02,8.5094e-02,-3.1698e-03,1.2172e-03,-4.3229e-05,9.9611e-02,3.3957e-03
+11,1.2917e+01,DOWN_FORCE_DETACH,3.3022e-03,1.5595e-02,5.4680e-02,2.5605e+00,-4.0311e-02,3.7770e-02,-1.3953e-05,2.2989e-02,5.2754e-02,1.0652e-01,-3.3927e-03,1.5250e-03,-2.0038e-05,1.2107e-01,3.7198e-03
+12,1.3717e+01,DOWN_FORCE_DETACH,3.6056e-03,1.9069e-02,5.5719e-02,2.5667e+00,-4.0350e-02,3.8002e-02,8.6838e-06,2.6463e-02,5.3793e-02,1.1276e-01,-3.4322e-03,1.7569e-03,2.5989e-06,1.2770e-01,3.8558e-03
+13,1.4467e+01,DOWN_FORCE_DETACH,3.9048e-03,1.8212e-02,5.7472e-02,2.5844e+00,-4.0429e-02,3.7933e-02,7.8595e-06,2.5606e-02,5.5546e-02,1.3048e-01,-3.5114e-03,1.6882e-03,1.7746e-06,1.4410e-01,3.8962e-03
+14,1.5083e+01,DOWN_FORCE_DETACH,4.1994e-03,1.6329e-02,5.8414e-02,2.5949e+00,-4.0436e-02,3.7795e-02,-1.7922e-06,2.3724e-02,5.6488e-02,1.4090e-01,-3.5180e-03,1.5503e-03,-7.8771e-06,1.5364e-01,3.8445e-03
+15,1.5667e+01,DOWN_FORCE_DETACH,4.5016e-03,1.4219e-02,6.1194e-02,2.6030e+00,-4.0571e-02,3.7641e-02,-8.7352e-06,2.1613e-02,5.9268e-02,1.4899e-01,-3.6528e-03,1.3963e-03,-1.4820e-05,1.6180e-01,3.9106e-03
+16,1.6167e+01,DOWN_FORCE_DETACH,4.7970e-03,1.6303e-02,6.4001e-02,2.6203e+00,-4.0680e-02,3.7760e-02,-5.0711e-06,2.3697e-02,6.2075e-02,1.6630e-01,-3.7623e-03,1.5154e-03,-1.1156e-05,1.7908e-01,4.0561e-03
+17,1.6617e+01,DOWN_FORCE_DETACH,5.1066e-03,1.8325e-02,6.5561e-02,2.6260e+00,-4.0717e-02,3.7888e-02,7.5320e-06,2.5719e-02,6.3635e-02,1.7204e-01,-3.7993e-03,1.6428e-03,1.4470e-06,1.8523e-01,4.1393e-03
+18,1.7033e+01,DOWN_FORCE_DETACH,5.4055e-03,1.8227e-02,6.8686e-02,2.6297e+00,-4.0878e-02,3.7879e-02,1.5408e-05,2.5621e-02,6.6760e-02,1.7572e-01,-3.9597e-03,1.6341e-03,9.3229e-06,1.8972e-01,4.2836e-03
+19,1.7433e+01,DOWN_FORCE_DETACH,5.7010e-03,1.7660e-02,7.2489e-02,2.6393e+00,-4.1069e-02,3.7828e-02,1.4912e-05,2.5054e-02,7.0563e-02,1.8532e-01,-4.1515e-03,1.5832e-03,8.8271e-06,1.9988e-01,4.4432e-03
+20,1.7783e+01,DOWN_FORCE_DETACH,6.0033e-03,1.7277e-02,7.4180e-02,2.6472e+00,-4.1131e-02,3.7794e-02,1.3003e-05,2.4671e-02,7.2254e-02,1.9323e-01,-4.2126e-03,1.5490e-03,6.9176e-06,2.0777e-01,4.4884e-03
+21,1.8067e+01,DOWN_FORCE_DETACH,6.3018e-03,1.6390e-02,7.3870e-02,2.6491e+00,-4.1039e-02,3.7727e-02,1.0277e-05,2.3784e-02,7.1944e-02,1.9515e-01,-4.1213e-03,1.4820e-03,4.1921e-06,2.0935e-01,4.3796e-03
+22,1.8367e+01,DOWN_FORCE_DETACH,6.5988e-03,1.7751e-02,7.6207e-02,2.6492e+00,-4.1124e-02,3.7811e-02,1.2572e-05,2.5145e-02,7.4281e-02,1.9519e-01,-4.2061e-03,1.5658e-03,6.4871e-06,2.1035e-01,4.4881e-03
+23,1.8667e+01,DOWN_FORCE_DETACH,6.9066e-03,1.6711e-02,7.7055e-02,2.6367e+00,-4.1154e-02,3.7749e-02,1.2733e-05,2.4105e-02,7.5129e-02,1.8270e-01,-4.2364e-03,1.5041e-03,6.6477e-06,1.9901e-01,4.4955e-03
+24,1.8950e+01,DOWN_FORCE_DETACH,7.2105e-03,1.7336e-02,7.5063e-02,2.6324e+00,-4.1014e-02,3.7791e-02,2.6939e-06,2.4730e-02,7.3137e-02,1.7839e-01,-4.0957e-03,1.5460e-03,-3.3911e-06,1.9438e-01,4.3777e-03
+25,1.9217e+01,DOWN_FORCE_DETACH,7.4981e-03,1.8872e-02,7.9417e-02,2.6187e+00,-4.1297e-02,3.7903e-02,-6.7663e-06,2.6266e-02,7.7491e-02,1.6476e-01,-4.3793e-03,1.6581e-03,-1.2851e-05,1.8396e-01,4.6827e-03
+26,1.9483e+01,DOWN_FORCE_DETACH,7.8094e-03,1.8223e-02,7.9841e-02,2.6253e+00,-4.1302e-02,3.7860e-02,-1.1723e-05,2.5617e-02,7.7915e-02,1.7129e-01,-4.3843e-03,1.6152e-03,-1.7808e-05,1.8991e-01,4.6724e-03
+27,1.9733e+01,DOWN_FORCE_DETACH,8.0993e-03,1.5876e-02,8.0517e-02,2.6031e+00,-4.1290e-02,3.7713e-02,-9.6803e-06,2.3270e-02,7.8591e-02,1.4914e-01,-4.3724e-03,1.4682e-03,-1.5765e-05,1.7018e-01,4.6124e-03
+28,1.9983e+01,DOWN_FORCE_DETACH,8.4003e-03,1.9134e-02,8.3265e-02,2.5927e+00,-4.1487e-02,3.7933e-02,-1.0895e-05,2.6528e-02,8.1339e-02,1.3869e-01,-4.5687e-03,1.6886e-03,-1.6980e-05,1.6296e-01,4.8708e-03
+29,2.0233e+01,DOWN_FORCE_DETACH,8.7064e-03,1.5776e-02,8.0934e-02,2.5778e+00,-4.1428e-02,3.7730e-02,-1.3462e-05,2.3170e-02,7.9008e-02,1.2382e-01,-4.5099e-03,1.4851e-03,-1.9547e-05,1.4870e-01,4.7481e-03
+30,2.0467e+01,DOWN_FORCE_DETACH,9.0122e-03,1.5231e-02,8.3400e-02,2.5672e+00,-4.1557e-02,3.7703e-02,-2.1730e-05,2.2625e-02,8.1474e-02,1.1321e-01,-4.6391e-03,1.4581e-03,-2.7815e-05,1.4130e-01,4.8629e-03
+31,2.0700e+01,DOWN_FORCE_DETACH,9.3103e-03,1.4568e-02,8.9241e-02,2.5642e+00,-4.1849e-02,3.7657e-02,-2.4721e-05,2.1962e-02,8.7315e-02,1.1023e-01,-4.9308e-03,1.4117e-03,-3.0806e-05,1.4233e-01,5.1290e-03
+32,2.0917e+01,DOWN_FORCE_DETACH,9.6119e-03,1.1548e-02,8.4826e-02,2.5486e+00,-4.1570e-02,3.7460e-02,-2.3532e-05,1.8942e-02,8.2900e-02,9.4674e-02,-4.6525e-03,1.2151e-03,-2.9617e-05,1.2726e-01,4.8087e-03
+33,2.1117e+01,DOWN_FORCE_DETACH,9.9116e-03,1.4449e-02,8.1805e-02,2.5344e+00,-4.1414e-02,3.7674e-02,-3.4404e-05,2.1843e-02,7.9879e-02,8.0457e-02,-4.4957e-03,1.4287e-03,-4.0489e-05,1.1546e-01,4.7175e-03
+34,2.1317e+01,DOWN_FORCE_DETACH,1.0194e-02,1.1355e-02,7.8074e-02,2.5237e+00,-4.1270e-02,3.7486e-02,-4.6704e-05,1.8749e-02,7.6147e-02,6.9697e-02,-4.3522e-03,1.2410e-03,-5.2789e-05,1.0492e-01,4.5259e-03
+35,2.1517e+01,DOWN_FORCE_DETACH,1.0501e-02,1.1200e-02,7.6902e-02,2.5083e+00,-4.1178e-02,3.7484e-02,-6.2451e-05,1.8594e-02,7.4975e-02,5.4335e-02,-4.2605e-03,1.2389e-03,-6.8535e-05,9.4442e-02,4.4375e-03
+36,2.1700e+01,DOWN_FORCE_DETACH,1.0815e-02,9.4971e-03,8.0308e-02,2.5065e+00,-4.1345e-02,3.7371e-02,-7.0053e-05,1.6891e-02,7.8381e-02,5.2515e-02,-4.4267e-03,1.1257e-03,-7.6138e-05,9.5848e-02,4.5682e-03
+37,2.1867e+01,DOWN_FORCE_DETACH,1.1107e-02,7.2207e-03,7.0960e-02,2.4977e+00,-4.0735e-02,3.7224e-02,-6.4655e-05,1.4615e-02,6.9033e-02,4.3783e-02,-3.8173e-03,9.7946e-04,-7.0740e-05,8.3043e-02,3.9416e-03
+38,2.2033e+01,DOWN_FORCE_DETACH,1.1404e-02,4.9858e-03,5.2813e-02,2.4801e+00,-3.9797e-02,3.7094e-02,-5.2755e-05,1.2380e-02,5.0887e-02,2.6178e-02,-2.8788e-03,8.4919e-04,-5.8839e-05,5.8550e-02,3.0020e-03
+39,2.2200e+01,DOWN_FORCE_DETACH,1.1704e-02,2.7093e-03,4.0480e-02,2.4749e+00,-3.9084e-02,3.6947e-02,-3.6966e-05,1.0103e-02,3.8553e-02,2.0974e-02,-2.1658e-03,7.0217e-04,-4.3051e-05,4.5037e-02,2.2772e-03
+40,2.2367e+01,DOWN_FORCE_DETACH,1.2021e-02,7.7672e-04,2.7576e-02,2.4687e+00,-3.8333e-02,3.6823e-02,-1.5915e-05,8.1708e-03,2.5650e-02,1.4708e-02,-1.4147e-03,5.7781e-04,-2.2000e-05,3.0676e-02,1.5283e-03
+41,2.2517e+01,DOWN_FORCE_DETACH,1.2294e-02,7.1627e-04,1.8605e-02,2.4647e+00,-3.7804e-02,3.6821e-02,-5.7629e-06,8.1103e-03,1.6679e-02,1.0730e-02,-8.8608e-04,5.7561e-04,-1.1848e-05,2.1426e-02,1.0567e-03
+42,2.2683e+01,DOWN_FORCE_DETACH,1.2604e-02,1.3423e-04,5.0731e-03,2.4567e+00,-3.7021e-02,3.6790e-02,-1.1415e-06,7.5283e-03,3.1470e-03,2.7008e-03,-1.0260e-04,5.4536e-04,-7.2264e-06,8.5949e-03,5.5498e-04
+43,2.2850e+01,DOWN_FORCE_DETACH,1.2921e-02,-2.7844e-05,-7.3767e-04,2.4527e+00,-3.6716e-02,3.6785e-02,-7.7107e-07,7.3662e-03,-2.6638e-03,-1.2927e-03,2.0187e-04,5.3976e-04,-6.8560e-06,7.9390e-03,5.7631e-04
+44,2.3000e+01,DOWN_FORCE_DETACH,1.3211e-02,-7.5040e-06,-1.7907e-04,2.4525e+00,-3.6771e-02,3.6787e-02,-3.7849e-07,7.3866e-03,-2.1053e-03,-1.4644e-03,1.4677e-04,5.4190e-04,-6.4634e-06,7.8191e-03,5.6146e-04
+45,2.3150e+01,DOWN_FORCE_DETACH,1.3501e-02,-1.0287e-06,-3.4221e-05,2.4525e+00,-3.6784e-02,3.6787e-02,-2.2520e-07,7.3930e-03,-1.9604e-03,-1.4648e-03,1.3356e-04,5.4248e-04,-6.3101e-06,7.7875e-03,5.5871e-04
+46,2.3300e+01,DOWN_FORCE_DETACH,1.3797e-02,-9.8208e-08,-6.7338e-06,2.4525e+00,-3.6787e-02,3.6787e-02,-1.4875e-07,7.3940e-03,-1.9329e-03,-1.4648e-03,1.3106e-04,5.4256e-04,-6.2337e-06,7.7816e-03,5.5820e-04
+47,2.3450e+01,DOWN_FORCE_DETACH,1.4102e-02,4.0947e-08,-1.2445e-06,2.4525e+00,-3.6787e-02,3.6787e-02,-1.0134e-07,7.3941e-03,-1.9274e-03,-1.4648e-03,1.3055e-04,5.4257e-04,-6.1862e-06,7.7803e-03,5.5809e-04
+48,2.3617e+01,DOWN_FORCE_DETACH,1.4418e-02,1.8342e-08,-1.3156e-07,2.4525e+00,-3.6787e-02,3.6787e-02,-6.7485e-08,7.3941e-03,-1.9263e-03,-1.4648e-03,1.3045e-04,5.4257e-04,-6.1524e-06,7.7800e-03,5.5807e-04
+49,2.3750e+01,DOWN_FORCE_DETACH,1.4699e-02,2.6449e-08,2.2082e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-4.8415e-08,7.3941e-03,-1.9262e-03,-1.4648e-03,1.3044e-04,5.4257e-04,-6.1333e-06,7.7800e-03,5.5807e-04
+50,2.3917e+01,DOWN_FORCE_DETACH,1.5020e-02,2.5057e-08,4.8541e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-3.1697e-08,7.3941e-03,-1.9261e-03,-1.4648e-03,1.3043e-04,5.4257e-04,-6.1166e-06,7.7800e-03,5.5806e-04
+51,2.4050e+01,DOWN_FORCE_DETACH,1.5309e-02,1.8582e-08,4.4294e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-2.2908e-08,7.3941e-03,-1.9261e-03,-1.4648e-03,1.3043e-04,5.4257e-04,-6.1078e-06,7.7800e-03,5.5806e-04
+52,2.4200e+01,DOWN_FORCE_DETACH,1.5603e-02,1.0692e-08,2.9016e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-1.5708e-08,7.3941e-03,-1.9262e-03,-1.4648e-03,1.3043e-04,5.4257e-04,-6.1006e-06,7.7800e-03,5.5806e-04
+53,2.4333e+01,DOWN_FORCE_DETACH,1.5897e-02,1.0111e-08,2.2254e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-1.1217e-08,7.3941e-03,-1.9262e-03,-1.4648e-03,1.3044e-04,5.4257e-04,-6.0961e-06,7.7800e-03,5.5807e-04
+54,2.4500e+01,DOWN_FORCE_DETACH,1.6230e-02,6.6449e-09,1.4445e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-7.2283e-09,7.3941e-03,-1.9262e-03,-1.4648e-03,1.3044e-04,5.4257e-04,-6.0921e-06,7.7800e-03,5.5807e-04
+55,2.4633e+01,DOWN_FORCE_DETACH,1.6527e-02,4.6897e-09,1.0181e-08,2.4525e+00,-3.6788e-02,3.6787e-02,-5.0881e-09,7.3941e-03,-1.9262e-03,-1.4648e-03,1.3044e-04,5.4257e-04,-6.0900e-06,7.7800e-03,5.5807e-04
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37aadc524321056426e857c5cfa5c5eb87c6b965
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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+22221,1791617165571650739,22349366000000,1791617165570236579,UP_FORCE_HOLD,4,0.0465,0.046501193195581436,0.675988328702917,-0.004820751039089635,0.09071816607761946,0.9999999794559898,1.579355358379022e-05,-0.00017943741331386014,-9.146731046846578e-06,0.6761,-0.0048,0.09099765666126537,1.0,0.0,0.0,0.0,0.565001447198789,0.34584158307284,-0.5327639070684174,0.022524431114648913,-0.03877958023432754,-0.0008827330385343294,0.48916124858739163,0.3287600089577312,-0.661077901691504,0.021529879528208375,-0.03873470439729177,-0.000799861870468722,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.45373542607466444,0.3388201745540302,2.2078204028673905,-0.07386038138722918,-1.3871127074753211,0.184643413871873,0.5152655439204765,0.5327639070684174,-1.692554858946914,0.5327639070684174,0.558,0,0,2.339763947893597e-06,9.999999025923074e-05
+22229,1791617165637638539,22349432000000,1791617165630247271,UP_FORCE_HOLD,4,0.0465,0.046501193195581436,0.6759851139752897,-0.004825913745794502,0.09071206824875552,0.9999999785184456,1.3244268716085591e-05,-0.00018485854750464246,-7.607863166475767e-06,0.6761,-0.0048,0.09099791062977411,1.0,0.0,0.0,0.0,0.5743188765412388,0.35267554290533826,-0.5322781277228776,0.023574559612278466,-0.03961728390229838,-0.0008863392074605021,0.4984786779298415,0.33559396879022946,-0.6605921223459643,0.022580008025837928,-0.03957240806526261,-0.0008034680393948947,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.42257630909879024,0.37181614533914836,2.058193692163261,-0.07920082511695299,-1.283465568469519,0.2083143929954182,0.5152655439204765,0.5322781277228776,-1.5429281482427846,0.5322781277228776,0.558,0,0,5.259579240360379e-06,7.678138281010937e-05
+22233,1791617165671608910,22349466000000,1791617165670236919,UP_FORCE_HOLD,4,0.0465,0.046501193195581436,0.6759871458154225,-0.004827210109466321,0.0907182033770934,0.9999999792811873,1.3607999595863687e-05,-0.00018062098158898974,-8.448234951793794e-06,0.6761,-0.0048,0.09099811456780595,1.0,0.0,0.0,0.0,0.590817438781044,0.3789109888417046,-0.5218822229205582,0.024667761495548727,-0.04050685351833848,-0.0008956989951284299,0.5149772401696466,0.3618294147265958,-0.6501962175436449,0.02367320990910819,-0.04046197768130271,-0.0008128278270628224,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.36764314680319,0.37523125142298985,2.0019871013437514,-0.07451719491191831,-1.2314527807574962,0.2131565265842274,0.5152655439204765,0.5218822229205582,-1.4867215574232748,0.5218822229205582,0.558,0,0,6.859323646606025e-06,9.999999025923074e-05
+22241,1791617165737618711,22349532000000,1791617165730237142,UP_FORCE_HOLD,4,0.0465,0.046501193195581436,0.6759872530466985,-0.004832398009391347,0.0907171420747695,0.999999979256958,8.511978467168343e-06,-0.00018115525784185516,-6.266318248702573e-06,0.6761,-0.0048,0.09099866215648467,1.0,0.0,0.0,0.0,0.595385846634985,0.397148864394367,-0.5293023550990504,0.02568129833283665,-0.04089756639848348,-0.0008780711452721993,0.5195456480235876,0.3800672902792582,-0.6576163497221371,0.02468674674639611,-0.04085269056144771,-0.0007951999772065919,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.38880110518079697,0.3366350714919908,2.029855098288627,-0.06009068451689223,-1.2571489793302038,0.18632979061206012,0.5152655439204765,0.5293023550990504,-1.5145895543681505,0.5293023550990504,0.558,0,0,9.494050346594926e-06,4.903810205939274e-05
+22253,1791617165837580599,22349632000000,1791617165834236772,UP_FORCE_HOLD,4,0.0465,0.046501193195581436,0.6759863002776254,-0.004835079389870074,0.09071433922007414,0.9999999789518036,8.384219694446115e-06,-0.0001828563306724731,-5.703002666410954e-06,0.6761,-0.0048,0.09099983196374639,1.0,0.0,0.0,0.0,0.613764480804804,0.42438144384845067,-0.5102472732707451,0.02778010228031571,-0.041956364996542275,-0.0008909166468139894,0.5379242821934066,0.40729986973334187,-0.6385612678938318,0.02678555069387517,-0.04191148915950651,-0.0008080454787483819,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.45395811727400326,0.4542839553955847,2.0059276331127385,-0.09296520320425665,-1.2609593566826944,0.2627035726633201,0.5152655439204765,0.5102472732707451,-1.490662089192262,0.5102472732707451,0.558,0,0,1.4185456174491182e-05,9.788795141551788e-05
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+22453,1791617167504684938,22351299000000,1791617167502236899,UP_FORCE_HOLD,4,0.0465,0.046501848846673965,0.6759662742102912,-0.0048769654640719836,0.0907238614864563,0.9999999709397445,-1.107962622391533e-05,-0.00022210809442475723,1.0421658077861451e-05,0.6761,-0.0048,0.09107985901004932,1.0,0.0,0.0,0.0,0.7094952367536915,0.5174217421395981,-0.4666178914726745,0.03526703206076379,-0.04919997045222945,-0.0009368450667322274,0.6336550381422942,0.5003401680244893,-0.5949318860957612,0.03427248047432325,-0.049155094615193684,-0.00085397389866662,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.0917489181792936,0.603901043357055,2.513395881472017,-0.10747106382730756,-1.7360600305207077,0.3628157704296787,0.5152655439204765,0.4666178914726745,-1.9981303375515407,0.4666178914726745,0.558,0,0,5.64597983823426e-05,-9.999999025923074e-05
+22460,1791617167562702243,22351357000000,1791617167562236640,UP_FORCE_HOLD,4,0.0465,0.046501848846673965,0.675966795500655,-0.0048724110912400165,0.09072949701865668,0.999999971407417,-7.42794362190556e-06,-0.00022023605273605994,8.30279221980369e-06,0.6761,-0.0048,0.09108305132304258,1.0,0.0,0.0,0.0,0.704744800776178,0.515226234430942,-0.4806353851462899,0.03513450738694835,-0.049194214927094436,-0.0009270014466678338,0.6289046021647806,0.49814466031583315,-0.6089493797693766,0.03413995580050781,-0.04914933909005867,-0.0008441302786022264,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.0973958477610473,0.6650303766280572,2.598073924407795,-0.12893796233143762,-1.7925931168875602,0.39878560611246777,0.5152655439204765,0.4806353851462899,-2.0828083804873185,0.4806353851462899,0.558,0,0,5.3568177356384854e-05,-9.999999025923074e-05
+22469,1791617167637646297,22351432000000,1791617167630237636,UP_FORCE_HOLD,4,0.0465,0.046501848846673965,0.6759658310422639,-0.004872298891047534,0.09072866089855246,0.9999999708191672,-6.695481022425563e-06,-0.00022286801967149965,9.462851986081877e-06,0.6761,-0.0048,0.09108693018637207,1.0,0.0,0.0,0.0,0.7030980916812507,0.5142222882425431,-0.49646678818345336,0.03513163360076838,-0.049194121958634186,-0.00026298084036398023,0.6272578930698534,0.4971407141274344,-0.62478078280654,0.034137082014327844,-0.04914924612159842,-0.00018010967229837275,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.0669941526965536,0.6341614573926717,2.5811060548302223,-0.11747433480069504,-1.7736706904323494,0.38382462874009443,0.5152655439204765,0.49646678818345336,-2.0658405109097457,0.49646678818345336,0.558,0,0,4.981817808694255e-05,-9.999999025923074e-05
+22477,1791617167704575211,22351499000000,1791617167702236759,UP_FORCE_HOLD,4,0.0465,0.046501848846673965,0.6759673541656077,-0.004874989464492243,0.0907338739380561,0.9999999713166127,-8.399526777039414e-06,-0.00022043647400235377,1.2118057962402898e-05,0.6761,-0.0048,0.09109015745432608,1.0,0.0,0.0,0.0,0.7084399987939434,0.5154624420022919,-0.5059845113139202,0.035137920529908294,-0.04918898536554568,-0.0007690326184189286,0.632599800182546,0.4983808678871831,-0.6342985059370069,0.034143368943467756,-0.049144109528509915,-0.0006861614503533212,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.1634207192914228,0.6622995265586907,2.549227908346215,-0.12605984548305346,-1.7811470447314914,0.40181342003017634,0.5152655439204765,0.5059845113139202,-2.0339623644257383,0.5059845113139202,0.558,0,0,4.646817873957409e-05,-9.999999025923074e-05
+22481,1791617167737613566,22351532000000,1791617167730237426,UP_FORCE_HOLD,4,0.0465,0.04650250822305679,0.6759652865819299,-0.004874434442540085,0.09073211450265713,0.9999999706888323,-1.1799018774608314e-05,-0.0002232175595397241,9.995161786618858e-06,0.6761,-0.0048,0.09109166450422995,1.0,0.0,0.0,0.0,0.7096018092179883,0.5137796687028428,-0.5010585812614451,0.03513187718096214,-0.04919363221095485,-0.000496923337172063,0.633761610606591,0.496698094587734,-0.6293725758845318,0.0341373255945216,-0.049148756373919085,-0.00041405216910645555,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-1.1055793343109845,0.5681467521175307,2.532627593830899,-0.09959832061761555,-1.7554606052697468,0.33811470211423894,0.5152655439204765,0.5010585812614451,-2.0173620499104223,0.5010585812614451,0.558,0,0,4.4818179061019474e-05,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..264dfb1934a86d10616707b1e33863e256551508
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c4fe89ae950510cdf57197559ababc1bef239161
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+46,1.450000000e+00,UP_FORCE_HOLD,1791617167935093395,-2.714700029e-05,-1.187659545e-04,1.965964333e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.145289342e-05,-1.194531427e-04,1.261918519e-05,7.015107245e-01,-1.172149932e-04,8.407606008e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077949e-01,-1.176800930e-04,8.295853120e-01
+47,1.500000000e+00,UP_FORCE_HOLD,1791617168034498754,-2.699956166e-05,-1.226447788e-04,2.275493667e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.146149145e-05,-1.194535556e-04,1.263842557e-05,7.015108719e-01,-1.210938174e-04,8.407636961e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077863e-01,-1.176805058e-04,8.295853312e-01
+48,1.533333333e+00,UP_FORCE_HOLD,1791617168098257309,-2.575521533e-05,-1.209231746e-04,2.772006526e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.146679509e-05,-1.194537934e-04,1.265017150e-05,7.015121163e-01,-1.193722132e-04,8.407686613e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077810e-01,-1.176807436e-04,8.295853429e-01
+49,1.550000000e+00,UP_FORCE_HOLD,1791617168132313377,-2.802027252e-05,-1.203224047e-04,2.174566720e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.146932918e-05,-1.194539037e-04,1.265575957e-05,7.015098512e-01,-1.187714434e-04,8.407626869e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077785e-01,-1.176808540e-04,8.295853485e-01
+50,1.566666667e+00,UP_FORCE_HOLD,1791617168166369446,-2.795631240e-05,-1.256106432e-04,2.519588896e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.147178882e-05,-1.194540090e-04,1.266117102e-05,7.015099152e-01,-1.240596819e-04,8.407661371e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077760e-01,-1.176809592e-04,8.295853539e-01
+51,1.600000000e+00,UP_FORCE_HOLD,1791617168234362156,-2.917273288e-05,-1.237063339e-04,2.455171918e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.147649796e-05,-1.194542043e-04,1.267149629e-05,7.015086987e-01,-1.221553726e-04,8.407654929e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077713e-01,-1.176811546e-04,8.295853643e-01
+52,1.633333333e+00,UP_FORCE_HOLD,1791617168298219509,-2.968537056e-05,-1.270343378e-04,2.497703021e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.148093621e-05,-1.194543842e-04,1.268120463e-05,7.015081861e-01,-1.254833765e-04,8.407659182e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077669e-01,-1.176813345e-04,8.295853740e-01
+53,1.666666667e+00,UP_FORCE_HOLD,1791617168366251394,-2.862501979e-05,-1.290584334e-04,2.827730866e-05,-2.127764627e-05,-1.195199012e-04,1.272133485e-05,-2.148512290e-05,-1.194545497e-04,1.269034198e-05,7.015092465e-01,-1.275074721e-04,8.407692185e-01,7.015165938e-01,-1.179689399e-04,8.407536625e-01,7.017077627e-01,-1.176814999e-04,8.295853831e-01
+54,1.716666667e+00,UP_FORCE_HOLD,1791617168466304825,-2.769136082e-05,-1.300192712e-04,3.447902069e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.882486796e-05,-1.325557641e-04,3.030234728e-05,7.015101801e-01,-1.284683098e-04,8.407754202e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017004229e-01,-1.307827143e-04,8.296029951e-01
+55,1.733333333e+00,UP_FORCE_HOLD,1791617168498310623,-2.826722655e-05,-1.358043032e-04,3.175277689e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.883032113e-05,-1.325573856e-04,3.031861052e-05,7.015096043e-01,-1.342533419e-04,8.407726940e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017004175e-01,-1.307843359e-04,8.296030114e-01
+56,1.766666667e+00,UP_FORCE_HOLD,1791617168566300829,-2.857286698e-05,-1.316829684e-04,3.337060938e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.883985468e-05,-1.325592415e-04,3.034726561e-05,7.015092986e-01,-1.301320071e-04,8.407743118e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017004080e-01,-1.307861918e-04,8.296030400e-01
+57,1.800000000e+00,UP_FORCE_HOLD,1791617168630587666,-3.025434995e-05,-1.369838487e-04,3.246203605e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.884845098e-05,-1.325602458e-04,3.037230036e-05,7.015076171e-01,-1.354328874e-04,8.407734032e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017003994e-01,-1.307871961e-04,8.296030651e-01
+58,1.850000000e+00,UP_FORCE_HOLD,1791617168706700340,-2.912675791e-05,-1.370134990e-04,3.388467822e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.886011231e-05,-1.325610206e-04,3.040570674e-05,7.015087447e-01,-1.354625377e-04,8.407748259e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017003877e-01,-1.307879709e-04,8.296030985e-01
+59,1.883333333e+00,UP_FORCE_HOLD,1791617168764799815,-3.097849322e-05,-1.376986263e-04,3.292668852e-05,-2.860153219e-05,-1.326152036e-04,3.057847768e-05,-2.886730648e-05,-1.325613063e-04,3.042582734e-05,7.015068930e-01,-1.361476650e-04,8.407738679e-01,7.015092699e-01,-1.310642423e-04,8.407715197e-01,7.017003805e-01,-1.307882566e-04,8.296031186e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ec381e404de328f430eb273a7faef0edae7de8c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-7.0290e-03,1.9383e-03,2.4542e+00,-3.6919e-02,3.6270e-02,6.5448e-06,3.6510e-04,1.2103e-05,2.3365e-04,-9.6485e-07,2.4732e-05,4.5993e-07,4.3364e-04,2.4755e-05
+1,3.3333e-02,UP_FORCE_HOLD,7.6203e-06,-6.2580e-03,1.9638e-03,2.4547e+00,-3.6921e-02,3.6322e-02,7.6007e-06,1.1360e-03,3.7665e-05,7.2575e-04,-2.9989e-06,7.7244e-05,1.5158e-06,1.3486e-03,7.7317e-05
+2,5.0000e-02,UP_FORCE_HOLD,1.3601e-05,-5.8668e-03,1.9769e-03,2.4549e+00,-3.6922e-02,3.6349e-02,8.1956e-06,1.5273e-03,5.0708e-05,9.7418e-04,-4.0419e-06,1.0408e-04,2.1106e-06,1.8122e-03,1.0418e-04
+3,8.3333e-02,UP_FORCE_HOLD,2.5676e-05,-5.1353e-03,2.0010e-03,2.4554e+00,-3.6924e-02,3.6399e-02,9.4053e-06,2.2588e-03,7.4791e-05,1.4310e-03,-5.9865e-06,1.5454e-04,3.3204e-06,2.6750e-03,1.5469e-04
+4,1.0000e-01,UP_FORCE_HOLD,2.9083e-05,-4.6376e-03,3.2715e-03,2.4557e+00,-3.7007e-02,3.6433e-02,1.0335e-05,2.7565e-03,1.3454e-03,1.7252e-03,-8.9549e-05,1.8849e-04,4.2505e-06,3.5192e-03,2.0873e-04
+5,1.1667e-01,UP_FORCE_HOLD,3.8037e-05,-7.1325e-04,1.0829e-02,2.4582e+00,-3.7592e-02,3.6749e-02,4.7157e-05,6.6808e-03,8.9029e-03,4.1966e-03,-6.7395e-04,5.0414e-04,4.1072e-05,1.1896e-02,8.4264e-04
+6,1.5000e-01,UP_FORCE_HOLD,4.9752e-05,-5.1240e-04,1.1007e-02,2.4579e+00,-3.7598e-02,3.6759e-02,4.8084e-05,6.8817e-03,9.0810e-03,3.9062e-03,-6.7977e-04,5.1399e-04,4.1999e-05,1.2045e-02,8.5325e-04
+7,1.6667e-01,UP_FORCE_HOLD,5.3662e-05,-3.8650e-04,1.1000e-02,2.4578e+00,-3.7595e-02,3.6766e-02,4.8543e-05,7.0076e-03,9.0742e-03,3.8521e-03,-6.7677e-04,5.2083e-04,4.2458e-05,1.2095e-02,8.5503e-04
+8,2.0000e-01,UP_FORCE_HOLD,6.6783e-05,6.5125e-04,1.9191e-02,2.4604e+00,-3.8177e-02,3.6814e-02,9.9098e-05,8.0453e-03,1.7265e-02,6.4826e-03,-1.2587e-03,5.6890e-04,9.3014e-05,2.0120e-02,1.3845e-03
+9,2.3333e-01,UP_FORCE_HOLD,7.3036e-05,8.7369e-04,1.9104e-02,2.4600e+00,-3.8167e-02,3.6829e-02,9.9235e-05,8.2678e-03,1.7178e-02,6.0756e-03,-1.2494e-03,5.8453e-04,9.3150e-05,2.0009e-02,1.3826e-03
+10,2.5000e-01,UP_FORCE_HOLD,8.1722e-05,1.0305e-03,1.9009e-02,2.4599e+00,-3.8159e-02,3.6840e-02,9.9319e-05,8.4245e-03,1.7083e-02,5.9052e-03,-1.2411e-03,5.9548e-04,9.3234e-05,1.9941e-02,1.3797e-03
+11,2.6667e-01,UP_FORCE_HOLD,8.7341e-05,1.1938e-03,1.8907e-02,2.4598e+00,-3.8150e-02,3.6852e-02,9.9399e-05,8.5879e-03,1.6980e-02,5.7907e-03,-1.2323e-03,6.0686e-04,9.3314e-05,1.9890e-02,1.3768e-03
+12,3.0000e-01,UP_FORCE_HOLD,9.9398e-05,1.6202e-03,2.0249e-02,2.4598e+00,-3.8235e-02,3.6881e-02,9.9948e-05,9.0143e-03,1.8323e-02,5.8131e-03,-1.3169e-03,6.3616e-04,9.3863e-05,2.1232e-02,1.4655e-03
+13,3.1667e-01,UP_FORCE_HOLD,1.0842e-04,3.1846e-03,2.9404e-02,2.4607e+00,-3.8836e-02,3.6988e-02,1.0435e-04,1.0579e-02,2.7478e-02,6.7739e-03,-1.9177e-03,7.4346e-04,9.8266e-05,3.0213e-02,2.0591e-03
+14,3.5000e-01,UP_FORCE_HOLD,1.1448e-04,3.8174e-03,2.8096e-02,2.4605e+00,-3.8795e-02,3.7053e-02,1.2669e-04,1.1212e-02,2.6170e-02,6.5470e-03,-1.8766e-03,8.0812e-04,1.2061e-04,2.9213e-02,2.0468e-03
+15,4.0000e-01,UP_FORCE_HOLD,1.2272e-04,3.9810e-03,2.7730e-02,2.4606e+00,-3.8767e-02,3.7062e-02,1.2693e-04,1.1375e-02,2.5804e-02,6.6748e-03,-1.8494e-03,8.1725e-04,1.2084e-04,2.8979e-02,2.0255e-03
+16,4.3333e-01,UP_FORCE_HOLD,1.3185e-04,4.1422e-03,2.7513e-02,2.4607e+00,-3.8751e-02,3.7072e-02,1.2705e-04,1.1536e-02,2.5587e-02,6.7730e-03,-1.8327e-03,8.2689e-04,1.2096e-04,2.8873e-02,2.0143e-03
+17,4.5000e-01,UP_FORCE_HOLD,1.3778e-04,4.2286e-03,2.7425e-02,2.4608e+00,-3.8744e-02,3.7077e-02,1.2709e-04,1.1623e-02,2.5499e-02,6.8212e-03,-1.8258e-03,8.3219e-04,1.2101e-04,2.8841e-02,2.0102e-03
+18,5.0000e-01,UP_FORCE_HOLD,1.4529e-04,4.4990e-03,2.7221e-02,2.4609e+00,-3.8727e-02,3.7094e-02,1.2715e-04,1.1893e-02,2.5295e-02,6.9647e-03,-1.8092e-03,8.4917e-04,1.2106e-04,2.8806e-02,2.0022e-03
+19,5.5000e-01,UP_FORCE_HOLD,1.5597e-04,4.8858e-03,3.7755e-02,2.4591e+00,-3.9421e-02,3.7120e-02,1.3115e-04,1.2280e-02,3.5829e-02,5.0879e-03,-2.5034e-03,8.7461e-04,1.2507e-04,3.8215e-02,2.6547e-03
+20,6.0000e-01,UP_FORCE_HOLD,1.6196e-04,5.0449e-03,3.6671e-02,2.4599e+00,-3.9398e-02,3.7132e-02,1.4557e-04,1.2439e-02,3.4745e-02,5.9321e-03,-2.4799e-03,8.8712e-04,1.3949e-04,3.7378e-02,2.6375e-03
+21,6.3333e-01,UP_FORCE_HOLD,1.7033e-04,5.1887e-03,3.6441e-02,2.4599e+00,-3.9381e-02,3.7141e-02,1.4570e-04,1.2583e-02,3.4515e-02,5.9547e-03,-2.4629e-03,8.9654e-04,1.3961e-04,3.7216e-02,2.6247e-03
+22,6.6667e-01,UP_FORCE_HOLD,1.7717e-04,5.3504e-03,3.6243e-02,2.4600e+00,-3.9366e-02,3.7152e-02,1.4576e-04,1.2744e-02,3.4317e-02,6.0344e-03,-2.4478e-03,9.0720e-04,1.3968e-04,3.7101e-02,2.6143e-03
+23,7.0000e-01,UP_FORCE_HOLD,1.8721e-04,5.5125e-03,3.6092e-02,2.4601e+00,-3.9354e-02,3.7163e-02,1.4576e-04,1.2907e-02,3.4166e-02,6.1469e-03,-2.4360e-03,9.1798e-04,1.3967e-04,3.7036e-02,2.6069e-03
+24,7.3333e-01,UP_FORCE_HOLD,1.9657e-04,5.6729e-03,3.5975e-02,2.4602e+00,-3.9344e-02,3.7174e-02,1.4569e-04,1.3067e-02,3.4049e-02,6.2761e-03,-2.4264e-03,9.2872e-04,1.3960e-04,3.7006e-02,2.6018e-03
+25,7.6667e-01,UP_FORCE_HOLD,2.0461e-04,5.8305e-03,3.5883e-02,2.4604e+00,-3.9337e-02,3.7184e-02,1.4556e-04,1.3225e-02,3.3957e-02,6.4135e-03,-2.4186e-03,9.3935e-04,1.3947e-04,3.7001e-02,2.5983e-03
+26,8.1667e-01,UP_FORCE_HOLD,2.1102e-04,6.0614e-03,3.5774e-02,2.4606e+00,-3.9327e-02,3.7200e-02,1.4525e-04,1.3455e-02,3.3847e-02,6.6233e-03,-2.4089e-03,9.5502e-04,1.3917e-04,3.7021e-02,2.5950e-03
+27,8.6667e-01,UP_FORCE_HOLD,2.2066e-04,6.2852e-03,3.5687e-02,2.4608e+00,-3.9319e-02,3.7215e-02,1.4483e-04,1.3679e-02,3.3760e-02,6.8300e-03,-2.4009e-03,9.7032e-04,1.3874e-04,3.7061e-02,2.5932e-03
+28,9.0000e-01,UP_FORCE_HOLD,2.2738e-04,6.4303e-03,3.5637e-02,2.4609e+00,-3.9314e-02,3.7225e-02,1.4448e-04,1.3824e-02,3.3710e-02,6.9637e-03,-2.3961e-03,9.8030e-04,1.3839e-04,3.7095e-02,2.5926e-03
+29,9.3333e-01,UP_FORCE_HOLD,2.3506e-04,6.5719e-03,3.5592e-02,2.4611e+00,-3.9310e-02,3.7235e-02,1.4408e-04,1.3966e-02,3.3665e-02,7.0930e-03,-2.3918e-03,9.9009e-04,1.3799e-04,3.7131e-02,2.5923e-03
+30,9.6667e-01,UP_FORCE_HOLD,2.4465e-04,7.5608e-03,3.6143e-02,2.4617e+00,-3.9328e-02,3.7310e-02,1.3609e-04,1.4955e-02,3.4216e-02,7.7755e-03,-2.4097e-03,1.0648e-03,1.3001e-04,3.8143e-02,2.6377e-03
+31,1.0000e+00,UP_FORCE_HOLD,2.5483e-04,1.3573e-02,4.2725e-02,2.4675e+00,-3.9806e-02,3.7731e-02,1.4149e-04,2.0967e-02,4.0799e-02,1.3534e-02,-2.8881e-03,1.4857e-03,1.3541e-04,4.7826e-02,3.2506e-03
+32,1.0333e+00,UP_FORCE_HOLD,2.6323e-04,1.3558e-02,4.2750e-02,2.4670e+00,-3.9807e-02,3.7729e-02,1.4161e-04,2.0952e-02,4.0824e-02,1.2995e-02,-2.8892e-03,1.4844e-03,1.3552e-04,4.7691e-02,3.2510e-03
+33,1.0667e+00,UP_FORCE_HOLD,2.7064e-04,1.3467e-02,4.2721e-02,2.4665e+00,-3.9805e-02,3.7723e-02,1.4163e-04,2.0861e-02,4.0795e-02,1.2571e-02,-2.8867e-03,1.4781e-03,1.3554e-04,4.7512e-02,3.2459e-03
+34,1.0833e+00,UP_FORCE_HOLD,2.7633e-04,1.3406e-02,4.2700e-02,2.4664e+00,-3.9803e-02,3.7719e-02,1.4161e-04,2.0800e-02,4.0774e-02,1.2393e-02,-2.8850e-03,1.4740e-03,1.3553e-04,4.7421e-02,3.2426e-03
+35,1.1333e+00,UP_FORCE_HOLD,2.8752e-04,1.3198e-02,4.2637e-02,2.4659e+00,-3.9798e-02,3.7705e-02,1.4144e-04,2.0592e-02,4.0710e-02,1.1961e-02,-2.8798e-03,1.4598e-03,1.3535e-04,4.7164e-02,3.2315e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..eae4313ec79c1af061711a6aa461f04c98ad2fa8
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311f85dfbda796a3c7e5890ecfa861d9913edd7d5abc57feb9482088829d8928
+size 79687680
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..93eecd975d95803032495520418e94b13219a9c8
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,2.753333e+01,2822,6.939777e-01,2.026754e-02,8.182240e-01,2.544380e-05,-1.251249e-04,-1.582943e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3943801a21b62397a3c967a36f3a45ec4d2040d6
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+31577,1791617243474498978,22427268000000,1791617243474236961,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761201788079905,-0.004945580520547602,0.09025149323307993,0.999999990536972,-4.0210194344340164e-05,4.333432924125688e-05,8.291077532644425e-05,0.6761,-0.0048,0.09014793671593123,1.0,0.0,0.0,0.0,0.41443130587466115,0.6969501888864077,1.2351125118842516,0.05054439304647418,-0.02860842219638574,0.0012476471903360503,0.3385911072632638,0.6798686147712989,1.106798517261165,0.04954984146003364,-0.02856354635934997,0.0013305183584016577,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6826645122992561,0.351893329207666,-0.5031215252658505,0.2323187188565499,0.47702528443968456,0.18286276882936525,0.5152655439204765,1.2351125118842516,1.018387069186327,1.018387069186327,0.7893599999999555,1,0,-1.1200040894721042e-09,1.1313172620930345e-08
+31925,1791617246374498917,22430168000000,1791617246374237221,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676112777408826,-0.0049403569104698175,0.09022976197049429,0.999999991151948,-3.716009585003257e-05,2.9782322386369357e-05,8.289215226350162e-05,0.6761,-0.0048,0.09013592516828604,1.0,0.0,0.0,0.0,0.43466824945122484,0.6696086950842522,1.1545669790371011,0.04918589961410857,-0.03058643355417174,0.001259531085685596,0.3588280508398275,0.6525271209691434,1.0262529844140145,0.04819134802766803,-0.03054155771713597,0.0013424022537512033,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.619639892977108,0.4157691417742472,-0.35131766487089516,0.2130296815048413,0.368057482039329,0.2244245283479919,0.5152655439204765,1.1545669790371011,0.8665832087913716,0.8665832087913716,1.0213599999998952,1,0,-2.4992679630046706e-05,-9.999999025923074e-05
+32252,1791617249099496762,22432893000000,1791617249094237453,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761278903487556,-0.004945183331610017,0.09017612872396287,0.9999999898594475,-3.917496508750307e-05,5.6159244029727587e-05,8.387747538989541e-05,0.6761,-0.0048,0.09003803261486379,1.0,0.0,0.0,0.0,0.4152397775911509,0.6612950664947614,1.3180006750634454,0.049524678490350894,-0.02962212338814266,0.0011568594901640438,0.33939957897975354,0.6442134923796526,1.1896866804403587,0.048530126903910356,-0.02957724755110689,0.0012397306582296512,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7397474836364127,0.4501450598426043,-0.6193789950554127,0.21631140379675826,0.5634326043561322,0.25144107978683605,0.5152655439204765,1.3180006750634454,1.1346445389758892,1.1346445389758892,1.2393600000001133,1,0,-4.519922966047941e-05,-9.999999025923074e-05
+32567,1791617251724537064,22435518000000,1791617251718237503,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761425986872234,-0.004948092208147902,0.09008166242239012,0.9999999884247944,7.0551624509276906e-06,8.184532026123302e-05,8.857112192791665e-05,0.6761,-0.0048,0.08991989697392276,1.0,0.0,0.0,0.0,0.4213893416257236,0.6507633056172027,1.4449583048180732,0.04848059268388181,-0.029629293270785353,0.0016517448828519076,0.34554914301432627,0.633681731502094,1.3166443101949865,0.04748604109744127,-0.029584417433749583,0.001734616050917515,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7722923091976763,0.3717585991261734,-0.8066703927610133,0.24887760523356442,0.6814983820992906,0.21145244125344081,0.5152655439204765,1.4449583048180732,1.3219359366814898,1.3219359366814898,1.4493600000003233,1,0,-5.302694997963287e-05,-9.892714011717203e-05
+32835,1791617253958615577,22437752000000,1791617253958237440,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761547388214113,-0.004951661876448862,0.08996197248964012,0.9999999862791278,4.376244115238988e-07,0.00010493175853544415,8.873411496740897e-05,0.6761,-0.0048,0.0897725287816652,1.0,0.0,0.0,0.0,0.4351682022465883,0.62002317817754,1.544780941465877,0.04644181531423127,-0.030626805770820255,0.0019496757040332684,0.35932800363519096,0.6029416040624312,1.4164669468427904,0.04544726372779073,-0.030581929933784485,0.002032546872098876,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7713822168988721,0.38327879872872006,-0.9832112194995745,0.2555894810097075,0.7927154605130396,0.21838140360093525,0.5152655439204765,1.544780941465877,1.4984767634200509,1.4984767634200509,1.628080000000502,1,0,-7.573644110056422e-05,-9.774163009368948e-05
+33086,1791617256049615484,22439843000000,1791617256042237049,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761645176128301,-0.004959281166446557,0.08980531649587575,0.999999984431467,-1.7181298240194677e-05,0.00012097570013730076,8.74620674239502e-05,0.6761,-0.0048,0.08959535006205266,1.0,0.0,0.0,0.0,0.4646568099733683,0.5850759665310389,1.6532610431431531,0.04341242894413041,-0.03261869202214076,0.001799378973387127,0.38881661136197093,0.5679943924159301,1.5249470485200665,0.04241787735768987,-0.03257381618510499,0.0018822501414527343,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7656485140342824,0.35321889272965956,-1.193268822070729,0.2637951421778839,0.9226545865404711,0.19834257210029088,0.5152655439204765,1.6532610431431531,1.7085343659912056,1.7085343659912056,1.7953600000006693,1,0,-9.248641437834137e-05,9.941615172615598e-05
+33366,1791617258383632040,22442177000000,1791617258378236884,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761836200972816,-0.004967892274914048,0.08959839732649365,0.999999980222798,-3.519830291622029e-05,0.0001465102566015204,9.1066417167293e-05,0.6761,-0.0048,0.0893587445827797,1.0,0.0,0.0,0.0,0.498581076822331,0.5310747912115696,1.752879987368717,0.039364566877647875,-0.034587658557485905,0.001652559682359436,0.42274087821093365,0.5139932170964608,1.6245659927456304,0.038370015291207336,-0.03454278272045014,0.0017354308504250434,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7355658957614734,0.3629751618532667,-1.2500722123673342,0.27939418737354743,0.9536131770199087,0.20723140255888337,0.5152655439204765,1.752879987368717,1.7653377562878108,1.7653377562878108,1.982080000000856,1,0,-0.00011535631018052962,-9.96310770259356e-05
+33609,1791617260408692295,22444202000000,1791617260406237672,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762008371942135,-0.004971819879803018,0.08937706568193927,0.9999999755513321,-3.944565875660246e-05,0.00017197269349872527,9.596682884305301e-05,0.6761,-0.0048,0.0891130452781715,1.0,0.0,0.0,0.0,0.534501166392662,0.48869617981198676,1.8220150203995518,0.03534711266729083,-0.03756559326858179,0.001501098278295098,0.45866096778126464,0.47161460569687796,1.693701025776465,0.03435256108085029,-0.03752071743154602,0.0015839694463607055,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6999499383827977,0.29357028337858104,-1.351829557490096,0.30436495373424044,1.010793396052055,0.16106690342453395,0.5152655439204765,1.8220150203995518,1.8670951014105726,1.8670951014105726,2.144080000001018,1,0,-0.00012920705188687454,-9.999167746433386e-05
+33812,1791617262099686159,22445893000000,1791617262098237222,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762119266765514,-0.0049774857534751376,0.08914353824716648,0.9999999728318079,-3.3953320034024053e-05,0.00018352820286750678,0.00010461270884088751,0.6761,-0.0048,0.08887064758246181,1.0,0.0,0.0,0.0,0.5736734907740608,0.43183962968057005,1.9205038779584565,0.031321447163596874,-0.04041299576394597,0.001334946004899233,0.4978332921626635,0.41475805556546125,1.7921898833353698,0.030326895577156336,-0.0403681199269102,0.0014178171729648404,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6460986090435608,0.3482306333727127,-1.540955464402256,0.29275655616963875,1.1214054750791276,0.20026268367591682,0.5152655439204765,1.9205038779584565,2.0562210083227326,2.0562210083227326,2.2793600000011534,1,0,-0.000154506441289752,-9.999999025923074e-05
+34000,1791617263666705491,22447460000000,1791617263662246789,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762193282711575,-0.004975582045617138,0.08889613999344155,0.999999969875768,-2.5455762837707606e-05,0.0001969044171116159,0.00011077897954504814,0.6761,-0.0048,0.08861060890377706,1.0,0.0,0.0,0.0,0.6131733814584006,0.4036756676709952,1.9602310738754416,0.028312842555120708,-0.04265529627996241,0.0012379304690437922,0.5373331828470033,0.3865940935558864,1.831917079252355,0.02731829096868017,-0.04261042044292664,0.0013208016371093997,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6604559566899386,0.3153633188567966,-1.5945346783776329,0.31282326890922557,1.1671993984273887,0.17993554178894683,0.5152655439204765,1.9602310738754416,2.1098002222981096,2.1098002222981096,2.4047200000012787,1,0,-0.00018089040623311815,-9.998809699507944e-05
+34164,1791617265033739341,22448827000000,1791617265026237662,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762248176191642,-0.004980832332910543,0.08863607768039979,0.9999999679658922,-2.5117955117973024e-05,0.00020362085622657,0.00011583917398094272,0.6761,-0.0048,0.08834103994198282,1.0,0.0,0.0,0.0,0.6523189770205924,0.36054374245874093,2.049982037974402,0.025924957197627347,-0.04553822519843569,0.0010977854204430424,0.576478778409195,0.34346216834363213,1.921668043351315,0.02493040561118681,-0.045493349361399926,0.0011806565885086498,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5714683186870326,0.32417589371476596,-1.7169322179445698,0.3220204032758819,1.2304240553720858,0.1859691870264107,0.5152655439204765,2.049982037974402,2.2321977618650464,2.2321977618650464,2.514080000001388,1,0,-0.0002105315708808827,-9.999999025923074e-05
+34316,1791617266299651834,22450093000000,1791617266298236912,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762375159070888,-0.0049802748428869155,0.08836778979772425,0.9999999638976823,-2.9177485574234073e-05,0.00022122760952968449,0.00011770521475823825,0.6761,-0.0048,0.088054932708253,1.0,0.0,0.0,0.0,0.681323099466962,0.3261503116945375,2.1274603574315023,0.02330607013361034,-0.04753101566616766,0.0009755825833613046,0.6054829008555647,0.3090687375794287,1.9991463628084154,0.0223115185471698,-0.04748613982913189,0.001058453751426912,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5555554444823811,0.43323147547465074,-1.7781059157473462,0.29863224501844227,1.2717912384581673,0.25762478076559125,0.5152655439204765,2.1274603574315023,2.2933714596678225,2.2933714596678225,2.6153600000014894,1,0,-0.0002404664140129561,-9.99885549620771e-05
+34451,1791617267424742567,22451218000000,1791617267422246585,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676241603108227,-0.0049796893994818545,0.08808308281515875,0.9999999624967945,-2.229609061765377e-05,0.0002255657590846106,0.0001227690792415669,0.6761,-0.0048,0.08776545304663042,1.0,0.0,0.0,0.0,0.7101332371686462,0.31080039477644544,2.1887035766257115,0.021965815167922505,-0.04954454564805448,0.0008837063095007629,0.6342930385572488,0.29371882066133664,2.0603895820026246,0.020971263581481967,-0.049499669811018714,0.0009665774775663703,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.49220444801710783,0.24209916040914567,-1.7849413388989055,0.37633926861817896,1.2674823648421372,0.13402522675060144,0.5152655439204765,2.1887035766257115,2.3002068828193822,2.3002068828193822,2.7053600000015794,1,0,-0.00026963739210436453,-9.999999025923074e-05
+34583,1791617268524771908,22452318000000,1791617268522247233,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762486464809406,-0.004982445407590362,0.08778306616837481,0.9999999596396686,-1.7909247672877308e-05,0.00023687172133693408,0.0001254375227723641,0.6761,-0.0048,0.08745164592908243,1.0,0.0,0.0,0.0,0.739647226905785,0.2790447486630606,2.2377099860412253,0.019360202766774245,-0.05153096520410378,0.0007861431432174093,0.6638070282943876,0.2619631745479518,2.1093959914181384,0.018365651180333706,-0.051486089367068014,0.0008690143112830167,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3989194863793256,0.38456342676283983,-1.8496475021519483,0.3506813503971552,1.2949544862680407,0.22854403261986747,0.5152655439204765,2.2377099860412253,2.3649130460724246,2.3649130460724246,2.7933600000016674,1,0,-0.00030554897180043304,-9.999350933232449e-05
+34695,1791617269458773901,22453252000000,1791617269458246702,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762544797322867,-0.004991603424803247,0.08749045603814545,0.9999999568883161,-2.1156584051307835e-05,0.00024679328566204326,0.00012771727969764616,0.6761,-0.0048,0.08714713549269694,1.0,0.0,0.0,0.0,0.7359050806571426,0.2702395166349051,2.2780736808555107,0.019301435107850713,-0.05153825627555462,0.000752460302762477,0.6600648820457452,0.2531579425197963,2.1497596862324237,0.018306883521410175,-0.05149338043851885,0.0008353314708280844,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.39335831261596277,0.33881012691663503,-1.8633730365644998,0.38164362922797285,1.305511534722612,0.20097652584290754,0.5152655439204765,2.2780736808555107,2.378638580484976,2.378638580484976,2.868080000001742,1,0,-0.0003471781840444762,-9.999999025923074e-05
+34798,1791617270316779767,22454110000000,1791617270314246806,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676262806381412,-0.004996941543082433,0.08719521862982683,0.9999999523359097,-2.470283799813582e-05,0.00026135847950075285,0.00013361346494358129,0.6761,-0.0048,0.08683532092792856,1.0,0.0,0.0,0.0,0.7497381368918028,0.24715611216790426,2.3475690346459945,0.017263486799341133,-0.05215736216406283,0.0006652610760313714,0.6738979382804055,0.23007453805279546,2.2192550400229076,0.016268935212900595,-0.052112486327027065,0.0007481322440969788,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3983507635695569,0.3564973837201493,-1.8961335740870098,0.3842573417785807,1.3383665209497317,0.2128468734566371,0.5152655439204765,2.3475690346459945,2.4113991180074863,2.4113991180074863,2.9367200000018108,1,0,-0.000378888413375715,-9.999999025923074e-05
+34886,1791617271049802080,22454843000000,1791617271046246921,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676266622675278,-0.00499737568221668,0.08691358783548715,0.9999999503817805,-1.6989021591571202e-05,0.00026871120706577233,0.0001348516273926027,0.6761,-0.0048,0.0865473709505076,1.0,0.0,0.0,0.0,0.7589711471715334,0.2482468096986179,2.377680681825668,0.0172671308703608,-0.05253499259271108,0.0006362975826350541,0.683130948560136,0.2311652355835091,2.2493666872025813,0.01627257928392026,-0.05249011675567531,0.0007191687507006615,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3601659632467407,0.3327804315416067,-1.973587872689461,0.4014990212430077,1.381304264581283,0.19801040166265071,0.5152655439204765,2.377680681825668,2.4888534166099374,2.4888534166099374,2.9953600000018694,1,0,-0.0004077075596968342,2.527568669988484e-05
+34974,1791617271783818318,22455577000000,1791617271782237742,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762696227112269,-0.0049996445189518365,0.08661704858050352,0.999999948928102,-2.1583616629589884e-05,0.00027360044218881604,0.00013514289992151593,0.6761,-0.0048,0.08623958543617753,1.0,0.0,0.0,0.0,0.7761930090240756,0.22880905963621603,2.4173302628228828,0.01626695253030645,-0.05353523684995119,0.0005833061189825259,0.7003528104126783,0.21172748552110723,2.289016268199796,0.015272400943865911,-0.053490361012915426,0.0006661772870481333,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.35275701634905837,0.3066140989910266,-1.9090479357043275,0.4154570641485379,1.3404348345411017,0.1798319944112406,0.5152655439204765,2.4173302628228828,2.424313479624804,2.424313479624804,3.054080000001928,1,0,-0.00043288482965839057,-9.999999025923074e-05
+35062,1791617272516783195,22456310000000,1791617272510246525,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762731853517842,-0.00499732868506309,0.08629998191109849,0.9999999461983485,-2.3941492919396516e-05,0.00028326796350211286,0.00013502677612243103,0.6761,-0.0048,0.08591014202271995,1.0,0.0,0.0,0.0,0.7693531230498145,0.2369571155222033,2.418430110517034,0.01626945009019723,-0.05367075793237833,0.0005760140099175542,0.6935129244384172,0.2198755414070945,2.290116115893947,0.015274898503756691,-0.05362588209534256,0.0006588851779831616,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3557317183214315,0.29354942020206065,-2.023251216685026,0.4257676113417328,1.4173557850536007,0.1706797211868532,0.5152655439204765,2.418430110517034,2.5385167606055026,2.5385167606055026,3.112720000001987,1,0,-0.00046411355102552045,1.0772129048436343e-05
+35138,1791617273149832884,22456943000000,1791617273146246416,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762762889085101,-0.0050018068003307905,0.08600058812123255,0.9999999442778279,-2.5812251227032246e-05,0.00028878345396216384,0.00013720440962383174,0.6761,-0.0048,0.08560872629658886,1.0,0.0,0.0,0.0,0.777490497345019,0.23369542259062556,2.447633896648254,0.016258659770691433,-0.053543383217625654,0.0005548605883949029,0.7016502987336216,0.21661384847551676,2.319319902025167,0.015264108184250894,-0.05349850738058989,0.0006377317564605103,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3569024233436699,0.3356564264646317,-1.9367254245561087,0.42658357515940404,1.365835402230827,0.2002886545527008,0.5152655439204765,2.447633896648254,2.4519909684765855,2.4519909684765855,3.1633600000020374,1,0,-0.0004892228116879213,-9.999999025923074e-05
+35211,1791617273758815857,22457552000000,1791617273758247089,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762783394037769,-0.005005205764904889,0.0856991343808464,0.9999999429728487,-3.164822569014421e-05,0.00029331192377765397,0.00013588108448573814,0.6761,-0.0048,0.0853031499887605,1.0,0.0,0.0,0.0,0.7789743487292611,0.21602521067059283,2.467310052702044,0.015261654253717161,-0.05453229911609588,0.0005118800491101743,0.7031341501178637,0.19894363655548403,2.338996058078957,0.014267102667276623,-0.054487423279060115,0.0005947512171757817,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.39842758821281177,0.3290753035541687,-1.992930411085975,0.43266076019195826,1.415161689294643,0.1978079285287162,0.5152655439204765,2.467310052702044,2.5081959550064514,2.5081959550064514,3.212080000002086,1,0,-0.0005140349574703481,-9.999999025923074e-05
+35282,1791617274349739359,22458143000000,1791617274342237388,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762774595799682,-0.005006887361438738,0.08539287592532466,0.9999999431623701,-2.8895274726159384e-05,0.0002935763572737704,0.00013452176990812374,0.6761,-0.0048,0.08499197846381017,1.0,0.0,0.0,0.0,0.7753682395318403,0.21969623294552582,2.4569551701907915,0.015235909192845683,-0.053526588912406754,0.0005303479772767652,0.699528040920443,0.20261465883041702,2.3286411755677046,0.014241357606405144,-0.05348171307537099,0.0006132191453423726,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.41896264959561597,0.3715794900975587,-2.0490765339460886,0.4219426950501946,1.4566525262706764,0.2285220619746174,0.5152655439204765,2.4569551701907915,2.564342077866565,2.564342077866565,3.2593600000021334,1,0,-0.0005392671711915417,-9.999999025923074e-05
+35349,1791617274908814823,22458702000000,1791617274902246743,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676280389164172,-0.005010804204790988,0.08509464374517416,0.9999999405980978,-3.4972363014005286e-05,0.00030018943986938513,0.0001375132696308083,0.6761,-0.0048,0.08468399755510224,1.0,0.0,0.0,0.0,0.7699138859336889,0.21289070342083724,2.4632158839863947,0.014215228911490076,-0.05350762409306666,0.0005179893919382949,0.6940736873222916,0.19580912930572844,2.334901889363308,0.013220677325049538,-0.053462748256030895,0.0006008605600039023,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.45454020213346497,0.23803567005745774,-1.9883148417645509,0.45784561604437374,1.4288350942353687,0.13783325912498193,0.5152655439204765,2.4632158839863947,2.5035803856850274,2.5035803856850274,3.304080000002178,1,0,-0.0005623971122373492,-9.999999025923074e-05
+35417,1791617275474853888,22459268000000,1791617275474237600,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.676278494474736,-0.005008912793486203,0.08477650061886374,0.9999999412910474,-3.3650953066495e-05,0.0002991512201812268,0.0001350441667583816,0.6761,-0.0048,0.08436018927190611,1.0,0.0,0.0,0.0,0.7705648961229552,0.1898156088317551,2.454567571170253,0.013193639286395024,-0.053485462111042485,0.0005127557448847648,0.6947246975115579,0.1727340347166463,2.326253576547166,0.012199087699954486,-0.05344058627400672,0.0005956269129503722,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4756664459813425,0.31476561121077606,-2.0940561777790383,0.43453114445963614,1.499452962048774,0.1905314235288529,0.5152655439204765,2.454567571170253,2.609321721699515,2.609321721699515,3.3493600000022234,1,0,-0.0005814959954067708,-9.999999025923074e-05
+35477,1791617275974784154,22459768000000,1791617275974236857,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762756292387063,-0.005015052634749757,0.08447359871209216,0.9999999427233807,-3.493154802616836e-05,0.0002933291138114013,0.00013687190339589848,0.6761,-0.0048,0.08406414208091448,1.0,0.0,0.0,0.0,0.7619000009218361,0.17708343608517735,2.4573674770144627,0.012172436990071837,-0.05346620759019101,0.0004993916258869111,0.6860598023104387,0.16000186197006855,2.3290534823913758,0.011177885403631299,-0.05342133175315524,0.0005822627939525185,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4838973861688455,0.2689737887229859,-2.0540338194204857,0.45252571815269177,1.473335270705176,0.1606173917690296,0.5152655439204765,2.4573674770144627,2.569299363340962,2.569299363340962,3.3893600000022635,1,0,-0.0006021710163797975,-9.994657465395846e-05
+35541,1791617276508794831,22460302000000,1791617276506247413,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762760431351591,-0.005014158232761805,0.0841531476017694,0.9999999411341858,-3.91098838961119e-05,0.0002992420805662298,0.0001345328345237713,0.6761,-0.0048,0.08373640862833874,1.0,0.0,0.0,0.0,0.7618933382885008,0.16751243725681172,2.4412002213437636,0.01217232149315907,-0.053423842563645234,0.0005118772218094705,0.6860531396771035,0.15043086314170293,2.3128862267206767,0.011177769906718532,-0.05337896672660947,0.000594748389875078,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5526050006099333,0.2524849784242662,-2.0567190585937176,0.45799674813383057,1.490567007366052,0.14974792603029996,0.5152655439204765,2.4412002213437636,2.571984602514194,2.571984602514194,3.432080000002306,1,0,-0.0006262259258607836,-9.999999025923074e-05
+35597,1791617276974831734,22460768000000,1791617276974246535,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676277308526897,-0.0050129863319983625,0.08386146723273782,0.9999999401440246,-3.9450080477444163e-05,0.00030189787103192283,0.0001358535178800494,0.6761,-0.0048,0.08343974489456071,1.0,0.0,0.0,0.0,0.7538626244150058,0.1736363864016212,2.4171626262180625,0.011633773607214477,-0.052809162690115506,0.0005395807841474596,0.6780224258036085,0.1565548122865124,2.2888486315949756,0.010639222020773938,-0.05276428685307974,0.0006224519522130671,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6181511136261233,0.2543851510459076,-2.0864708667242424,0.46102898302197426,1.523654137461076,0.15380214496721126,0.5152655439204765,2.4171626262180625,2.601736410644719,2.601736410644719,3.4693600000023435,1,0,-0.0006465428680588456,-9.999943514771843e-05
+35653,1791617277441773292,22461235000000,1791617277434247367,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6762721359219533,-0.0050172014940784064,0.08354665567433796,0.9999999418169869,-3.954137292107738e-05,0.0002948112091228227,0.0001390385481240989,0.6761,-0.0048,0.08313253809157906,1.0,0.0,0.0,0.0,0.7612568677178887,0.17271572407035304,2.4157994060400245,0.01195044026669598,-0.053322707682728364,0.0005327462967286714,0.6854166691064913,0.15563414995524424,2.2874854114169376,0.010955888680255441,-0.0532778318456926,0.0006156174647942789,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5773044055746868,0.36574980406994273,-2.069462065156255,0.4305208189746494,1.501647381573069,0.22655803815622524,0.5152655439204765,2.4157994060400245,2.5847276090767317,2.5847276090767317,3.506720000002381,1,0,-0.0006689477104568617,-9.999999025923074e-05
+35709,1791617277908873752,22461702000000,1791617277906246773,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.676267928509813,-0.00501659849529772,0.0832262079365863,0.9999999432361832,-4.0175267001430636e-05,0.0002895330226989447,0.000139739297661698,0.6761,-0.0048,0.08281570526681785,1.0,0.0,0.0,0.0,0.7721092659377162,0.16106456303154615,2.385343304089991,0.010940885640785426,-0.05342858561210323,0.000544304618599352,0.6962690673263189,0.14398298891643735,2.2570293094669043,0.009946334054344887,-0.05338370977506746,0.0006271757866649594,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7130245872826939,0.3242551475430579,-2.087165355744089,0.4360628080053583,1.55047692913569,0.1991293987884479,0.5152655439204765,2.385343304089991,2.6024308996645655,2.6024308996645655,3.544080000002418,1,0,-0.0006889652648487107,-9.999999025923074e-05
+35757,1791617278308882901,22462102000000,1791617278306236955,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762610749458808,-0.0050126380216600624,0.08293536684932445,0.9999999462834854,-4.3808549100743354e-05,0.0002791349813910841,0.00013798682510222912,0.6761,-0.0048,0.08253625656619504,1.0,0.0,0.0,0.0,0.7727077434423946,0.14751888861553403,2.340993533250826,0.010178165337430788,-0.05440070453439248,0.000555343554628141,0.6968675448309972,0.13043731450042523,2.212679538627739,0.00918361375099025,-0.054355828697356716,0.0006382147226937484,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7101982420486214,0.2614658598039998,-2.0540660941677027,0.45554793205823024,1.526748862319313,0.1577494719838805,0.5152655439204765,2.340993533250826,2.569331638088179,2.569331638088179,3.57608000000245,1,0,-0.0007084817068944968,-9.999999025923074e-05
+35808,1791617278733894352,22462527000000,1791617278726247026,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762527705303752,-0.005017815537243877,0.08261287126134485,0.9999999491564727,-4.4936447025272835e-05,0.0002650887334837969,0.0001443557947875747,0.6761,-0.0048,0.08223107480652342,1.0,0.0,0.0,0.0,0.7644854277530307,0.13078802304367554,2.291014384888178,0.00825055094056726,-0.05375586999319342,0.0005710592586369171,0.6886452291416334,0.11370644892856674,2.162700390265091,0.007255999354126721,-0.053710994156157654,0.0006539304267025245,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7062958790910463,0.33844594124080374,-2.065549605720367,0.4291216164094401,1.5330467355255886,0.2103383959292732,0.5152655439204765,2.291014384888178,2.5808151496408436,2.5808151496408436,3.610080000002484,1,0,-0.0007284327352100314,-9.999999025923074e-05
+35853,1791617279108902432,22462902000000,1791617279106246447,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762416103522809,-0.005011377551323263,0.08231304101682402,0.9999999549280209,-4.118219725629049e-05,0.00024430664040858203,0.0001421446897708565,0.6761,-0.0048,0.08195440628150638,1.0,0.0,0.0,0.0,0.776480236259395,0.11598236101818052,2.2434119000267034,0.007270535070228384,-0.054337919199955405,0.0006015871165868344,0.7006400376479976,0.09890078690307172,2.1150979054036165,0.006275983483787845,-0.05429304336291964,0.0006844582846524418,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7552637454294989,0.32038201341747385,-1.9995395009577985,0.42747810151419596,1.5011040377278722,0.1959590399804919,0.5152655439204765,2.2434119000267034,2.5148050448782753,2.5148050448782753,3.640080000002514,1,0,-0.0007471827315572429,-9.999999025923074e-05
+35901,1791617279508901042,22463302000000,1791617279506246330,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762302615143333,-0.0050167816736993625,0.08199058706929314,0.999999958399633,-4.800091712586249e-05,0.0002267618329987545,0.00014463256864179268,0.6761,-0.0048,0.0816515431896647,1.0,0.0,0.0,0.0,0.7809181703121058,0.10800189593971891,2.1534966916879767,0.006134036986394049,-0.05440821127134041,0.0006653191200168235,0.7050779717007084,0.09092032182461011,2.02518269706489,0.0051394853999535105,-0.05436333543430465,0.0007481902880824309,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7426080739811374,0.3806103492571698,-1.8507493198842477,0.4093668090487965,1.402395244074757,0.23547070002621878,0.5152655439204765,2.1534966916879767,2.3660148638047245,2.3660148638047245,3.672080000002546,1,0,-0.0007671827276609352,-9.999999025923074e-05
+35944,1791617279866896755,22463660000000,1791617279866246893,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762195561463995,-0.0050127573744006655,0.08169070591926017,0.999999962368099,-4.7391340263996986e-05,0.00020916499252962605,0.000143912237107857,0.6761,-0.0048,0.08137369662378803,1.0,0.0,0.0,0.0,0.7578591462497537,0.09169532958019778,2.0744318107345707,0.005515286012396472,-0.05425903569118099,0.0007290317383592471,0.6820189476383564,0.07461375546508899,1.9461178161114838,0.004520734425955934,-0.054214159854145225,0.0008119029064248545,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8318848106472303,0.3332303205932143,-1.9425594810757498,0.4221811971396459,1.4800956193831651,0.20794974512651848,0.5152655439204765,2.0744318107345707,2.457825024996226,2.457825024996226,3.700720000002575,1,0,-0.0007850827241737398,-9.999999025923074e-05
+35988,1791617280233871859,22464027000000,1791617280230246557,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6762073993862715,-0.00501331249083159,0.08137731816609911,0.999999966241991,-4.6173197967476064e-05,0.00018952437820449495,0.00014459400848708466,0.6761,-0.0048,0.08108221321467404,1.0,0.0,0.0,0.0,0.7672791855080602,0.0770919359195528,1.9849826609788193,0.004244860761406281,-0.053821479486931396,0.0007896920928514213,0.6914389868966628,0.060010361804443996,1.8566686663557326,0.0032503091749657427,-0.05377660364989563,0.0008725632609170287,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8573474836097078,0.22115360741508253,-1.8274155721944976,0.4472951393441896,1.410338115757411,0.1298427387068246,0.5152655439204765,1.9849826609788193,2.3426811161149743,2.3426811161149743,3.730080000002604,1,0,-0.0008034327205988775,-9.999999025923074e-05
+36028,1791617280566838270,22464360000000,1791617280562246226,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761939478031574,-0.005009268787474345,0.08107867490635139,0.9999999697322133,-5.0677947172017755e-05,0.00016754608193717829,0.000146077010901279,0.6761,-0.0048,0.08081190621925631,1.0,0.0,0.0,0.0,0.7661269028335019,0.05173103472831833,1.9018952741512052,0.0030953520341035243,-0.053569356474236614,0.0008378555312391254,0.6902867042221046,0.03464946061320954,1.7735812795281185,0.0021008004476629856,-0.05352448063720085,0.0009207266993047328,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8714691954377379,0.30835758281313314,-1.8649852841302683,0.41611390578018126,1.437476034707172,0.18477620389123092,0.5152655439204765,1.9018952741512052,2.3802508280507446,2.3802508280507446,3.756720000002631,1,0,-0.0008200827173552014,-9.999999025923074e-05
+36072,1791617280933877466,22464727000000,1791617280926247063,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761785052857718,-0.005000958130077748,0.08075522609024918,0.9999999741589924,-5.2029246708698324e-05,0.00014573414175916635,0.00013848969683385523,0.6761,-0.0048,0.08050757781264473,1.0,0.0,0.0,0.0,0.7590591525247619,0.06705987530909739,1.7709318028740644,0.0031415562552468425,-0.0531422212596015,0.0009468460717805903,0.6832189539133645,0.04997830119398859,1.6426178082509777,0.002147004668806304,-0.053097345422565737,0.0010297172398461977,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8870875685550698,0.34823444389524233,-1.6625493946256542,0.4122153013926972,1.3047301310841029,0.21311279509226894,0.5152655439204765,1.7709318028740644,2.1778149385461307,2.1778149385461307,3.78608000000266,1,0,-0.000838432713780339,-9.999999025923074e-05
+36112,1791617281266912287,22465060000000,1791617281266246435,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761685489218265,-0.005004218653439907,0.08045983510496177,0.9999999754416526,-5.6789762336307275e-05,0.0001330756308291624,0.00014009053440863328,0.6761,-0.0048,0.08022561581949757,1.0,0.0,0.0,0.0,0.7309172312597935,0.06388322750501252,1.6393742253761285,0.003520259527010568,-0.05210903540177637,5.3709804500555065e-05,0.6550770326483961,0.046801653389903726,1.5110602307530419,0.0025257079405700293,-0.0520641595647406,0.00013658097256616253,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9927126724426476,0.21302395004175517,-1.5461940296040089,0.4392030002326298,1.2498133358351415,0.12580415285825475,0.5152655439204765,1.6393742253761285,2.0614595735244854,2.0614595735244854,3.812720000002687,1,0,-0.0008550827105366629,-9.999999025923074e-05
+36152,1791617281599868780,22465393000000,1791617281598246986,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761596995501746,-0.004997751838143275,0.08015710860266581,0.9999999777664392,-4.701841177351467e-05,0.00011993040655495028,0.00013898184022404327,0.6761,-0.0048,0.07993810937743055,1.0,0.0,0.0,0.0,0.7121053568865514,0.0684412762223755,1.5216512791842847,0.0041030028875386265,-0.05006025767193949,0.0001765660363368396,0.6362651582751541,0.05135970210726671,1.393337284561198,0.003108451301098088,-0.05001538183490372,0.00025943720440244707,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.995142360289709,0.1933425640774207,-1.4483585370337568,0.4409205825080454,1.1749375913243245,0.11037535043420182,0.5152655439204765,1.5216512791842847,1.9636240809542334,1.9636240809542334,3.8393600000027135,1,0,-0.0008717327072929867,-9.999999025923074e-05
+36192,1791617281933885413,22465727000000,1791617281926246733,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761447222221363,-0.005001630397828323,0.07983924391268539,0.9999999796677272,-4.513839322883877e-05,9.97778419530941e-05,0.00014182495262710535,0.6761,-0.0048,0.07964417010373964,1.0,0.0,0.0,0.0,0.6847764301047002,0.06699579990457896,1.4325635696475116,0.003695724462435988,-0.04809401062131834,0.0002766791499582409,0.6089362314933029,0.04991422578947016,1.304249575024425,0.0027011728759954493,-0.04804913478428257,0.0003595503180238484,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0005372423649668,0.3244397643382817,-1.3496582628074387,0.3938645488098593,1.1076789754989391,0.1926778204698447,0.5152655439204765,1.4325635696475116,1.8649238067279152,1.8649238067279152,3.86608000000274,1,0,-0.0008884327040395698,-9.999999025923074e-05
+36232,1791617282266905256,22466060000000,1791617282266236859,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761369507402721,-0.005002477453771172,0.07953446589130315,0.9999999800417804,-4.388360305526447e-05,8.918745589112399e-05,0.00014655760068465253,0.6761,-0.0048,0.07934555811383616,1.0,0.0,0.0,0.0,0.6505735504025596,0.06413140969403251,1.317921154490052,0.004033505658169273,-0.04596215753044421,0.00039649043201350965,0.5747333517911623,0.04704983557892371,1.1896071598669653,0.0030389540717287345,-0.045917281693408446,0.00047936160007911713,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0626865220479196,0.2807123462827355,-1.228198698639395,0.4073172436648023,1.0338571572433244,0.16672992725474559,0.5152655439204765,1.317921154490052,1.7434642425598714,1.7434642425598714,3.892720000002767,1,0,-0.0009050827007958936,-9.999999025923074e-05
+36272,1791617282599859135,22466393000000,1791617282598246919,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6761225049511017,-0.005002359161134118,0.07921130811203714,0.9999999821038652,-5.1817325492436405e-05,6.961056136241476e-05,0.00014037260570213116,0.6761,-0.0048,0.07904140167501282,1.0,0.0,0.0,0.0,0.6287955547628505,0.05659319425378685,1.209385457908727,0.002981086165801363,-0.04397416895933788,0.0004999413840005863,0.5529553561514532,0.03951162013867805,1.0810714632856404,0.0019865345793608244,-0.043929293122302114,0.0005828125520661937,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.104521842708945,0.310284524786327,-1.1862118477779626,0.3854954278856041,1.0140427311997193,0.18329304249885991,0.5152655439204765,1.209385457908727,1.7014773916984391,1.7014773916984391,3.9193600000027935,1,0,-0.0009217326975522175,-9.999999025923074e-05
+36308,1791617282899836977,22466693000000,1791617282898246572,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6761137402275591,-0.0049976626755277274,0.07891505442398182,0.9999999829737813,-4.53715114162294e-05,5.309981903863554e-05,0.00014358668674941611,0.6761,-0.0048,0.07876263936618695,1.0,0.0,0.0,0.0,0.6237517086731168,0.05432597692475401,1.1189226315537193,0.0038344363458941754,-0.04387760370657745,1.3340635332012522e-05,0.5479115100617195,0.037244402809645215,0.9906086369306326,0.0028398847594536367,-0.043832727869541684,9.621180339761999e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1265430429026242,0.2352789844561966,-1.1565312712524123,0.3988383551273685,0.9942456294816034,0.13122148016701685,0.5152655439204765,1.1189226315537193,1.6717968151728888,1.6717968151728888,3.9433600000028175,1,0,-0.0009367326946299867,-9.999999025923074e-05
+36344,1791617283199906984,22466993000000,1791617283198246677,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6760988108794262,-0.004989771466511884,0.07860764489351646,0.9999999839939251,-5.0663389169468115e-05,2.859801611850549e-05,0.00014166999852613225,0.6761,-0.0048,0.07847937705823775,1.0,0.0,0.0,0.0,0.6016257222341937,0.0512536300311669,1.0200437486353104,0.0029955814307382304,-0.042831707650898894,-0.00036040786563870794,0.5257855236227964,0.0341720559160581,0.8917297540122237,0.0020010298442976917,-0.04278683181386313,-0.00027753669757310046,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.144358939717032,0.23039996550524164,-0.9819760133299156,0.40052698311619644,0.882279113549602,0.12574933699484597,0.5152655439204765,1.0200437486353104,1.497241557250392,1.497241557250392,3.9673600000028415,1,0,-0.0009517326917077559,-9.999999025923074e-05
+36383,1791617283524876680,22467318000000,1791617283522247085,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6760860062859312,-0.004990667096164982,0.078279027753869,0.9999999843075298,-4.6751645480902046e-05,8.018948751856224e-06,0.0001434495894039396,0.6761,-0.0048,0.07816743143394875,1.0,0.0,0.0,0.0,0.5830511368706394,0.049697656754847774,0.8914411660855509,0.0029806560598001335,-0.041388373719417726,-0.00023178345183631896,0.507210938259242,0.032616082639738975,0.7631271714624642,0.001986104473359595,-0.04134349788238196,-0.0001489122837707115,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1721418885366606,0.18344590784651724,-0.9286711517037708,0.40149799091370475,0.8471635891241297,0.09192768735577389,0.5152655439204765,0.8914411660855509,1.4439366956242474,1.4439366956242474,3.9933600000028675,1,0,-0.0009679826885420059,-9.999999025923074e-05
+36419,1791617283824882435,22467618000000,1791617283818247288,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6760756234970462,-0.004982868128951839,0.07797181178513762,0.9999999845356288,-4.1093838644630616e-05,-6.66177374378012e-06,0.00014366114224968255,0.6761,-0.0048,0.07787479412782594,1.0,0.0,0.0,0.0,0.5458385951683145,0.03352220675937044,0.7743365386233125,0.0019104219149848932,-0.03870447959220635,-0.00011745123336762654,0.46999839655691716,0.016440632644261644,0.6460225440002259,0.0009158703285443546,-0.038659603755170587,-3.458006530201908e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1861386624818635,0.1644660761173547,-0.745680809380374,0.3974368071559196,0.7245201223207091,0.0776242218002716,0.5152655439204765,0.7743365386233125,1.2609463533008505,1.2609463533008505,4.017360000002795,1,0,-0.000982982685619775,-9.999999025923074e-05
+36455,1791617284124888873,22467918000000,1791617284122247185,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6760653775562878,-0.004984929217804798,0.0776539902676805,0.9999999839358535,-4.609897133928919e-05,-2.4122985388642604e-05,0.00014444418815652462,0.6761,-0.0048,0.0775776568225798,1.0,0.0,0.0,0.0,0.5267058519810734,0.027322830348884587,0.6806432829680337,0.001794018351262599,-0.03670365449407213,-1.1716010699255278e-05,0.45086565336967616,0.01024125623377579,0.552329288344947,0.0007994667648220603,-0.036658778657036366,7.115515736635219e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1727607410548075,0.152408399985981,-0.677097040929051,0.3931609974504613,0.6705688051254337,0.0662439421216075,0.5152655439204765,0.6806432829680337,1.1923625848495276,1.1923625848495276,4.041360000002686,1,0,-0.0009979826826975442,-9.999999025923074e-05
+36487,1791617284391952838,22468185000000,1791617284390246413,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6760533601487799,-0.004985377705522779,0.07737098369563372,0.9999999833598539,-4.477683103256705e-05,-3.929704934931152e-05,0.00014551265820042872,0.6761,-0.0048,0.07730941989664807,1.0,0.0,0.0,0.0,0.4998433948545931,0.010200216537995115,0.585060473001108,0.0008412733562943012,-0.03560245493481828,6.548683320750858e-05,0.42400319624319577,-0.006881357577113682,0.45674647837802124,-0.0001532782301462375,-0.03555757909778251,0.00014835800127311604,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1868524830914,0.16325277847305386,-0.6092071031712761,0.37876823740546134,0.6276832251174991,0.07209988075596435,0.5152655439204765,0.585060473001108,1.1244726470917525,1.1244726470917525,4.062720000002589,1,0,-0.0010113326800967588,-9.999999025923074e-05
+36523,1791617284691968262,22468485000000,1791617284690247000,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6760410963353974,-0.004981890131831445,0.07704853248020227,0.9999999828869648,-4.526971608548563e-05,-5.92323035848664e-05,0.00014181368639455783,0.6761,-0.0048,0.07700377759305883,1.0,0.0,0.0,0.0,0.45525686867673754,0.015842860738292237,0.45274674835748385,0.0007907661689118276,-0.032530345037735914,-0.0004373915426109491,0.3794166700653402,-0.0012387133768165593,0.3244327537343972,-0.00020378541752871107,-0.03248546920070015,-0.0003545203745453416,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.211977086976056,0.16799430505433144,-0.49142444120915285,0.3694571117617628,0.5506347128440551,0.0727369006495634,0.5152655439204765,0.45274674835748385,1.0066899851296294,1.0066899851296294,4.0867200000024795,1,0,-0.001026332677174528,-9.999999025923074e-05
+36555,1791617284958957235,22468752000000,1791617284958246638,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6760306872109122,-0.004960312113492942,0.07675410766927647,0.9999999836765204,-3.0792715575008406e-05,-7.693878335563783e-05,0.00013123283012761046,0.6761,-0.0048,0.07672797121860174,1.0,0.0,0.0,0.0,0.45967765220543577,0.027603347914704306,0.3834744524584014,0.001200878957411201,-0.03244549675959651,0.0002804845154837572,0.3838374535940384,0.01052177379959551,0.25516045783531466,0.00020632737097066236,-0.03240062092256074,0.0003633556835493647,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1760497400790795,0.2392176462697719,-0.3849168515444786,0.36073711876975767,0.46928279381775156,0.12002385275603844,0.5152655439204765,0.3834744524584014,0.900182395464955,0.900182395464955,4.108080000002382,1,0,-0.0010396826745737427,-9.999999025923074e-05
+36591,1791617285258858364,22469052000000,1791617285258237296,DOWN_FORCE_DETACH,5,0.046,0.04600212723016739,0.6760188723053521,-0.00495656178963939,0.07641709503237881,0.9999999825903462,-2.7254529065445036e-05,-9.616255040899427e-05,0.00012756224497245376,0.6761,-0.0048,0.07641382391666941,1.0,0.0,0.0,0.0,0.44381107718823587,0.03266736072450434,0.3033019958461795,0.0018089743018004842,-0.03150736845736792,0.00016330284078628477,0.3679708785768385,0.015585786609395543,0.1749880012230928,0.0008144227153599455,-0.031462492620332155,0.00024617400885189225,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1563682650549052,0.20643575358725336,-0.2134640672568622,0.3550305687547709,0.34956123119880345,0.09453162875385038,0.5152655439204765,0.3033019958461795,0.7287296111773387,0.7287296111773387,4.132080000002273,1,0,-0.001054682671651512,-9.999999025923074e-05
+36623,1791617285524928014,22469318000000,1791617285518246700,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6760089517904865,-0.004958519761583079,0.07612238689459849,0.9999999800218389,-2.6984353891827522e-05,-0.00011564839790879886,0.00013151607936386312,0.6761,-0.0048,0.07613151607635602,1.0,0.0,0.0,0.0,0.4066235051526976,0.026528541144278106,0.2126937331944659,0.000725551009548197,-0.028439887766034542,0.0004648328803464696,0.3307833065413002,0.00944696702916931,0.0843797385713792,-0.00026900057689234166,-0.02839501192899877,0.0005477040484120771,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1913015845537205,0.14583281881615015,-0.20717970465868632,0.35602303697467264,0.3472911180529787,0.0512919936810029,0.5152655439204765,0.2126937331944659,0.7224452485791628,0.7224452485791628,4.153360000002176,1,0,-0.0010679826690604673,-9.999999025923074e-05
+36655,1791617285791970128,22469585000000,1791617285790246611,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6759873013529968,-0.004964034358306322,0.075806842342301,0.9999999758119467,-3.163219105439524e-05,-0.00014494431555127127,0.00013345231510539373,0.6761,-0.0048,0.07584458915406538,1.0,0.0,0.0,0.0,0.378795748374299,-0.004765094450911271,0.1540651139305275,0.0007074223376306165,-0.027396229469151066,-0.00012709419145509447,0.3029555497629017,-0.021846668566020067,0.025751119307440794,-0.00028712924880992216,-0.027351353632115296,-4.422302338948699e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.10632718637297,0.159565774379516,-0.03945524434309013,0.3463647132208781,0.21577803320073902,0.060304586676655204,0.5152655439204765,0.1540651139305275,0.5547207882635666,0.5547207882635666,4.174720000002079,1,0,-0.0010813326664596819,-9.999999025923074e-05
+36687,1791617286058929215,22469852000000,1791617286058246822,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.675987964950832,-0.004955796257044847,0.07550697283502793,0.9999999764106943,-2.864809417682113e-05,-0.00014939164315913784,0.0001244302972249584,0.6761,-0.0048,0.07555409778246915,1.0,0.0,0.0,0.0,0.3252950788783763,0.026005668213315958,0.08043738195996619,0.0016297300777847676,-0.02321462321292693,0.0004262924789771324,0.24945488026697896,0.00892409409820716,-0.04787661266312051,0.0006351784913442288,-0.02316974737589116,0.0005091636470427399,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1282409733335492,0.0845191484787907,0.07597687275399162,0.3605811584394757,0.1320622996913014,0.006292783831064429,0.5152655439204765,0.08043738195996619,0.4392886711664849,0.4392886711664849,4.196080000001982,1,0,-0.0010946826638588965,-9.999999025923074e-05
+36718,1791617286316930292,22470110000000,1791617286314246635,DOWN_FORCE_DETACH,5,0.046,0.04600147157907486,0.6759732560246634,-0.004955360665103119,0.07519877169002406,0.9999999714136164,-2.1322205014993677e-05,-0.0001730853576774999,0.00013491646778350668,0.6761,-0.0048,0.075270012005519,1.0,0.0,0.0,0.0,0.2999862374971737,0.010148060292410523,0.019347106763834387,0.0005737330109952352,-0.021285841684820558,-0.0003049551486805028,0.22414603888577636,-0.006933513822698274,-0.10896688785925232,-0.0004208185754453035,-0.021240965847784787,-0.00022208398061489534,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1204173575343441,0.1796129193758646,0.029059273317155056,0.32894065896287367,0.1586744650079174,0.06706274588095393,0.5152655439204765,0.019347106763834387,0.48620627060332144,0.48620627060332144,4.216720000001888,1,1,-0.001107582661345778,-9.999999025923074e-05
+36787,1791617286887937800,22470681000000,1791617286882246833,DOWN_SETTLE,5,0.046,0.04600147157907486,0.6759421204215988,-0.004919208094066245,0.0748955666791254,0.999999961659268,1.8417657688857506e-06,-0.00022820555082822612,0.00012666160251337513,0.6761,-0.0048,0.07504424724297105,1.0,0.0,0.0,0.0,0.26684719791139794,0.01626586168025732,-0.3347032424006383,0.001629157331748864,-0.020214147988003923,2.102124759085754e-06,0.1910069993000006,-0.0008157124348514761,-0.463017237023725,0.0006346057453083253,-0.020169272150968153,8.497329282469322e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9682694130952263,0.17922613440796553,0.6182395325212441,0.2978918981700646,-0.25578545249754636,0.05387854684139981,0.5152655439204765,0.3347032424006383,-0.10297398860076756,0.0,0.0,1,1,-1.08104152716317e-05,0.00010919611385486564
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..60057e7d4d52d56e11f56693221b4a3fe7f78525
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..db5b2afd8125a5440c5e62c631a941b5ada87b50
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,6.600000000e+00,DOWN_FORCE_DETACH,1791617246371377551,1.356949232e-04,-1.191408652e-04,-4.806998701e-04,1.377565012e-04,-1.211715958e-04,-4.727047131e-04,1.408359298e-04,-1.211045112e-04,-4.723816106e-04,7.016735664e-01,-1.175899038e-04,8.402602413e-01,7.016756280e-01,-1.196206345e-04,8.402682365e-01,7.018700607e-01,-1.193271666e-04,8.291003027e-01
+6,8.016666667e+00,DOWN_FORCE_DETACH,1791617249099577330,1.516564799e-04,-1.215648473e-04,-5.312857179e-04,1.451984779e-04,-1.238969043e-04,-5.139994994e-04,1.482135946e-04,-1.238001099e-04,-5.136492509e-04,7.016895280e-01,-1.200138860e-04,8.402096555e-01,7.016830700e-01,-1.223459429e-04,8.402269417e-01,7.018774384e-01,-1.220227653e-04,8.290590351e-01
+7,9.333333333e+00,DOWN_FORCE_DETACH,1791617251727484581,1.683091480e-04,-1.231820327e-04,-6.235838727e-04,1.604752870e-04,-1.243759834e-04,-6.150762519e-04,1.635000471e-04,-1.242824770e-04,-6.142807661e-04,7.017061806e-01,-1.216310714e-04,8.401173573e-01,7.016983468e-01,-1.228250221e-04,8.401258649e-01,7.018927248e-01,-1.225051324e-04,8.289584036e-01
+8,1.051666667e+01,DOWN_FORCE_DETACH,1791617253955864612,1.764851423e-04,-1.324780984e-04,-7.478522762e-04,1.776659495e-04,-1.333916013e-04,-7.368983788e-04,1.806510580e-04,-1.332679609e-04,-7.357500591e-04,7.017143566e-01,-1.309271371e-04,8.399930889e-01,7.017155374e-01,-1.318406400e-04,8.400040428e-01,7.019098758e-01,-1.314906164e-04,8.288369343e-01
+9,1.161666667e+01,DOWN_FORCE_DETACH,1791617256051568406,1.873070281e-04,-1.345124219e-04,-9.017062127e-04,1.861931863e-04,-1.398616854e-04,-8.918624610e-04,1.889409853e-04,-1.397239885e-04,-8.904085356e-04,7.017251785e-01,-1.329614605e-04,8.398392350e-01,7.017240647e-01,-1.383107241e-04,8.398490787e-01,7.019181657e-01,-1.379466440e-04,8.286822758e-01
+10,1.280000000e+01,DOWN_FORCE_DETACH,1791617258379615978,2.075083720e-04,-1.448152796e-04,-1.107945685e-03,2.032703301e-04,-1.399984163e-04,-1.090264395e-03,2.057351018e-04,-1.398856009e-04,-1.088556312e-03,7.017453799e-01,-1.432643183e-04,8.396329955e-01,7.017411418e-01,-1.384474550e-04,8.396506768e-01,7.019349599e-01,-1.381082563e-04,8.284841280e-01
+11,1.383333333e+01,DOWN_FORCE_DETACH,1791617260407662563,2.212066516e-04,-1.488927590e-04,-1.335351097e-03,2.217599537e-04,-1.489990867e-04,-1.325454994e-03,2.239010229e-04,-1.488704952e-04,-1.323180500e-03,7.017590781e-01,-1.473417976e-04,8.394055901e-01,7.017596314e-01,-1.474481254e-04,8.394154862e-01,7.019531258e-01,-1.470931506e-04,8.282495038e-01
+12,1.473333333e+01,DOWN_FORCE_DETACH,1791617262103684848,2.365860126e-04,-1.516664089e-04,-1.561644073e-03,2.324279519e-04,-1.557554258e-04,-1.556269958e-03,2.342030073e-04,-1.556174661e-04,-1.553698656e-03,7.017744575e-01,-1.501154476e-04,8.391792971e-01,7.017702994e-01,-1.542044645e-04,8.391846712e-01,7.019634278e-01,-1.538401216e-04,8.280189857e-01
+13,1.555000000e+01,DOWN_FORCE_DETACH,1791617263669728681,2.415067713e-04,-1.505486467e-04,-1.814035171e-03,2.412017098e-04,-1.504801220e-04,-1.813990781e-03,2.423581333e-04,-1.503454960e-04,-1.811086982e-03,7.017793783e-01,-1.489976854e-04,8.389269060e-01,7.017790732e-01,-1.489291606e-04,8.389269504e-01,7.019715829e-01,-1.485681514e-04,8.277615973e-01
+14,1.626666667e+01,DOWN_FORCE_DETACH,1791617265031770620,2.500544327e-04,-1.494729083e-04,-2.068293971e-03,2.471802956e-04,-1.528855204e-04,-2.052759860e-03,2.475821304e-04,-1.527228838e-04,-2.049724575e-03,7.017879259e-01,-1.479219470e-04,8.386726472e-01,7.017850518e-01,-1.513345591e-04,8.386881813e-01,7.019768069e-01,-1.509455392e-04,8.275229598e-01
+15,1.690000000e+01,DOWN_FORCE_DETACH,1791617266295788481,2.586536197e-04,-1.574182683e-04,-2.343914309e-03,2.578654797e-04,-1.581261188e-04,-2.335756206e-03,2.574195039e-04,-1.579457357e-04,-2.332190103e-03,7.017965251e-01,-1.558673070e-04,8.383970269e-01,7.017957370e-01,-1.565751575e-04,8.384051850e-01,7.019866443e-01,-1.561683911e-04,8.272404942e-01
+16,1.746666667e+01,DOWN_FORCE_DETACH,1791617267428303015,2.641369288e-04,-1.564966467e-04,-2.626930301e-03,2.653736260e-04,-1.620924668e-04,-2.608390351e-03,2.641589179e-04,-1.618700678e-04,-2.604636389e-03,7.018020084e-01,-1.549456854e-04,8.381140109e-01,7.018032451e-01,-1.605415055e-04,8.381325508e-01,7.019933837e-01,-1.600927232e-04,8.269680479e-01
+17,1.803333333e+01,DOWN_FORCE_DETACH,1791617268524413639,2.714486965e-04,-1.576022512e-04,-2.925103031e-03,2.714997535e-04,-1.623660406e-04,-2.917112210e-03,2.694199930e-04,-1.621096554e-04,-2.913036847e-03,7.018093202e-01,-1.560512899e-04,8.378158382e-01,7.018093712e-01,-1.608150793e-04,8.378238290e-01,7.019986447e-01,-1.603323108e-04,8.266596475e-01
+18,1.851666667e+01,DOWN_FORCE_DETACH,1791617269458656939,2.782458634e-04,-1.679849405e-04,-3.216958404e-03,2.781675667e-04,-1.680253212e-04,-3.216883496e-03,2.752680465e-04,-1.677201783e-04,-3.212375233e-03,7.018161173e-01,-1.664339791e-04,8.375239828e-01,7.018160390e-01,-1.664743599e-04,8.375240577e-01,7.020044928e-01,-1.659428337e-04,8.263603091e-01
+19,1.896666667e+01,DOWN_FORCE_DETACH,1791617270319975725,2.855612714e-04,-1.747008545e-04,-3.515590782e-03,2.853558815e-04,-1.745379808e-04,-3.515815926e-03,2.815610897e-04,-1.741872149e-04,-3.511093547e-03,7.018234328e-01,-1.731498932e-04,8.372253504e-01,7.018232274e-01,-1.729870195e-04,8.372251253e-01,7.020107858e-01,-1.724098703e-04,8.260615908e-01
+20,1.936666667e+01,DOWN_FORCE_DETACH,1791617271052372652,2.922368476e-04,-1.727124303e-04,-3.792697965e-03,2.905849633e-04,-1.732393613e-04,-3.782253185e-03,2.859277001e-04,-1.728602625e-04,-3.777776492e-03,7.018301083e-01,-1.711614690e-04,8.369482432e-01,7.018284564e-01,-1.716884000e-04,8.369586880e-01,7.020151525e-01,-1.710829179e-04,8.257949078e-01
+21,1.975000000e+01,DOWN_FORCE_DETACH,1791617271786442683,2.892469618e-04,-1.728849876e-04,-4.097743229e-03,2.891419132e-04,-1.729426651e-04,-4.097504738e-03,2.834472339e-04,-1.725483695e-04,-4.092590913e-03,7.018271184e-01,-1.713340263e-04,8.366431980e-01,7.018270134e-01,-1.713917038e-04,8.366434364e-01,7.020126720e-01,-1.707710250e-04,8.254800934e-01
+22,2.013333333e+01,DOWN_FORCE_DETACH,1791617272516563899,2.969682501e-04,-1.737391725e-04,-4.407363457e-03,2.952140122e-04,-1.738146327e-04,-4.396796444e-03,2.885481993e-04,-1.733623434e-04,-4.392049584e-03,7.018348397e-01,-1.721882112e-04,8.363335777e-01,7.018330855e-01,-1.722636713e-04,8.363441447e-01,7.020177730e-01,-1.715849988e-04,8.251806347e-01
+23,2.046666667e+01,DOWN_FORCE_DETACH,1791617273148593586,3.018205711e-04,-1.745920220e-04,-4.703980506e-03,2.971820779e-04,-1.792073018e-04,-4.693898571e-03,2.895640069e-04,-1.787822710e-04,-4.689504142e-03,7.018396921e-01,-1.730410607e-04,8.360369607e-01,7.018350536e-01,-1.776563405e-04,8.360470426e-01,7.020187888e-01,-1.770049264e-04,8.248831802e-01
+24,2.076666667e+01,DOWN_FORCE_DETACH,1791617273754429132,2.997548971e-04,-1.801370150e-04,-5.011340850e-03,2.996006868e-04,-1.800838350e-04,-5.011275618e-03,2.909092254e-04,-1.796804331e-04,-5.006603932e-03,7.018376264e-01,-1.785860537e-04,8.357296003e-01,7.018374722e-01,-1.785328737e-04,8.357296656e-01,7.020201340e-01,-1.779030886e-04,8.245660804e-01
+25,2.106666667e+01,DOWN_FORCE_DETACH,1791617274348414006,3.013254240e-04,-1.829440567e-04,-5.311645365e-03,3.012420819e-04,-1.830516031e-04,-5.311597100e-03,2.915142460e-04,-1.825884537e-04,-5.307308012e-03,7.018391969e-01,-1.813930954e-04,8.354292958e-01,7.018391136e-01,-1.815006418e-04,8.354293441e-01,7.020207390e-01,-1.808111091e-04,8.242653763e-01
+26,2.135000000e+01,DOWN_FORCE_DETACH,1791617274912586788,3.028164563e-04,-1.865151368e-04,-5.618160253e-03,3.014940392e-04,-1.831082625e-04,-5.600533557e-03,2.907221581e-04,-1.826551533e-04,-5.596498669e-03,7.018406879e-01,-1.849641755e-04,8.351227809e-01,7.018393655e-01,-1.815573011e-04,8.351404076e-01,7.020199469e-01,-1.808778087e-04,8.239761857e-01
+27,2.163333333e+01,DOWN_FORCE_DETACH,1791617275476374781,3.004893871e-04,-1.905509630e-04,-5.935839284e-03,3.001747523e-04,-1.904315848e-04,-5.936170438e-03,2.881855696e-04,-1.899964191e-04,-5.932467167e-03,7.018383609e-01,-1.890000017e-04,8.348051019e-01,7.018380462e-01,-1.888806235e-04,8.348047708e-01,7.020174103e-01,-1.882190745e-04,8.236402172e-01
+28,2.188333333e+01,DOWN_FORCE_DETACH,1791617275978400284,3.005939354e-04,-1.868226854e-04,-6.232011142e-03,3.003137067e-04,-1.869631731e-04,-6.232260330e-03,2.873289646e-04,-1.864218857e-04,-6.228585796e-03,7.018384654e-01,-1.852717241e-04,8.345089300e-01,7.018381852e-01,-1.854122118e-04,8.345086809e-01,7.020165537e-01,-1.846445411e-04,8.233440985e-01
+29,2.215000000e+01,DOWN_FORCE_DETACH,1791617276510530581,3.004519544e-04,-1.892368117e-04,-6.554584539e-03,3.001815713e-04,-1.875359244e-04,-6.534790898e-03,2.860525894e-04,-1.870679015e-04,-6.531706488e-03,7.018383234e-01,-1.876858503e-04,8.341863566e-01,7.018380531e-01,-1.859849631e-04,8.342061503e-01,7.020152773e-01,-1.852905570e-04,8.230409778e-01
+30,2.240000000e+01,DOWN_FORCE_DETACH,1791617276976463236,2.990759358e-04,-1.889123787e-04,-6.849803070e-03,2.987652146e-04,-1.891123823e-04,-6.849847383e-03,2.835058381e-04,-1.885590260e-04,-6.847068067e-03,7.018369474e-01,-1.873614174e-04,8.338911381e-01,7.018366367e-01,-1.875614210e-04,8.338910938e-01,7.020127306e-01,-1.867816814e-04,8.227256163e-01
+31,2.265000000e+01,DOWN_FORCE_DETACH,1791617277440505734,2.961644102e-04,-1.936117908e-04,-7.160083257e-03,2.959450809e-04,-1.934733183e-04,-7.160019437e-03,2.795371812e-04,-1.929036774e-04,-7.157305177e-03,7.018340359e-01,-1.920608295e-04,8.335808579e-01,7.018338166e-01,-1.919223570e-04,8.335809218e-01,7.020087619e-01,-1.911263329e-04,8.224153792e-01
+32,2.288333333e+01,DOWN_FORCE_DETACH,1791617277906529914,2.915237192e-04,-1.876956937e-04,-7.479089787e-03,2.913310547e-04,-1.878484546e-04,-7.478963490e-03,2.736042766e-04,-1.872911189e-04,-7.476880804e-03,7.018293952e-01,-1.861447324e-04,8.332618514e-01,7.018292025e-01,-1.862974933e-04,8.332619777e-01,7.020028290e-01,-1.855137743e-04,8.220958035e-01
+33,2.310000000e+01,DOWN_FORCE_DETACH,1791617278304427496,2.838174253e-04,-1.919559710e-04,-7.769413675e-03,2.835602722e-04,-1.917330800e-04,-7.769533455e-03,2.646096956e-04,-1.912435770e-04,-7.767678250e-03,7.018216889e-01,-1.904050096e-04,8.329715275e-01,7.018214318e-01,-1.901821186e-04,8.329714077e-01,7.019938345e-01,-1.894662324e-04,8.218050061e-01
+34,2.333333333e+01,DOWN_FORCE_DETACH,1791617278736530609,2.752951760e-04,-1.933696260e-04,-8.097003952e-03,2.750313382e-04,-1.933848964e-04,-8.096898011e-03,2.546254403e-04,-1.929430687e-04,-8.095439865e-03,7.018131667e-01,-1.918186647e-04,8.326439372e-01,7.018129028e-01,-1.918339351e-04,8.326440432e-01,7.019838502e-01,-1.911657241e-04,8.214772445e-01
+35,2.351666667e+01,DOWN_FORCE_DETACH,1791617279104445634,2.678820925e-04,-1.930306265e-04,-8.387805754e-03,2.677656989e-04,-1.930458845e-04,-8.387880338e-03,2.461382506e-04,-1.924732992e-04,-8.386486244e-03,7.018057536e-01,-1.914796651e-04,8.323531354e-01,7.018056372e-01,-1.914949232e-04,8.323530608e-01,7.019753630e-01,-1.906959546e-04,8.211861981e-01
+36,2.373333333e+01,DOWN_FORCE_DETACH,1791617279504513625,2.557586667e-04,-1.923024900e-04,-8.711720980e-03,2.556941603e-04,-1.924362792e-04,-8.711379700e-03,2.324389997e-04,-1.918509001e-04,-8.710309591e-03,7.017936301e-01,-1.907515287e-04,8.320292202e-01,7.017935656e-01,-1.908853178e-04,8.320295615e-01,7.019616638e-01,-1.900735555e-04,8.208623747e-01
+37,2.391666667e+01,DOWN_FORCE_DETACH,1791617279868842282,2.431055111e-04,-1.875592425e-04,-9.019468995e-03,2.427896359e-04,-1.874172437e-04,-9.019614955e-03,2.180739034e-04,-1.870213767e-04,-9.019164506e-03,7.017809770e-01,-1.860082812e-04,8.317214722e-01,7.017806611e-01,-1.858662824e-04,8.317213262e-01,7.019472987e-01,-1.852440321e-04,8.205535198e-01
+38,2.411666667e+01,DOWN_FORCE_DETACH,1791617280234558450,2.308745122e-04,-1.884330708e-04,-9.332481987e-03,2.307075358e-04,-1.884260501e-04,-9.332495177e-03,2.045054617e-04,-1.881457761e-04,-9.332151615e-03,7.017687460e-01,-1.868821095e-04,8.314084592e-01,7.017685790e-01,-1.868750887e-04,8.314084460e-01,7.019337302e-01,-1.863684315e-04,8.202405327e-01
+39,2.430000000e+01,DOWN_FORCE_DETACH,1791617280568435608,2.144011283e-04,-1.858809828e-04,-9.633786539e-03,2.140606524e-04,-1.858884193e-04,-9.633644367e-03,1.862707586e-04,-1.858344558e-04,-9.633543332e-03,7.017522726e-01,-1.843300215e-04,8.311071546e-01,7.017519321e-01,-1.843374580e-04,8.311072968e-01,7.019154955e-01,-1.840571112e-04,8.199391410e-01
+40,2.448333333e+01,DOWN_FORCE_DETACH,1791617280934391029,2.007339665e-04,-1.800894309e-04,-9.956417359e-03,2.005563648e-04,-1.802784292e-04,-9.956067324e-03,1.713069755e-04,-1.804468987e-04,-9.956126548e-03,7.017386054e-01,-1.785384695e-04,8.307845238e-01,7.017384278e-01,-1.787274679e-04,8.307848739e-01,7.019005317e-01,-1.786695541e-04,8.196165578e-01
+41,2.466666667e+01,DOWN_FORCE_DETACH,1791617281264527607,1.922064577e-04,-1.787677023e-04,-1.024409715e-02,1.919322785e-04,-1.786272850e-04,-1.024423947e-02,1.613504811e-04,-1.790292111e-04,-1.024450235e-02,7.017300779e-01,-1.772167409e-04,8.304968440e-01,7.017298038e-01,-1.770763237e-04,8.304967017e-01,7.018905752e-01,-1.772518665e-04,8.193281820e-01
+42,2.483333333e+01,DOWN_FORCE_DETACH,1791617281600706899,1.834656813e-04,-1.741333538e-04,-1.055030584e-02,1.833740388e-04,-1.743379023e-04,-1.055000136e-02,1.515360324e-04,-1.751030420e-04,-1.055051927e-02,7.017213372e-01,-1.725823925e-04,8.301906353e-01,7.017212455e-01,-1.727869409e-04,8.301909398e-01,7.018807608e-01,-1.733256974e-04,8.190221651e-01
+43,2.500000000e+01,DOWN_FORCE_DETACH,1791617281933304331,1.687641002e-04,-1.843612882e-04,-1.086570761e-02,1.684558838e-04,-1.844055047e-04,-1.086556542e-02,1.350909429e-04,-1.854922872e-04,-1.086619153e-02,7.017066356e-01,-1.828103269e-04,8.298752336e-01,7.017063274e-01,-1.828545433e-04,8.298753758e-01,7.018643157e-01,-1.837149426e-04,8.187064928e-01
+44,2.516666667e+01,DOWN_FORCE_DETACH,1791617282264529894,1.603835020e-04,-1.780323523e-04,-1.116896149e-02,1.599569921e-04,-1.777197762e-04,-1.116911653e-02,1.253583318e-04,-1.788048731e-04,-1.116981106e-02,7.016982550e-01,-1.764813909e-04,8.295719797e-01,7.016978285e-01,-1.761688148e-04,8.295718247e-01,7.018545831e-01,-1.770275286e-04,8.184028733e-01
+45,2.533333333e+01,DOWN_FORCE_DETACH,1791617282596507832,1.479970114e-04,-1.775187821e-04,-1.149043149e-02,1.478273671e-04,-1.772821745e-04,-1.149021072e-02,1.118054307e-04,-1.783604084e-04,-1.149094055e-02,7.016858685e-01,-1.759678208e-04,8.292505097e-01,7.016856988e-01,-1.757312132e-04,8.292507305e-01,7.018410302e-01,-1.765830639e-04,8.180817438e-01
+46,2.548333333e+01,DOWN_FORCE_DETACH,1791617282896605612,1.370561206e-04,-1.753087377e-04,-1.179048961e-02,1.368500776e-04,-1.752125410e-04,-1.179013020e-02,9.948077648e-05,-1.762680767e-04,-1.179081456e-02,7.016749276e-01,-1.737577764e-04,8.289504516e-01,7.016747216e-01,-1.736615797e-04,8.289508110e-01,7.018287055e-01,-1.744907321e-04,8.177818698e-01
+47,2.563333333e+01,DOWN_FORCE_DETACH,1791617283196436406,1.241450900e-04,-1.721550558e-04,-1.209495946e-02,1.238446654e-04,-1.724414528e-04,-1.209458639e-02,8.515511986e-05,-1.734983168e-04,-1.209531035e-02,7.016620166e-01,-1.706040945e-04,8.286459817e-01,7.016617161e-01,-1.708904915e-04,8.286463548e-01,7.018143799e-01,-1.717209722e-04,8.174773740e-01
+48,2.580000000e+01,DOWN_FORCE_DETACH,1791617283528940032,1.118333639e-04,-1.650980876e-04,-1.243003867e-02,1.115896230e-04,-1.650526438e-04,-1.242992626e-02,7.147562476e-05,-1.660948702e-04,-1.243068448e-02,7.016497048e-01,-1.635471262e-04,8.283109025e-01,7.016494611e-01,-1.635016824e-04,8.283110149e-01,7.018007004e-01,-1.643175256e-04,8.171419998e-01
+49,2.595000000e+01,DOWN_FORCE_DETACH,1791617283826858275,9.765337113e-05,-1.642501446e-04,-1.273930157e-02,9.742927969e-05,-1.640399588e-04,-1.273945231e-02,5.589713860e-05,-1.650382112e-04,-1.274021765e-02,7.016355249e-01,-1.626991833e-04,8.280016396e-01,7.016353008e-01,-1.624889975e-04,8.280014889e-01,7.017851219e-01,-1.632608667e-04,8.168324667e-01
+50,2.610000000e+01,DOWN_FORCE_DETACH,1791617284128843759,8.954230306e-05,-1.652706248e-04,-1.305677951e-02,8.921420481e-05,-1.650712054e-04,-1.305670489e-02,4.636444624e-05,-1.660653050e-04,-1.305749032e-02,7.016274138e-01,-1.637196635e-04,8.276841617e-01,7.016270857e-01,-1.635202441e-04,8.276842363e-01,7.017755892e-01,-1.642879604e-04,8.165151940e-01
+51,2.623333333e+01,DOWN_FORCE_DETACH,1791617284392777020,7.712627989e-05,-1.617592212e-04,-1.333643075e-02,7.704244363e-05,-1.615483479e-04,-1.333652396e-02,3.297993918e-05,-1.625178431e-04,-1.333735896e-02,7.016149978e-01,-1.602082599e-04,8.274045104e-01,7.016149139e-01,-1.599973866e-04,8.274044172e-01,7.017622047e-01,-1.607404985e-04,8.162353254e-01
+52,2.638333333e+01,DOWN_FORCE_DETACH,1791617284692749062,6.447601941e-05,-1.571102783e-04,-1.366138599e-02,6.438442947e-05,-1.572298516e-04,-1.366118244e-02,1.890929932e-05,-1.581434601e-04,-1.366205696e-02,7.016023475e-01,-1.555593170e-04,8.270795552e-01,7.016022559e-01,-1.556788902e-04,8.270797587e-01,7.017481341e-01,-1.563661155e-04,8.159106274e-01
+53,2.651666667e+01,DOWN_FORCE_DETACH,1791617284958942642,5.445334202e-05,-1.366936292e-04,-1.395330677e-02,5.404975202e-05,-1.367677271e-04,-1.395303599e-02,7.284198203e-06,-1.375713411e-04,-1.395387180e-02,7.015923248e-01,-1.351426678e-04,8.267876344e-01,7.015919212e-01,-1.352167658e-04,8.267879052e-01,7.017365090e-01,-1.357939965e-04,8.156188125e-01
+54,2.668333333e+01,DOWN_FORCE_DETACH,1791617285258638196,4.263843646e-05,-1.329433053e-04,-1.429031941e-02,4.242760589e-05,-1.327454050e-04,-1.428991082e-02,-5.699871602e-06,-1.335188718e-04,-1.429078956e-02,7.015805099e-01,-1.313923440e-04,8.264506218e-01,7.015802991e-01,-1.311944437e-04,8.264510304e-01,7.017235249e-01,-1.317415273e-04,8.152818948e-01
+55,2.681666667e+01,DOWN_FORCE_DETACH,1791617285524777273,3.271792160e-05,-1.349012772e-04,-1.458502755e-02,3.245278241e-05,-1.349076510e-04,-1.458491984e-02,-1.693561615e-05,-1.357147262e-04,-1.458576315e-02,7.015705894e-01,-1.333503159e-04,8.261559136e-01,7.015703243e-01,-1.333566897e-04,8.261560213e-01,7.017122891e-01,-1.339373816e-04,8.149869212e-01
+56,2.696666667e+01,DOWN_FORCE_DETACH,1791617285788561046,1.166301885e-05,-1.377796773e-04,-1.489403638e-02,1.154761839e-05,-1.378496734e-04,-1.489379894e-02,-3.938164224e-05,-1.386617110e-04,-1.489470527e-02,7.015495345e-01,-1.362287160e-04,8.258469048e-01,7.015494191e-01,-1.362987120e-04,8.258471422e-01,7.016898431e-01,-1.368843664e-04,8.146779791e-01
+57,2.710000000e+01,DOWN_FORCE_DETACH,1791617286056630899,1.229794970e-05,-1.321657297e-04,-1.519757077e-02,1.204140593e-05,-1.322388978e-04,-1.519771115e-02,-3.986345614e-05,-1.330209321e-04,-1.519862946e-02,7.015501694e-01,-1.306147683e-04,8.255433704e-01,7.015499129e-01,-1.306879365e-04,8.255432300e-01,7.016893613e-01,-1.312435875e-04,8.143740549e-01
+58,2.723333333e+01,DOWN_FORCE_DETACH,1791617286320902501,-2.622090974e-06,-1.333916980e-04,-1.551576943e-02,-2.834430565e-06,-1.334064614e-04,-1.551521034e-02,-5.619041412e-05,-1.341838060e-04,-1.551614322e-02,7.015352494e-01,-1.318407367e-04,8.252251718e-01,7.015350371e-01,-1.318555001e-04,8.252257308e-01,7.016730343e-01,-1.324064614e-04,8.140565411e-01
+59,2.753333333e+01,DOWN_SETTLE,1791617286888774326,-3.411344729e-05,-9.558960973e-05,-1.581184776e-02,-3.440815659e-05,-9.561769067e-05,-1.581171710e-02,-8.961093948e-05,-9.618067163e-05,-1.581263831e-02,7.015037580e-01,-9.403864841e-05,8.249290934e-01,7.015034633e-01,-9.406672935e-05,8.249292241e-01,7.016396138e-01,-9.440332705e-05,8.137600460e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2944e6724f7a25522ba40190dcae2a3488befb43
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-9.8321e-03,2.1955e-03,2.4532e+00,-3.6936e-02,3.6070e-02,7.8233e-06,4.1118e-04,9.2534e-06,2.5320e-04,-7.4878e-07,2.7779e-05,4.4343e-07,4.8297e-04,2.7793e-05
+1,1.4667e+00,DOWN_FORCE_DETACH,3.1029e-04,7.2214e-03,2.6954e-02,2.4878e+00,-3.8676e-02,3.7262e-02,1.1472e-04,1.7465e-02,2.4768e-02,3.4912e-02,-1.7403e-03,1.2198e-03,1.0734e-04,4.6231e-02,2.1279e-03
+2,2.5667e+00,DOWN_FORCE_DETACH,6.2482e-04,-2.4637e-02,3.5618e-02,2.5343e+00,-3.9191e-02,3.5018e-02,1.2551e-04,-1.4394e-02,3.3432e-02,8.1352e-02,-2.2551e-03,-1.0246e-03,1.1813e-04,8.9124e-02,2.4798e-03
+3,3.6667e+00,DOWN_FORCE_DETACH,9.3331e-04,-9.2838e-03,4.5857e-02,2.5194e+00,-3.9909e-02,3.6037e-02,1.3060e-04,9.5951e-04,4.3671e-02,6.6476e-02,-2.9732e-03,-4.9956e-06,1.2322e-04,7.9543e-02,2.9758e-03
+4,5.0667e+00,DOWN_FORCE_DETACH,1.2460e-03,1.7698e-02,4.4954e-02,2.4792e+00,-3.9912e-02,3.7988e-02,8.5904e-05,2.7942e-02,4.2768e-02,2.6296e-02,-2.9770e-03,1.9455e-03,7.8524e-05,5.7457e-02,3.5572e-03
+5,6.6000e+00,DOWN_FORCE_DETACH,1.5603e-03,2.3711e-02,4.6333e-02,2.4693e+00,-4.0057e-02,3.8440e-02,1.5759e-06,3.3954e-02,4.4147e-02,1.6422e-02,-3.1212e-03,2.3976e-03,-5.8039e-06,5.8065e-02,3.9358e-03
+6,8.0167e+00,DOWN_FORCE_DETACH,1.8703e-03,1.8784e-02,4.7372e-02,2.4727e+00,-4.0106e-02,3.8092e-02,-5.5392e-06,2.9028e-02,4.5186e-02,1.9742e-02,-3.1706e-03,2.0500e-03,-1.2919e-05,5.7220e-02,3.7756e-03
+7,9.3333e+00,DOWN_FORCE_DETACH,2.1834e-03,1.5395e-02,4.8028e-02,2.4947e+00,-4.0098e-02,3.7832e-02,-1.3796e-05,2.5638e-02,4.5842e-02,4.1775e-02,-3.1625e-03,1.7899e-03,-2.1176e-05,6.7112e-02,3.6339e-03
+8,1.0517e+01,DOWN_FORCE_DETACH,2.4947e-03,1.2001e-02,5.1489e-02,2.5094e+00,-4.0282e-02,3.7583e-02,-3.8502e-05,2.2244e-02,4.9303e-02,5.6446e-02,-3.3469e-03,1.5407e-03,-4.5882e-05,7.8177e-02,3.6847e-03
+9,1.1617e+01,DOWN_FORCE_DETACH,2.8052e-03,1.2460e-02,5.3844e-02,2.5229e+00,-4.0404e-02,3.7599e-02,-7.0763e-05,2.2703e-02,5.1657e-02,6.9946e-02,-3.4683e-03,1.5563e-03,-7.8143e-05,8.9868e-02,3.8023e-03
+10,1.2800e+01,DOWN_FORCE_DETACH,3.1181e-03,1.2079e-02,5.4350e-02,2.5389e+00,-4.0406e-02,3.7553e-02,-7.7570e-05,2.2323e-02,5.2164e-02,8.6032e-02,-3.4707e-03,1.5104e-03,-8.4949e-05,1.0306e-01,3.7861e-03
+11,1.3833e+01,DOWN_FORCE_DETACH,3.4300e-03,1.2176e-02,5.7331e-02,2.5587e+00,-4.0533e-02,3.7539e-02,-5.9831e-05,2.2419e-02,5.5145e-02,1.0579e-01,-3.5970e-03,1.4967e-03,-6.7211e-05,1.2139e-01,3.8966e-03
+12,1.4733e+01,DOWN_FORCE_DETACH,3.7386e-03,1.9708e-02,5.8597e-02,2.5778e+00,-4.0558e-02,3.8035e-02,-3.4858e-05,2.9952e-02,5.6411e-02,1.2485e-01,-3.6226e-03,1.9932e-03,-4.2238e-05,1.4024e-01,4.1350e-03
+13,1.5550e+01,DOWN_FORCE_DETACH,4.0503e-03,2.3301e-02,5.7272e-02,2.5799e+00,-4.0473e-02,3.8287e-02,-3.2414e-05,3.3545e-02,5.5086e-02,1.2695e-01,-3.5373e-03,2.2451e-03,-3.9794e-05,1.4239e-01,4.1899e-03
+14,1.6267e+01,DOWN_FORCE_DETACH,4.3661e-03,2.2228e-02,5.8405e-02,2.6023e+00,-4.0505e-02,3.8199e-02,-4.0223e-05,3.2471e-02,5.6219e-02,1.4940e-01,-3.5691e-03,2.1564e-03,-4.7603e-05,1.6290e-01,4.1702e-03
+15,1.6900e+01,DOWN_FORCE_DETACH,4.6710e-03,1.8060e-02,6.1017e-02,2.6210e+00,-4.0615e-02,3.7895e-02,-5.1435e-05,2.8304e-02,5.8831e-02,1.6814e-01,-3.6797e-03,1.8524e-03,-5.8814e-05,1.8037e-01,4.1200e-03
+16,1.7467e+01,DOWN_FORCE_DETACH,4.9827e-03,1.6007e-02,6.4403e-02,2.6367e+00,-4.0756e-02,3.7729e-02,-5.3642e-05,2.6250e-02,6.2217e-02,1.8382e-01,-3.8203e-03,1.6869e-03,-6.1022e-05,1.9583e-01,4.1766e-03
+17,1.8033e+01,DOWN_FORCE_DETACH,5.3018e-03,1.8961e-02,6.6018e-02,2.6497e+00,-4.0775e-02,3.7908e-02,-4.1394e-05,2.9204e-02,6.3832e-02,1.9682e-01,-3.8392e-03,1.8657e-03,-4.8774e-05,2.0897e-01,4.2688e-03
+18,1.8517e+01,DOWN_FORCE_DETACH,5.6154e-03,2.2517e-02,6.6150e-02,2.6590e+00,-4.0745e-02,3.8147e-02,-2.7151e-05,3.2760e-02,6.3964e-02,2.0605e-01,-3.8091e-03,2.1044e-03,-3.4531e-05,2.1823e-01,4.3519e-03
+19,1.8967e+01,DOWN_FORCE_DETACH,5.9275e-03,2.2074e-02,7.0267e-02,2.6694e+00,-4.0960e-02,3.8104e-02,-2.3479e-05,3.2317e-02,6.8081e-02,2.1645e-01,-4.0247e-03,2.0621e-03,-3.0859e-05,2.2919e-01,4.5223e-03
+20,1.9367e+01,DOWN_FORCE_DETACH,6.2259e-03,1.9494e-02,7.2250e-02,2.6731e+00,-4.1050e-02,3.7921e-02,-2.4173e-05,2.9737e-02,7.0063e-02,2.2020e-01,-4.1142e-03,1.8790e-03,-3.1553e-05,2.3299e-01,4.5230e-03
+21,1.9750e+01,DOWN_FORCE_DETACH,6.5435e-03,2.0779e-02,7.2197e-02,2.6798e+00,-4.1003e-02,3.7995e-02,-2.0502e-05,3.1023e-02,7.0011e-02,2.2686e-01,-4.0672e-03,1.9524e-03,-2.7881e-05,2.3944e-01,4.5116e-03
+22,2.0133e+01,DOWN_FORCE_DETACH,6.8616e-03,2.2168e-02,7.4898e-02,2.6838e+00,-4.1104e-02,3.8079e-02,-1.5116e-05,3.2411e-02,7.2711e-02,2.3086e-01,-4.1690e-03,2.0365e-03,-2.2496e-05,2.4420e-01,4.6399e-03
+23,2.0467e+01,DOWN_FORCE_DETACH,7.1654e-03,2.2227e-02,7.3518e-02,2.6656e+00,-4.0997e-02,3.8093e-02,-1.2047e-05,3.2470e-02,7.1332e-02,2.1267e-01,-4.0612e-03,2.0511e-03,-1.9427e-05,2.2665e-01,4.5498e-03
+24,2.0767e+01,DOWN_FORCE_DETACH,7.4780e-03,2.3063e-02,7.4790e-02,2.6792e+00,-4.1035e-02,3.8137e-02,-2.2470e-05,3.3306e-02,7.2604e-02,2.2632e-01,-4.1000e-03,2.0950e-03,-2.9849e-05,2.4001e-01,4.6043e-03
+25,2.1067e+01,DOWN_FORCE_DETACH,7.7843e-03,2.2444e-02,7.6082e-02,2.6582e+00,-4.1154e-02,3.8109e-02,-3.3541e-05,3.2688e-02,7.3896e-02,2.0528e-01,-4.2187e-03,2.0664e-03,-4.0921e-05,2.2061e-01,4.6977e-03
+26,2.1350e+01,DOWN_FORCE_DETACH,8.0972e-03,2.3474e-02,7.7148e-02,2.6633e+00,-4.1170e-02,3.8172e-02,-3.4481e-05,3.3718e-02,7.4962e-02,2.1039e-01,-4.2342e-03,2.1298e-03,-4.1861e-05,2.2588e-01,4.7399e-03
+27,2.1633e+01,DOWN_FORCE_DETACH,8.4188e-03,2.3193e-02,7.7643e-02,2.6392e+00,-4.1148e-02,3.8166e-02,-2.7992e-05,3.3436e-02,7.5456e-02,1.8625e-01,-4.2128e-03,2.1237e-03,-3.5372e-05,2.0372e-01,4.7179e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..9c4e0184c17c0e68e09d2da96b59eb233f4dd343
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:1f2b94c3b043dd36a0d17ef8306d813f478daa7c4e193b97b8250ecfe328fe63
+size 2764800
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4bb46af7ed27475666e0f8646a0fec1073a69640
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2b41b131caf29e2ac4fb3beb13ce928d0fea845
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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+29694,1791617227806280058,22411600000000,1791617227802237326,UP_FORCE_HOLD,5,0.046,0.04601197689771652,0.6759841700047177,-0.004781017935221468,0.09071244442045805,0.9999999770766184,4.637995413995484e-05,-0.00018685674713936356,-1.4935974125624438e-05,0.6761,-0.0048,0.09099973730002948,1.0,0.0,0.0,0.0,0.488449271755647,0.18540457308980296,-0.7089994911622268,0.008800430195164433,-0.03320210486241734,-0.0008202808289478256,0.41260907314424966,0.16832299897469416,-0.8373134857853135,0.007805878608723894,-0.033157229025381575,-0.0007374096608822182,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.40089744997423493,0.24275397390957013,2.126956810385302,-0.08776368164987511,-1.3098589502196591,0.11838179089675963,0.5152655439204765,0.7089994911622268,-1.6116912664648253,0.7089994911622268,0.558,0,0,-5.149999242363929e-06,-9.999999025923074e-05
+29698,1791617227839330491,22411633000000,1791617227838236959,UP_FORCE_HOLD,5,0.046,0.04601197689771652,0.6759844758841749,-0.0047903728543407745,0.09071215686709258,0.9999999775189446,3.9281739600725816e-05,-0.00018629350302260932,-1.2516000350652568e-05,0.6761,-0.0048,0.09099954095005995,1.0,0.0,0.0,0.0,0.5057058741605911,0.19950913078074714,-0.7019098254116767,0.010214038813054042,-0.03412267751871748,-0.0008163010039346189,0.42986567554919375,0.18242755666563834,-0.8302238200347634,0.009219487226613504,-0.034077801681681716,-0.0007334298358690114,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.41521103514723084,0.24141110036461713,2.252516258273018,-0.07988367122053225,-1.3944701845986907,0.11791017993910233,0.5152655439204765,0.7019098254116767,-1.7372507143525415,0.7019098254116767,0.558,0,0,-6.799998920918543e-06,-9.999999025923074e-05
+29703,1791617227881260895,22411675000000,1791617227878237545,UP_FORCE_HOLD,5,0.046,0.04601197689771652,0.6759841962091032,-0.0047984765367111056,0.09071358583366758,0.9999999776905617,3.514999220736833e-05,-0.00018630350672983322,-1.0826921150283573e-05,0.6761,-0.0048,0.09099921230011407,1.0,0.0,0.0,0.0,0.5147695737327654,0.22497616296539366,-0.691390263449517,0.011956653942629576,-0.035159158172779405,-0.0008275808469690249,0.4389293751213681,0.20789458885028486,-0.8197042580726037,0.010962102356189038,-0.03511428233574364,-0.0007447096789034175,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.42187930640518834,0.23974593081304285,2.1061547827477374,-0.07374395479471615,-1.3033320169318734,0.11800366082667627,0.5152655439204765,0.691390263449517,-1.5908892388272609,0.691390263449517,0.558,0,0,-8.899998511806234e-06,-9.999999025923074e-05
+29707,1791617227914327519,22411708000000,1791617227914237418,UP_FORCE_HOLD,5,0.046,0.04601197689771652,0.6759843324964729,-0.00480299550401125,0.09071421336391412,0.9999999779556347,2.8805186643485192e-05,-0.00018595930776424952,-1.0999622874514708e-05,0.6761,-0.0048,0.09099889220016864,1.0,0.0,0.0,0.0,0.5409415282426193,0.24807140855636492,-0.6954769073711815,0.013333612564486485,-0.03620930256185674,-0.0008160302821171333,0.46510132963122197,0.23098983444125612,-0.8237909019942682,0.012339060978045947,-0.036164426724820974,-0.0007331591140515259,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.44822605626819917,0.28171222626286185,2.2029507192661306,-0.0762456309455398,-1.37317083937186,0.14657915984374442,0.5152655439204765,0.6954769073711815,-1.687685175345654,0.6954769073711815,0.558,0,0,-1.0549998190360848e-05,-9.999999025923074e-05
+29707,1791617227914327519,22411708000000,1791617227914237418,UP_FORCE_HOLD,5,0.046,0.04601197689771652,0.6759843324964729,-0.00480299550401125,0.09071421336391412,0.9999999779556347,2.8805186643485192e-05,-0.00018595930776424952,-1.0999622874514708e-05,0.6761,-0.0048,0.09099889220016864,1.0,0.0,0.0,0.0,0.5409415282426193,0.24807140855636492,-0.6954769073711815,0.013333612564486485,-0.03620930256185674,-0.0008160302821171333,0.46510132963122197,0.23098983444125612,-0.8237909019942682,0.012339060978045947,-0.036164426724820974,-0.0007331591140515259,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.44822605626819917,0.28171222626286185,2.2029507192661306,-0.0762456309455398,-1.37317083937186,0.14657915984374442,0.5152655439204765,0.6954769073711815,-1.687685175345654,0.6954769073711815,0.558,0,0,-1.0549998190360848e-05,-9.999999025923074e-05
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+29750,1791617228272336982,22412066000000,1791617228266237290,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759790066949418,-0.004836920915268559,0.09070830887317251,0.9999999773340223,9.128314455068463e-06,-0.00019152972236601644,-2.803328884827846e-06,0.6761,-0.0048,0.09099192015144245,1.0,0.0,0.0,0.0,0.6489778977312828,0.40120550591029774,-0.6481242412119882,0.02481467396855488,-0.04389423880379211,-0.0008351753096999538,0.5731376991198854,0.38412393179518894,-0.7764382358350749,0.023820122382114343,-0.043849362966756344,-0.0007523041416343464,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.408969431528138,0.38083363848804286,2.2147641053543294,-0.06958407381119304,-1.3772396948075594,0.21666755033978347,0.5152655439204765,0.6481242412119882,-1.699498561433853,0.6481242412119882,0.558,0,0,-2.8449994703165455e-05,-9.999999025923074e-05
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+29794,1791617228639256613,22412433000000,1791617228638236659,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759811011063352,-0.004860847491266149,0.09071249099049261,0.9999999779350021,-4.574401030980501e-06,-0.00018855099884329692,6.74946240383485e-07,0.6761,-0.0048,0.09098052427265982,1.0,0.0,0.0,0.0,0.7201424516435987,0.5154292607714162,-0.5979555425271602,0.033115902055087035,-0.04913059475685601,-0.000839082817900177,0.6443022530322013,0.49834768665630735,-0.7262695371502469,0.032121350468646497,-0.04908571891982024,-0.0007562116498345695,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3751787783165429,0.5581780885919827,2.066684830341289,-0.0857711067523403,-1.2834891220298525,0.3400587633039751,0.5152655439204765,0.5979555425271602,-1.5514192864208125,0.5979555425271602,0.558,0,0,-2.7776175134454854e-05,7.877175627146237e-05
+29802,1791617228706284576,22412500000000,1791617228702236974,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759800113404021,-0.004864456199346427,0.09071102274420256,0.999999977534981,-4.712447102073089e-06,-0.00019063476081456049,3.0137504390547494e-06,0.6761,-0.0048,0.09097874976817164,1.0,0.0,0.0,0.0,0.7233087793495024,0.532305564843204,-0.5872156336641294,0.03412911075849072,-0.049156821121477796,3.904378602339505e-05,0.6474685807381051,0.5152239907280952,-0.7155296282872161,0.03313455917205018,-0.04911194528444203,0.00012191495408900252,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34213325269613637,0.624438995243526,2.036908303462223,-0.1016688361064132,-1.25413787445902,0.3821217578471181,0.5152655439204765,0.5872156336641294,-1.5216427595417463,0.5872156336641294,0.558,0,0,-2.4947094005829722e-05,9.999999025923074e-05
+29808,1791617228756295686,22412550000000,1791617228754239839,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759804936924398,-0.0048634637524916985,0.09070940480105256,0.9999999777418185,-5.608758522939255e-06,-0.00018951428270491975,3.4793031537910286e-06,0.6761,-0.0048,0.09097756040791403,1.0,0.0,0.0,0.0,0.7197246990784418,0.5389403032849958,-0.5828573028228714,0.03412941171923311,-0.04916094692201768,3.266665581174791e-05,0.6438845004670445,0.521858729169887,-0.7111712974459581,0.03313486013279257,-0.049116071084981915,0.00011553782387735538,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3490623967440099,0.48768844175123827,2.016907204502033,-0.06862058192033124,-1.2437281999241527,0.2896991514330866,0.5152655439204765,0.5828573028228714,-1.5016416605815563,0.5828573028228714,0.558,0,0,-2.2648685639421788e-05,9.578221135531634e-05
+29810,1791617228772267348,22412566000000,1791617228766237619,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759806584911368,-0.004863669634404414,0.09070939090131969,0.9999999777840435,-5.9618078339628174e-06,-0.0001892625164599211,4.351299634527257e-06,0.6761,-0.0048,0.09097720403105235,1.0,0.0,0.0,0.0,0.7253244734670735,0.5412050862998437,-0.5782090083913897,0.03495041692705324,-0.04981615371905764,0.0001360914800823514,0.6494842748556762,0.5241235121847349,-0.7065230030144763,0.0339558653406127,-0.049771277882021875,0.00021896264814795887,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.35698387865481207,0.6080215013416964,2.1060878444987416,-0.10127258183474952,-1.3037556385349205,0.36882565878132434,0.5152655439204765,0.5782090083913897,-1.5908223005782651,0.5782090083913897,0.558,0,0,-2.1848685684251794e-05,9.99999347480795e-05
+29814,1791617228806317907,22412600000000,1791617228802237302,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759807253561803,-0.004864810626606306,0.09071214474894933,0.999999978040877,-5.763677048436923e-06,-0.00018793042025550834,3.169745063983173e-06,0.6761,-0.0048,0.09097648922573376,1.0,0.0,0.0,0.0,0.7357237344761303,0.5418294287347591,-0.5768905971268513,0.035181144446228156,-0.0501855202720528,-0.0008503551617366576,0.6598835358647329,0.5247478546196503,-0.705204591749938,0.03418659285978762,-0.050140644435017034,-0.0007674839936710502,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.35320140628212254,0.6772604815829422,2.0188463860230925,-0.11688259471178208,-1.248753608604974,0.41661080759165814,0.5152655439204765,0.5768905971268513,-1.503580842102616,0.5768905971268513,0.558,0,0,-2.014868600156016e-05,9.999999025923074e-05
+29814,1791617228806317907,22412600000000,1791617228802237302,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759807253561803,-0.004864810626606306,0.09071214474894933,0.999999978040877,-5.763677048436923e-06,-0.00018793042025550834,3.169745063983173e-06,0.6761,-0.0048,0.09097648922573376,1.0,0.0,0.0,0.0,0.7357237344761303,0.5418294287347591,-0.5768905971268513,0.035181144446228156,-0.0501855202720528,-0.0008503551617366576,0.6598835358647329,0.5247478546196503,-0.705204591749938,0.03418659285978762,-0.050140644435017034,-0.0007674839936710502,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.35320140628212254,0.6772604815829422,2.0188463860230925,-0.11688259471178208,-1.248753608604974,0.41661080759165814,0.5152655439204765,0.5768905971268513,-1.503580842102616,0.5768905971268513,0.558,0,0,-2.014868600156016e-05,9.999999025923074e-05
+29818,1791617228839340868,22412633000000,1791617228838237416,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759805166157713,-0.00486472271691606,0.09071277175119614,0.9999999780134056,-1.013070253082342e-05,-0.0001879101476986917,1.7883079125965596e-06,0.6761,-0.0048,0.09097585060954137,1.0,0.0,0.0,0.0,0.728831767986764,0.5422871836746764,-0.5763100616656033,0.03517840095068895,-0.050202270501720304,0.00015140749822404345,0.6529915693753666,0.5252056095595676,-0.70462405628869,0.03418384936424841,-0.05015739466468454,0.00023427866628965093,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3669937545433591,0.5604164353332308,2.085051363641564,-0.08288452519975434,-1.2947057318189428,0.3367345450889602,0.5152655439204765,0.5763100616656033,-1.5697858197210874,0.5763100616656033,0.558,0,0,-1.8522486288246423e-05,9.462076217621016e-05
+29822,1791617228872296561,22412666000000,1791617228870237338,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759827098087785,-0.004864150420057243,0.09071468293604174,0.9999999786035227,-6.337974342556697e-06,-0.00018488584481126218,3.5878977732315698e-06,0.6761,-0.0048,0.09097526298418998,1.0,0.0,0.0,0.0,0.737131112491829,0.5600915434251299,-0.5763920443719257,0.036187190202212484,-0.05021029089790609,-0.0007128240893230608,0.6612909138804317,0.5430099693100211,-0.7047060389950124,0.035192638615771946,-0.05016541506087032,-0.0006299529212574534,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3181763560355718,0.6382628120823087,2.020415482761431,-0.10651794535838377,-1.2415304107298437,0.3902328342956748,0.5152655439204765,0.5763920443719257,-1.5051499388409546,0.5763920443719257,0.558,0,0,-1.7089131759606676e-05,7.972837953175603e-05
+29830,1791617228939314395,22412733000000,1791617228934237072,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.675979359935594,-0.004869564945648038,0.09070961498785847,0.9999999775462205,-1.0236657609457536e-05,-0.00019033915507496438,4.079207877200408e-06,0.6761,-0.0048,0.09097421288149181,1.0,0.0,0.0,0.0,0.7372863264733555,0.5638005655320041,-0.5660109996337924,0.03623550970371293,-0.05035342849652917,0.00016793288867335726,0.6614461278619581,0.5467189914168953,-0.6943249942568791,0.03524095811727239,-0.050308552659493404,0.00025080405673896474,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3643850328135926,0.5331120377119862,2.049095100134518,-0.07314825810533511,-1.2719815676781303,0.3229134338718144,0.5152655439204765,0.5660109996337924,-1.5338295562140414,0.5660109996337924,0.558,0,0,-1.4031000254684284e-05,9.999999025923074e-05
+29838,1791617229006242940,22412800000000,1791617229002237418,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759825829868285,-0.004870601595898288,0.0907133171983899,0.9999999783246162,-1.0990031712746857e-05,-0.0001861315759013485,5.280851318303831e-06,0.6761,-0.0048,0.09097337690862473,1.0,0.0,0.0,0.0,0.7457285917909469,0.5674246631275417,-0.5557793498504677,0.03723968464179555,-0.051241400713110695,0.0001576131601926998,0.6698883931795495,0.5503430890124329,-0.6840933444735544,0.03624513305535501,-0.05119652487607493,0.00024048432825830727,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.33716404472758865,0.6666275072177733,2.0736812372136275,-0.10762909081455312,-1.278857236692562,0.410305761876293,0.5152655439204765,0.5557793498504677,-1.558415693293151,0.5557793498504677,0.558,0,0,-1.0855146882733697e-05,9.999999025923074e-05
+29842,1791617229039342667,22412833000000,1791617229034237370,UP_FORCE_HOLD,5,0.046,0.04599950090050697,0.6759818974750226,-0.00487311610571879,0.09071203181630691,0.9999999780231691,-1.5568070992241214e-05,-0.00018742243206268806,5.195465631963581e-06,0.6761,-0.0048,0.09097304508877213,1.0,0.0,0.0,0.0,0.746167690021038,0.5630689299585778,-0.555500752469491,0.037240085163615565,-0.05125199621395516,0.00015738308373928106,0.6703274914096407,0.545987355843469,-0.6838147470925777,0.036245533577175026,-0.05120712037691939,0.0002402542518048885,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34167430258076753,0.6386445203974666,2.0567980606243244,-0.09793770262963909,-1.2691348519279626,0.3912832086966111,0.5152655439204765,0.555500752469491,-1.5415325167038478,0.555500752469491,0.558,0,0,-9.205147204179082e-06,9.999999025923074e-05
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+29884,1791617229389335847,22413183000000,1791617229386237504,UP_FORCE_HOLD,5,0.046,0.0460001565515995,0.675982571050868,-0.004874215894943353,0.09071348093878202,0.9999999783033946,-1.3809644610105892e-05,-0.0001860224567185094,6.404215988150539e-06,0.6761,-0.0048,0.09097262185377993,1.0,0.0,0.0,0.0,0.7541503993397761,0.5926433015473085,-0.5258017280308546,0.03947968441773797,-0.05226527956211502,0.0001415798409655887,0.6783102007283788,0.5755617274321997,-0.6541157226539412,0.03848513283129743,-0.05222040372507925,0.00022445100903119614,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.31417500267608606,0.7260162039025939,1.9946208003747,-0.12262872043321163,-1.2242440237629677,0.447594892505374,0.5152655439204765,0.5258017280308546,-1.4793552564542234,0.5258017280308546,0.558,0,0,6.237270973060946e-06,9.961479809607875e-05
+29890,1791617229439348890,22413233000000,1791617229434237492,UP_FORCE_HOLD,5,0.046,0.0460001565515995,0.6759828854366764,-0.004878425586448113,0.09071385347369092,0.9999999784114998,-1.4855770601824655e-05,-0.00018532818297305255,7.255006758568511e-06,0.6761,-0.0048,0.09097299284483458,1.0,0.0,0.0,0.0,0.7450105088514074,0.6054356341797191,-0.5241417916511958,0.04030046653336051,-0.05145360627081792,0.0001529082095986395,0.6691703102400101,0.5883540600646103,-0.6524557862742825,0.03930591494691997,-0.051408730433782156,0.00023577937766424694,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34829434907199697,0.6785422696307215,1.9880677857804419,-0.10474954160973061,-1.2320577105174921,0.4180283174747601,0.5152655439204765,0.5241417916511958,-1.4728022418599653,0.5241417916511958,0.558,0,0,8.577977316518557e-06,8.435481674629875e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b05961a27ca5ebe5f4996197b4b004afdd019260
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c8e8a2fd006dbb862130dc7f17e1eadc5f3c0206
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,3.333333333e-01,UP_FORCE_HOLD,1791617228343005465,1.728239738e-07,-7.388832717e-05,2.172604297e-06,-1.843923454e-06,-6.696814454e-05,2.137669592e-06,-1.736791819e-06,-6.689879940e-05,2.167261905e-06,7.015380443e-01,-7.233736584e-05,8.407431138e-01,7.015360276e-01,-6.541718322e-05,8.407430789e-01,7.017274880e-01,-6.512145482e-05,8.295748516e-01
+23,3.500000000e-01,UP_FORCE_HOLD,1791617228375075935,1.737673934e-07,-7.784708859e-05,4.854900348e-06,-1.843923454e-06,-6.696814454e-05,2.137669592e-06,-1.731216042e-06,-6.690065091e-05,2.170588056e-06,7.015380452e-01,-7.629612727e-05,8.407457961e-01,7.015360276e-01,-6.541718322e-05,8.407430789e-01,7.017274935e-01,-6.512330633e-05,8.295748549e-01
+24,3.666666667e-01,UP_FORCE_HOLD,1791617228407146406,-9.193249103e-07,-7.431716112e-05,3.553510163e-06,-1.843923454e-06,-6.696814454e-05,2.137669592e-06,-1.725703087e-06,-6.690204386e-05,2.173848930e-06,7.015369522e-01,-7.276619980e-05,8.407444947e-01,7.015360276e-01,-6.541718322e-05,8.407430789e-01,7.017274991e-01,-6.512469929e-05,8.295748582e-01
+25,3.666666667e-01,UP_FORCE_HOLD,1791617228407146406,-9.193249103e-07,-7.431716112e-05,3.553510163e-06,-1.843923454e-06,-6.696814454e-05,2.137669592e-06,-1.725703087e-06,-6.690204386e-05,2.173848930e-06,7.015369522e-01,-7.276619980e-05,8.407444947e-01,7.015360276e-01,-6.541718322e-05,8.407430789e-01,7.017274991e-01,-6.512469929e-05,8.295748582e-01
+26,3.833333333e-01,UP_FORCE_HOLD,1791617228441070660,-2.291065931e-06,-8.258879220e-05,3.166012771e-06,-1.843923454e-06,-6.696814454e-05,2.137669592e-06,-1.720269171e-06,-6.690310585e-05,2.177049746e-06,7.015355804e-01,-8.103783088e-05,8.407441072e-01,7.015360276e-01,-6.541718322e-05,8.407430789e-01,7.017275045e-01,-6.512576127e-05,8.295748614e-01
+27,4.000000000e-01,UP_FORCE_HOLD,1791617228474994915,5.834947095e-07,-8.711296076e-05,3.682335008e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,6.733704526e-07,-8.710872341e-05,3.707722827e-06,7.015384550e-01,-8.556199943e-05,8.407446235e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017298981e-01,-8.533137883e-05,8.295763921e-01
+28,4.166666667e-01,UP_FORCE_HOLD,1791617228509045784,-1.014365983e-06,-8.934955192e-05,3.631067084e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,6.802400445e-07,-8.711560629e-05,3.711691081e-06,7.015368571e-01,-8.779859059e-05,8.407445723e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299050e-01,-8.533826171e-05,8.295763960e-01
+29,4.333333333e-01,UP_FORCE_HOLD,1791617228543096653,5.888990234e-07,-8.654974307e-05,5.479667787e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,6.863582591e-07,-8.711771243e-05,3.715854349e-06,7.015384604e-01,-8.499878175e-05,8.407464209e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299111e-01,-8.534036785e-05,8.295764002e-01
+30,4.500000000e-01,UP_FORCE_HOLD,1791617228575140012,-1.742531186e-06,-8.580509026e-05,2.702362144e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,6.924224595e-07,-8.712067913e-05,3.719847033e-06,7.015361290e-01,-8.425412894e-05,8.407436435e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299172e-01,-8.534333456e-05,8.295764042e-01
+31,4.833333333e-01,UP_FORCE_HOLD,1791617228641097452,-2.108224834e-06,-9.041615720e-05,1.744299789e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.040950536e-07,-8.712447161e-05,3.727288985e-06,7.015357633e-01,-8.886519588e-05,8.407426855e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299289e-01,-8.534712703e-05,8.295764116e-01
+32,5.166666667e-01,UP_FORCE_HOLD,1791617228707030530,-8.862233988e-07,-8.999373725e-05,3.088637025e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.152139661e-07,-8.712664779e-05,3.734243732e-06,7.015369853e-01,-8.844277593e-05,8.407440298e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299400e-01,-8.534930321e-05,8.295764186e-01
+33,5.500000000e-01,UP_FORCE_HOLD,1791617228757028930,-2.234162176e-06,-9.279598133e-05,1.368090872e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.258405843e-07,-8.712796703e-05,3.740839650e-06,7.015356373e-01,-9.124502001e-05,8.407423093e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299506e-01,-8.535062245e-05,8.295764252e-01
+34,5.666666667e-01,UP_FORCE_HOLD,1791617228775008333,-2.625130212e-06,-9.153765123e-05,-8.197118742e-07,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.309845995e-07,-8.712843078e-05,3.744023366e-06,7.015352464e-01,-8.998668991e-05,8.407401215e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299557e-01,-8.535108620e-05,8.295764284e-01
+35,5.833333333e-01,UP_FORCE_HOLD,1791617228807015243,5.390567854e-07,-9.900910832e-05,5.078700192e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.360224735e-07,-8.712880474e-05,3.747137046e-06,7.015384105e-01,-9.745814700e-05,8.407460199e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299608e-01,-8.535146016e-05,8.295764315e-01
+36,5.833333333e-01,UP_FORCE_HOLD,1791617228807015243,5.390567854e-07,-9.900910832e-05,5.078700192e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.360224735e-07,-8.712880474e-05,3.747137046e-06,7.015384105e-01,-9.745814700e-05,8.407460199e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299608e-01,-8.535146016e-05,8.295764315e-01
+37,6.000000000e-01,UP_FORCE_HOLD,1791617228839022154,-1.011465889e-06,-9.463402840e-05,3.126548666e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.409585543e-07,-8.712910975e-05,3.750183880e-06,7.015368600e-01,-9.308306708e-05,8.407440677e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299657e-01,-8.535176518e-05,8.295764345e-01
+38,6.166666667e-01,UP_FORCE_HOLD,1791617228873057173,2.591901312e-07,-9.798530522e-05,1.185897393e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.457966120e-07,-8.712936128e-05,3.753166412e-06,7.015381307e-01,-9.643434390e-05,8.407421271e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299706e-01,-8.535201670e-05,8.295764375e-01
+39,6.500000000e-01,UP_FORCE_HOLD,1791617228941059287,-1.012267967e-06,-9.716295464e-05,3.092756072e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.551915471e-07,-8.712974808e-05,3.758946116e-06,7.015368592e-01,-9.561199332e-05,8.407440339e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299799e-01,-8.535240350e-05,8.295764433e-01
+40,6.833333333e-01,UP_FORCE_HOLD,1791617229007163700,-9.393614977e-07,-9.737445892e-05,3.209730848e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.642298826e-07,-8.713003033e-05,3.764488813e-06,7.015369321e-01,-9.582349760e-05,8.407441509e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299890e-01,-8.535268575e-05,8.295764488e-01
+41,7.000000000e-01,UP_FORCE_HOLD,1791617229039301018,-1.428336354e-06,-1.026263491e-04,2.340149700e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.686213777e-07,-8.713014503e-05,3.767174677e-06,7.015364431e-01,-1.010753878e-04,8.407432813e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017299934e-01,-8.535280045e-05,8.295764515e-01
+42,7.333333333e-01,UP_FORCE_HOLD,1791617229107013368,-1.151835272e-06,-1.056033116e-04,2.745090178e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.771591335e-07,-8.713033756e-05,3.772381058e-06,7.015367196e-01,-1.040523503e-04,8.407436863e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300019e-01,-8.535299298e-05,8.295764567e-01
+43,7.500000000e-01,UP_FORCE_HOLD,1791617229141156131,-1.971613507e-07,-1.031304707e-04,4.358450377e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.813090633e-07,-8.713041977e-05,3.774903808e-06,7.015376743e-01,-1.015795093e-04,8.407452996e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300061e-01,-8.535307519e-05,8.295764592e-01
+44,7.666666667e-01,UP_FORCE_HOLD,1791617229175298895,1.390058310e-06,-1.054917796e-04,6.840633386e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.853819890e-07,-8.713049495e-05,3.777374287e-06,7.015392615e-01,-1.039408183e-04,8.407477818e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300101e-01,-8.535315037e-05,8.295764617e-01
+45,7.833333333e-01,UP_FORCE_HOLD,1791617229207156147,-8.081542456e-07,-1.026298628e-04,3.786563961e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.893796070e-07,-8.713056439e-05,3.779793631e-06,7.015370633e-01,-1.010789014e-04,8.407447278e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300141e-01,-8.535321981e-05,8.295764641e-01
+46,8.000000000e-01,UP_FORCE_HOLD,1791617229239013399,-2.759353783e-06,-1.038762321e-04,2.199198884e-07,4.990297858e-07,-8.717939762e-05,3.699989001e-06,7.933034398e-07,-8.713062874e-05,3.782162933e-06,7.015351121e-01,-1.023252708e-04,8.407411611e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300181e-01,-8.535328417e-05,8.295764665e-01
+47,8.333333333e-01,UP_FORCE_HOLD,1791617229307125767,-5.706868510e-07,-1.039513166e-04,4.002033266e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,8.009360694e-07,-8.713074544e-05,3.786755336e-06,7.015373008e-01,-1.024003553e-04,8.407449432e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300257e-01,-8.535340086e-05,8.295764711e-01
+48,8.833333333e-01,UP_FORCE_HOLD,1791617229389161245,1.854376198e-07,-1.047920879e-04,4.786397406e-06,4.990297858e-07,-8.717939762e-05,3.699989001e-06,8.118686088e-07,-8.713089935e-05,3.793293798e-06,7.015380569e-01,-1.032411266e-04,8.407457276e-01,7.015383705e-01,-8.562843630e-05,8.407446412e-01,7.017300366e-01,-8.535355477e-05,8.295764776e-01
+49,9.166666667e-01,UP_FORCE_HOLD,1791617229439915529,3.254727586e-07,-1.079703121e-04,5.155357073e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,8.975467314e-07,-1.081678447e-04,4.061079998e-06,7.015381970e-01,-1.064193508e-04,8.407460965e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301223e-01,-1.063905001e-04,8.295767454e-01
+50,9.333333333e-01,UP_FORCE_HOLD,1791617229472548136,3.809084019e-07,-1.010212618e-04,5.647390297e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.007272908e-07,-1.081695160e-04,4.063393292e-06,7.015382524e-01,-9.947030049e-05,8.407465886e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301255e-01,-1.063921715e-04,8.295767477e-01
+51,9.333333333e-01,UP_FORCE_HOLD,1791617229472548136,3.809084019e-07,-1.010212618e-04,5.647390297e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.007272908e-07,-1.081695160e-04,4.063393292e-06,7.015382524e-01,-9.947030049e-05,8.407465886e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301255e-01,-1.063921715e-04,8.295767477e-01
+52,9.500000000e-01,UP_FORCE_HOLD,1791617229505836575,-2.178387711e-06,-1.101454544e-04,2.769307239e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.039865644e-07,-1.081721616e-04,4.065558425e-06,7.015356931e-01,-1.085944931e-04,8.407437105e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301287e-01,-1.063948170e-04,8.295767499e-01
+53,9.500000000e-01,UP_FORCE_HOLD,1791617229505836575,-2.178387711e-06,-1.101454544e-04,2.769307239e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.039865644e-07,-1.081721616e-04,4.065558425e-06,7.015356931e-01,-1.085944931e-04,8.407437105e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301287e-01,-1.063948170e-04,8.295767499e-01
+54,9.666666667e-01,UP_FORCE_HOLD,1791617229539125014,4.824977792e-07,-1.044109144e-04,6.065469366e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.072489461e-07,-1.081740925e-04,4.067628930e-06,7.015383540e-01,-1.028599531e-04,8.407470067e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301320e-01,-1.063967479e-04,8.295767520e-01
+55,9.833333333e-01,UP_FORCE_HOLD,1791617229573193081,2.006242705e-06,-1.122127436e-04,7.156689146e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.104854268e-07,-1.081755366e-04,4.069620911e-06,7.015398777e-01,-1.106617823e-04,8.407480979e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301352e-01,-1.063981921e-04,8.295767539e-01
+56,9.833333333e-01,UP_FORCE_HOLD,1791617229573193081,2.006242705e-06,-1.122127436e-04,7.156689146e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.104854268e-07,-1.081755366e-04,4.069620911e-06,7.015398777e-01,-1.106617823e-04,8.407480979e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301352e-01,-1.063981921e-04,8.295767539e-01
+57,1.000000000e+00,UP_SETTLE,1791617229607261148,3.001686630e-07,-1.037806194e-04,4.166116038e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.137569765e-07,-1.081766483e-04,4.071525335e-06,7.015381717e-01,-1.022296581e-04,8.407451073e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301385e-01,-1.063993037e-04,8.295767559e-01
+58,1.000000000e+00,UP_SETTLE,1791617229607261148,3.001686630e-07,-1.037806194e-04,4.166116038e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.137569765e-07,-1.081766483e-04,4.071525335e-06,7.015381717e-01,-1.022296581e-04,8.407451073e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301385e-01,-1.063993037e-04,8.295767559e-01
+59,1.016666667e+00,UP_SETTLE,1791617229639177251,-2.126453699e-06,-1.083691322e-04,2.210639848e-06,6.019887770e-07,-1.082343128e-04,3.998801492e-06,9.168852503e-07,-1.081775070e-04,4.073397028e-06,7.015357450e-01,-1.068181709e-04,8.407431518e-01,7.015384735e-01,-1.066833515e-04,8.407449400e-01,7.017301416e-01,-1.064001625e-04,8.295767577e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7cfa1fd7f5294c3b4f3600246130d5875236fc56
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-9.8321e-03,2.1955e-03,2.4532e+00,-3.6936e-02,3.6070e-02,7.8233e-06,4.1118e-04,9.2534e-06,2.5320e-04,-7.4878e-07,2.7779e-05,4.4343e-07,4.8297e-04,2.7793e-05
+1,1.6667e-02,UP_FORCE_RAMP,3.1736e-06,-9.4272e-03,2.2043e-03,2.4534e+00,-3.6937e-02,3.6097e-02,8.2715e-06,8.1602e-04,1.8103e-05,5.0139e-04,-1.4715e-06,5.5205e-05,8.9165e-07,9.5792e-04,5.5232e-05
+2,3.3333e-02,UP_FORCE_HOLD,1.3461e-05,-9.0284e-03,2.2128e-03,2.4537e+00,-3.6938e-02,3.6125e-02,8.7245e-06,1.2148e-03,2.6583e-05,7.4410e-04,-2.1607e-06,8.2295e-05,1.3447e-06,1.4249e-03,8.2335e-05
+3,3.3333e-02,UP_FORCE_HOLD,1.3461e-05,-9.0284e-03,2.2128e-03,2.4537e+00,-3.6938e-02,3.6125e-02,8.7245e-06,1.2148e-03,2.6583e-05,7.4410e-04,-2.1607e-06,8.2295e-05,1.3447e-06,1.4249e-03,8.2335e-05
+4,5.0000e-02,UP_FORCE_HOLD,2.0890e-05,-8.6354e-03,2.2209e-03,2.4539e+00,-3.6938e-02,3.6151e-02,9.1821e-06,1.6079e-03,3.4720e-05,9.8181e-04,-2.8312e-06,1.0905e-04,1.8023e-06,1.8842e-03,1.0911e-04
+5,5.0000e-02,UP_FORCE_HOLD,2.0890e-05,-8.6354e-03,2.2209e-03,2.4539e+00,-3.6938e-02,3.6151e-02,9.1821e-06,1.6079e-03,3.4720e-05,9.8181e-04,-2.8312e-06,1.0905e-04,1.8023e-06,1.8842e-03,1.0911e-04
+6,6.6667e-02,UP_FORCE_HOLD,2.6495e-05,-8.2480e-03,2.2287e-03,2.4541e+00,-3.6939e-02,3.6178e-02,9.6443e-06,1.9953e-03,4.2531e-05,1.2145e-03,-3.4757e-06,1.3550e-04,2.2644e-06,2.3362e-03,1.3556e-04
+7,8.3333e-02,UP_FORCE_HOLD,3.1774e-05,-7.7668e-03,3.5645e-03,2.4541e+00,-3.7027e-02,3.6211e-02,1.0579e-05,2.4765e-03,1.3783e-03,1.1883e-03,-9.1311e-05,1.6851e-04,3.1996e-06,3.0732e-03,1.9168e-04
+8,1.0000e-01,UP_FORCE_HOLD,3.7929e-05,-7.3334e-03,5.0022e-03,2.4539e+00,-3.7122e-02,3.6241e-02,1.1628e-05,2.9099e-03,2.8160e-03,1.0321e-03,-1.8674e-04,1.9855e-04,4.2477e-06,4.1788e-03,2.7260e-04
+9,1.0000e-01,UP_FORCE_HOLD,3.7929e-05,-7.3334e-03,5.0022e-03,2.4539e+00,-3.7122e-02,3.6241e-02,1.1628e-05,2.9099e-03,2.8160e-03,1.0321e-03,-1.8674e-04,1.9855e-04,4.2477e-06,4.1788e-03,2.7260e-04
+10,1.1667e-01,UP_FORCE_HOLD,4.5764e-05,-4.1286e-03,1.0976e-02,2.4532e+00,-3.7604e-02,3.6511e-02,4.9799e-05,6.1147e-03,8.7901e-03,3.0613e-04,-6.6867e-04,4.6839e-04,4.2419e-05,1.0712e-02,8.1750e-04
+11,1.3333e-01,UP_FORCE_HOLD,5.1341e-05,-4.0005e-03,1.1119e-02,2.4534e+00,-3.7611e-02,3.6518e-02,5.0138e-05,6.2428e-03,8.9332e-03,4.4250e-04,-6.7566e-04,4.7544e-04,4.2758e-05,1.0907e-02,8.2728e-04
+12,1.5000e-01,UP_FORCE_HOLD,5.7433e-05,-3.7755e-03,1.2556e-02,2.4535e+00,-3.7703e-02,3.6531e-02,5.0876e-05,6.4678e-03,1.0370e-02,5.7507e-04,-7.6734e-04,4.8871e-04,4.3496e-05,1.2235e-02,9.1079e-04
+13,1.6667e-01,UP_FORCE_HOLD,6.0313e-05,-3.5691e-03,1.3784e-02,2.4536e+00,-3.7782e-02,3.6543e-02,5.1586e-05,6.6742e-03,1.1598e-02,6.8140e-04,-8.4653e-04,5.0117e-04,4.4206e-05,1.3398e-02,9.8475e-04
+14,1.8333e-01,UP_FORCE_HOLD,6.5805e-05,-3.3499e-03,1.4709e-02,2.4537e+00,-3.7842e-02,3.6557e-02,5.2294e-05,6.8934e-03,1.2523e-02,8.1515e-04,-9.0639e-04,5.1457e-04,4.4915e-05,1.4318e-02,1.0432e-03
+15,2.0000e-01,UP_FORCE_HOLD,6.9554e-05,-3.1221e-03,1.5412e-02,2.4539e+00,-3.7887e-02,3.6571e-02,5.2988e-05,7.1211e-03,1.3225e-02,9.6941e-04,-9.5192e-04,5.2864e-04,4.5608e-05,1.5052e-02,1.0898e-03
+16,2.1667e-01,UP_FORCE_HOLD,7.2655e-05,-2.8504e-03,1.6070e-02,2.4541e+00,-3.7930e-02,3.6588e-02,5.3844e-05,7.3928e-03,1.3884e-02,1.1706e-03,-9.9473e-04,5.4551e-04,4.6464e-05,1.5773e-02,1.1354e-03
+17,2.5000e-01,UP_FORCE_HOLD,7.6416e-05,-2.3255e-03,1.6867e-02,2.4545e+00,-3.7982e-02,3.6621e-02,5.5479e-05,7.9178e-03,1.4681e-02,1.5860e-03,-1.0469e-03,5.7850e-04,4.8100e-05,1.6755e-02,1.1971e-03
+18,2.6667e-01,UP_FORCE_HOLD,8.2222e-05,-2.0679e-03,1.7105e-02,2.4547e+00,-3.7998e-02,3.6637e-02,5.6274e-05,8.1754e-03,1.4919e-02,1.7977e-03,-1.0626e-03,5.9488e-04,4.8894e-05,1.7107e-02,1.2188e-03
+19,2.8333e-01,UP_FORCE_HOLD,8.6235e-05,-1.6861e-03,1.8802e-02,2.4550e+00,-3.8110e-02,3.6662e-02,5.7435e-05,8.5572e-03,1.6616e-02,2.1086e-03,-1.1742e-03,6.1961e-04,5.0055e-05,1.8808e-02,1.3286e-03
+20,3.0000e-01,UP_FORCE_HOLD,9.0161e-05,-3.8463e-05,2.9389e-02,2.4579e+00,-3.8931e-02,3.6779e-02,1.0811e-04,1.0205e-02,2.7202e-02,4.9658e-03,-1.9951e-03,7.3702e-04,1.0073e-04,2.9475e-02,2.1293e-03
+21,3.1667e-01,UP_FORCE_HOLD,9.5347e-05,9.0810e-05,2.9444e-02,2.4577e+00,-3.8931e-02,3.6787e-02,1.0846e-04,1.0334e-02,2.7258e-02,4.7939e-03,-1.9953e-03,7.4519e-04,1.0108e-04,2.9542e-02,2.1323e-03
+22,3.3333e-01,UP_FORCE_HOLD,1.0195e-04,1.9435e-03,2.8718e-02,2.4550e+00,-3.8807e-02,3.6903e-02,1.1740e-04,1.2187e-02,2.6532e-02,2.1389e-03,-1.8716e-03,8.6105e-04,1.1002e-04,2.9275e-02,2.0631e-03
+23,3.5000e-01,UP_FORCE_HOLD,1.0673e-04,1.7254e-03,2.8374e-02,2.4554e+00,-3.8786e-02,3.6889e-02,1.1763e-04,1.1969e-02,2.6188e-02,2.5001e-03,-1.8500e-03,8.4726e-04,1.1025e-04,2.8902e-02,2.0378e-03
+24,3.6667e-01,UP_FORCE_HOLD,1.1065e-04,1.5965e-03,2.8089e-02,2.4557e+00,-3.8768e-02,3.6881e-02,1.1786e-04,1.1840e-02,2.5903e-02,2.8296e-03,-1.8320e-03,8.3923e-04,1.1048e-04,2.8620e-02,2.0181e-03
+25,3.6667e-01,UP_FORCE_HOLD,1.1065e-04,1.5965e-03,2.8089e-02,2.4557e+00,-3.8768e-02,3.6881e-02,1.1786e-04,1.1840e-02,2.5903e-02,2.8296e-03,-1.8320e-03,8.3923e-04,1.1048e-04,2.8620e-02,2.0181e-03
+26,3.8333e-01,UP_FORCE_HOLD,1.1904e-04,1.5387e-03,2.7853e-02,2.4560e+00,-3.8753e-02,3.6878e-02,1.1807e-04,1.1782e-02,2.5667e-02,3.1309e-03,-1.8172e-03,8.3582e-04,1.1069e-04,2.8415e-02,2.0033e-03
+27,4.0000e-01,UP_FORCE_HOLD,1.2443e-04,1.5364e-03,2.7659e-02,2.4563e+00,-3.8741e-02,3.6878e-02,1.1828e-04,1.1780e-02,2.5473e-02,3.4087e-03,-1.8050e-03,8.3601e-04,1.1090e-04,2.8271e-02,1.9923e-03
+28,4.1667e-01,UP_FORCE_HOLD,1.2718e-04,1.3831e-03,2.8726e-02,2.4565e+00,-3.8811e-02,3.6868e-02,1.1889e-04,1.1626e-02,2.6540e-02,3.5498e-03,-1.8756e-03,8.2622e-04,1.1151e-04,2.9191e-02,2.0525e-03
+29,4.3333e-01,UP_FORCE_HOLD,1.3089e-04,1.1156e-03,3.0000e-02,2.4565e+00,-3.8896e-02,3.6851e-02,1.1961e-04,1.1359e-02,2.7814e-02,3.5739e-03,-1.9605e-03,8.0906e-04,1.1223e-04,3.0256e-02,2.1239e-03
+30,4.5000e-01,UP_FORCE_HOLD,1.3460e-04,9.7981e-04,3.0920e-02,2.4565e+00,-3.8958e-02,3.6843e-02,1.2031e-04,1.1223e-02,2.8734e-02,3.6397e-03,-2.0227e-03,8.0042e-04,1.1293e-04,3.1062e-02,2.1782e-03
+31,4.8333e-01,UP_FORCE_HOLD,1.4240e-04,9.8542e-04,3.2042e-02,2.4568e+00,-3.9036e-02,3.6843e-02,1.2157e-04,1.1229e-02,2.9856e-02,3.8517e-03,-2.1001e-03,8.0115e-04,1.1419e-04,3.2130e-02,2.2507e-03
+32,5.1667e-01,UP_FORCE_HOLD,1.4707e-04,1.1956e-03,3.2646e-02,2.4570e+00,-3.9079e-02,3.6857e-02,1.2270e-04,1.1439e-02,3.0460e-02,4.1232e-03,-2.1435e-03,8.1527e-04,1.1532e-04,3.2797e-02,2.2962e-03
+33,5.5000e-01,UP_FORCE_HOLD,1.5073e-04,1.5028e-03,3.2994e-02,2.4573e+00,-3.9105e-02,3.6878e-02,1.2371e-04,1.1746e-02,3.0808e-02,4.4188e-03,-2.1698e-03,8.3586e-04,1.1633e-04,3.3266e-02,2.3282e-03
+34,5.6667e-01,UP_FORCE_HOLD,1.5329e-04,1.6758e-03,3.3114e-02,2.4575e+00,-3.9115e-02,3.6890e-02,1.2418e-04,1.1919e-02,3.0928e-02,4.5702e-03,-2.1793e-03,8.4747e-04,1.1680e-04,3.3459e-02,2.3412e-03
+35,5.8333e-01,UP_FORCE_HOLD,1.6332e-04,1.8563e-03,3.3212e-02,2.4576e+00,-3.9123e-02,3.6902e-02,1.2462e-04,1.2100e-02,3.1025e-02,4.7226e-03,-2.1872e-03,8.5960e-04,1.1724e-04,3.3635e-02,2.3530e-03
+36,5.8333e-01,UP_FORCE_HOLD,1.6332e-04,1.8563e-03,3.3212e-02,2.4576e+00,-3.9123e-02,3.6902e-02,1.2462e-04,1.2100e-02,3.1025e-02,4.7226e-03,-2.1872e-03,8.5960e-04,1.1724e-04,3.3635e-02,2.3530e-03
+37,6.0000e-01,UP_FORCE_HOLD,1.6836e-04,2.0416e-03,3.3292e-02,2.4578e+00,-3.9129e-02,3.6914e-02,1.2503e-04,1.2285e-02,3.1106e-02,4.8747e-03,-2.1939e-03,8.7208e-04,1.1765e-04,3.3797e-02,2.3638e-03
+38,6.1667e-01,UP_FORCE_HOLD,1.7243e-04,2.2297e-03,3.3360e-02,2.4579e+00,-3.9135e-02,3.6927e-02,1.2542e-04,1.2473e-02,3.1174e-02,5.0263e-03,-2.1996e-03,8.8479e-04,1.1804e-04,3.3951e-02,2.3739e-03
+39,6.5000e-01,UP_FORCE_HOLD,1.7754e-04,2.6095e-03,3.3470e-02,2.4582e+00,-3.9145e-02,3.6953e-02,1.2613e-04,1.2853e-02,3.1284e-02,5.3256e-03,-2.2092e-03,9.1052e-04,1.1875e-04,3.4238e-02,2.3924e-03
+40,6.8333e-01,UP_FORCE_HOLD,1.8178e-04,2.9885e-03,3.3556e-02,2.4585e+00,-3.9152e-02,3.6979e-02,1.2676e-04,1.3232e-02,3.1370e-02,5.6179e-03,-2.2168e-03,9.3630e-04,1.1938e-04,3.4507e-02,2.4094e-03
+41,7.0000e-01,UP_FORCE_HOLD,1.8713e-04,3.1764e-03,3.3593e-02,2.4587e+00,-3.9156e-02,3.6991e-02,1.2704e-04,1.3420e-02,3.1407e-02,5.7607e-03,-2.2201e-03,9.4913e-04,1.1967e-04,3.4636e-02,2.4175e-03
+42,7.3333e-01,UP_FORCE_HOLD,1.9324e-04,3.5477e-03,3.3658e-02,2.4589e+00,-3.9161e-02,3.7017e-02,1.2756e-04,1.3791e-02,3.1472e-02,6.0403e-03,-2.2259e-03,9.7454e-04,1.2018e-04,3.4888e-02,2.4329e-03
+43,7.5000e-01,UP_FORCE_HOLD,1.9635e-04,3.7307e-03,3.3687e-02,2.4591e+00,-3.9164e-02,3.7029e-02,1.2779e-04,1.3974e-02,3.1501e-02,6.1765e-03,-2.2285e-03,9.8710e-04,1.2041e-04,3.5010e-02,2.4403e-03
+44,7.6667e-01,UP_FORCE_HOLD,2.0012e-04,3.9118e-03,3.3713e-02,2.4592e+00,-3.9166e-02,3.7042e-02,1.2800e-04,1.4155e-02,3.1527e-02,6.3105e-03,-2.2309e-03,9.9954e-04,1.2062e-04,3.5131e-02,2.4475e-03
+45,7.8333e-01,UP_FORCE_HOLD,2.0485e-04,4.0908e-03,3.3738e-02,2.4593e+00,-3.9169e-02,3.7054e-02,1.2820e-04,1.4334e-02,3.1552e-02,6.4423e-03,-2.2331e-03,1.0119e-03,1.2082e-04,3.5249e-02,2.4546e-03
+46,8.0000e-01,UP_FORCE_HOLD,2.0910e-04,4.2677e-03,3.3761e-02,2.4595e+00,-3.9171e-02,3.7066e-02,1.2839e-04,1.4511e-02,3.1574e-02,6.5718e-03,-2.2351e-03,1.0241e-03,1.2101e-04,3.5365e-02,2.4615e-03
+47,8.3333e-01,UP_FORCE_HOLD,2.1434e-04,4.6150e-03,3.3801e-02,2.4597e+00,-3.9174e-02,3.7090e-02,1.2871e-04,1.4858e-02,3.1615e-02,6.8233e-03,-2.2387e-03,1.0481e-03,1.2133e-04,3.5593e-02,2.4748e-03
+48,8.8333e-01,UP_FORCE_HOLD,2.1794e-04,5.1194e-03,3.3852e-02,2.4601e+00,-3.9179e-02,3.7125e-02,1.2909e-04,1.5363e-02,3.1666e-02,7.1836e-03,-2.2431e-03,1.0831e-03,1.2171e-04,3.5921e-02,2.4938e-03
+49,9.1667e-01,UP_FORCE_HOLD,2.2262e-04,5.4350e-03,3.5164e-02,2.4603e+00,-3.9265e-02,3.7147e-02,1.2963e-04,1.5678e-02,3.2977e-02,7.3991e-03,-2.3298e-03,1.1051e-03,1.2225e-04,3.7257e-02,2.5815e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e2bbc0c9db2f2a54ea65f0e43181965d16cfd85
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+59,3.008333e+01,2824,6.956667e-01,2.131892e-02,8.046325e-01,-9.566671e-05,-1.313261e-04,-1.626305e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2825,6.995687e-01,1.889424e-02,8.041129e-01,-1.436341e-04,-1.388410e-04,-1.631369e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2826,6.992581e-01,2.136649e-02,8.247182e-01,-3.556350e-05,-1.262484e-04,-1.641608e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2827,6.928362e-01,2.133594e-02,8.116780e-01,2.335498e-05,-1.489861e-04,-1.630475e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2828,6.982853e-01,1.718259e-02,8.098935e-01,-2.317378e-04,-6.541070e-04,-1.644630e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2829,6.949189e-01,2.020958e-02,8.200340e-01,1.131571e-05,-1.234922e-04,-1.641125e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2830,6.938954e-01,1.941436e-02,8.122577e-01,2.135608e-05,-1.560524e-04,-1.632147e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2831,6.968423e-01,1.780837e-02,8.093101e-01,-1.695460e-04,-3.478947e-04,-1.637442e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2832,6.932271e-01,2.137108e-02,8.094980e-01,-2.094492e-06,-1.448844e-04,-1.627924e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2833,6.983183e-01,1.884561e-02,8.048641e-01,-1.308803e-04,-1.489259e-04,-1.630840e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2834,6.942244e-01,2.023261e-02,8.081314e-01,-2.402007e-05,-1.382852e-04,-1.627174e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2835,6.969176e-01,1.856914e-02,8.199655e-01,-4.643216e-05,-1.612171e-04,-1.638618e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2836,6.952181e-01,1.920088e-02,8.187310e-01,-5.184666e-06,-1.365865e-04,-1.639528e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2837,6.975620e-01,2.033675e-02,8.035164e-01,-1.279019e-04,-1.189785e-04,-1.627489e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2838,6.985892e-01,1.948636e-02,8.037516e-01,-1.333978e-04,-1.229805e-04,-1.628689e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2839,6.926892e-01,2.162394e-02,8.142167e-01,2.660153e-05,-1.435778e-04,-1.633800e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2840,7.004065e-01,2.148897e-02,8.250609e-01,-3.922521e-05,-1.275362e-04,-1.641851e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2841,6.960890e-01,1.917702e-02,8.065462e-01,-7.899337e-05,-1.434575e-04,-1.627743e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2842,6.932430e-01,2.023099e-02,8.129975e-01,4.106770e-05,-1.467508e-04,-1.632703e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2843,6.996198e-01,1.970478e-02,8.030339e-01,-1.475242e-04,-1.221661e-04,-1.629183e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.008333e+01,2844,6.996274e-01,2.045753e-02,8.023507e-01,-1.525668e-04,-1.235939e-04,-1.628983e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07876a117e3e2696fe4ff5b04ae3d3a04db292c4
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+38327,1791617299701121726,22483494000000,1791617299694247626,DOWN_FORCE_DETACH,6,0.0455,0.04558579996228218,0.6759728489001262,-0.004826519592655393,0.09070111978048974,0.9999999755137937,1.2664470677206783e-05,-0.00020023747960262275,-1.2642757670301372e-05,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,0.5071526708421793,0.19577408436003854,-0.8831662799388684,0.009021242789978408,-0.03403002164167476,-0.0006956361316554077,0.43131247223078195,0.17869251024492974,-1.011480274561955,0.00802669120353787,-0.033985145804638996,-0.0006127649635898003,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34081113016725334,0.28960245865055406,2.2492439705418645,-0.09925066442738309,-1.3751980609232253,0.145347788955062,0.5152655439204765,0.8831662799388684,-1.733978426621388,-1.733978426621388,0.00136,1,0,-8.500000245589333e-07,-9.999924085868912e-05
+38654,1791617302426048862,22486219000000,1791617302422237177,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6759787841479841,-0.004903863104142089,0.09065690455255991,0.99999997761525,-2.653532331961866e-05,-0.000186731780598155,2.528799958706469e-05,0.6761,-0.0048,0.09081210443596066,1.0,0.0,0.0,0.0,0.7778096105762793,0.7023770541475861,-0.3470060065292335,0.04746170276075405,-0.05353113891445443,0.0011038054433578776,0.7019694119648819,0.6852954800324773,-0.4753200011523202,0.04646715117431351,-0.05348626307741866,0.001186676611423485,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.06029411615763519,0.6984325340791951,1.3732049975496223,0.005143733887390544,-0.7977553046763893,0.44234819488122934,0.5152655439204765,0.3470060065292335,-0.8579394536291458,-0.8579394536291458,0.21935999999999242,1,0,-0.00013709997353647386,-9.999999025923074e-05
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+39149,1791617306551165511,22490344000000,1791617306546246647,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761315918601322,-0.004968355752668323,0.09032899453925583,0.9999999874465804,-6.385163416264581e-05,6.759562153563606e-05,8.890165548818808e-05,0.6761,-0.0048,0.09018491210637893,1.0,0.0,0.0,0.0,0.34107965641359345,0.7924067531048359,1.4978763659345742,0.05648942481032143,-0.022717495958905456,0.0013277725027423983,0.2652394578021961,0.7753251789897271,1.3695623713114875,0.05549487322388089,-0.022672620121869685,0.0014106436708080058,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8324385989947823,0.41152811867912903,-0.8027284298995072,0.21966681956943737,0.6962010867687013,0.221919116401251,0.5152655439204765,1.4978763659345742,1.3179939738199837,1.3179939738199837,0.5493600000000486,1,0,-7.374981094290944e-05,9.999999025923074e-05
+39464,1791617309176135003,22492969000000,1791617309174236965,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761331405543094,-0.0049657369183010915,0.0902614606765624,0.9999999872438736,-6.872960237828388e-05,6.609392543868972e-05,8.867328682103214e-05,0.6761,-0.0048,0.09012949217789251,1.0,0.0,0.0,0.0,0.37446508800586203,0.7544809225987813,1.4330631035289985,0.054575894673331356,-0.026047470678643464,0.002199731417821566,0.2986248893944647,0.7373993484836725,1.3047491089059118,0.05358134308689082,-0.026002594841607694,0.0022826025858871733,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7602186122830404,0.44209699215281756,-0.672301678222521,0.20619703092241343,0.6019436627191478,0.23909376116750863,0.5152655439204765,1.4330631035289985,1.1875672221429974,1.1875672221429974,0.7593599999999672,1,0,-1.1510844777351537e-08,1.1627115936718724e-07
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+40497,1791617317785326837,22501578000000,1791617317782237110,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.676145239365138,-0.004969285703133774,0.09015807494789678,0.9999999856432715,-6.845492957409937e-05,8.425043624216902e-05,9.149922356982177e-05,0.6761,-0.0048,0.08998353571048706,1.0,0.0,0.0,0.0,0.3743884861004477,0.7314001028659552,1.5283225994598215,0.05450373149653774,-0.02672698799333203,0.002110953971231202,0.2985482874890504,0.7143185287508464,1.4000086048367348,0.0535091799100972,-0.026682112156296258,0.0021938251392968093,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7518724927255072,0.34812753283193687,-0.870574349819444,0.2419336520543591,0.7153806128383822,0.1823135801009902,0.5152655439204765,1.5283225994598215,1.3858398937399206,1.3858398937399206,1.448080000000322,1,0,-4.135017303149991e-05,-6.325636822535614e-05
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+41094,1791617322760381046,22506553000000,1791617322758237332,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761721102975675,-0.004974322121734433,0.08993810646734443,0.9999999824314346,-1.1556150499310192e-05,0.00013163305026631192,9.549445204747102e-05,0.6761,-0.0048,0.08971866783760213,1.0,0.0,0.0,0.0,0.40299414483980484,0.6915438388028824,1.7675420851882566,0.05140659957256178,-0.027732956773855896,0.0018704940090815705,0.3271539462284075,0.6744622646877736,1.63922809056517,0.05041204798612124,-0.027688080936820125,0.001953365177147178,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7626958811740223,0.3396724502528613,-1.0856706629930803,0.2722995022406092,0.8459042141465871,0.18987048818371677,0.5152655439204765,1.7675420851882566,1.6009362069135569,1.6009362069135569,1.84608000000072,1,0,-6.811667779413189e-05,-9.961779598300353e-05
+41408,1791617325376371292,22509169000000,1791617325374236626,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6761821368430155,-0.004980851065647427,0.08975351610922722,0.9999999794601357,-3.6838809870687306e-05,0.0001488888785081891,9.48556622629397e-05,0.6761,-0.0048,0.0895096141503011,1.0,0.0,0.0,0.0,0.43375485589630036,0.6347121982285061,1.8868008106595233,0.04739857779804048,-0.03072125312173092,0.001683608362070119,0.357914657284903,0.6176306241133973,1.7584868160364366,0.04640402621159994,-0.03067637728469515,0.0017664795301357264,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8402823592622038,0.44156489336879423,-1.4305957789229444,0.2509436360758785,1.0865410491603733,0.2585533300706682,0.5152655439204765,1.8868008106595233,1.945861322843421,1.945861322843421,2.0553600000009293,1,0,-8.679828930188561e-05,-8.007746743056801e-10
+41683,1791617327668422930,22511461000000,1791617327666236365,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762033667895622,-0.004986216061793026,0.08955710830445857,0.9999999739983892,-4.5298312764931615e-05,0.0001786342365056314,9.738561269059691e-05,0.6761,-0.0048,0.08927989611150453,1.0,0.0,0.0,0.0,0.4819343244160034,0.5910428045741658,2.0056623098707616,0.04439328828704255,-0.03372728525056529,0.0015128554004193249,0.4060941258046061,0.573961230459057,1.8773483152476746,0.043398736700602014,-0.03368240941352953,0.0015957265684849323,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8334978263377777,0.35735127243771625,-1.5278862787269707,0.2870041020078313,1.15161710379712,0.20422230599281593,0.5152655439204765,2.0056623098707616,2.043151822647447,2.043151822647447,2.2387200000011127,1,0,-0.00010670735601655957,-9.999999025923074e-05
+41935,1791617329768397584,22513561000000,1791617329766236647,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762223933685488,-0.004989889281683097,0.08933194222607736,0.9999999682565442,-5.2783233908505784e-05,0.00020499692595246204,0.00010059803952849987,0.6761,-0.0048,0.08903162559439326,1.0,0.0,0.0,0.0,0.5309423158863337,0.5563621710368886,2.0959549025137467,0.040374378237928776,-0.03671074622265328,0.0013527037171635425,0.4551021172749363,0.5392805969217798,1.9676409078906598,0.03937982665148824,-0.03666587038561751,0.00143557488522915,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7924513086310699,0.26993103366256166,-1.7893583069069132,0.32077535706742355,1.3096317480142265,0.14820668714705207,0.5152655439204765,2.0959549025137467,2.3046238508273897,2.3046238508273897,2.4067200000012807,1,0,-0.00013130043440415384,9.870288894398555e-05
+42158,1791617331626456086,22515419000000,1791617331626237602,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762300422943653,-0.0049888994331652465,0.08908487998710901,0.9999999660683806,-3.7985202212264975e-05,0.0002147140732964922,0.00010844857355162833,0.6761,-0.0048,0.0887760038412051,1.0,0.0,0.0,0.0,0.5899341529021601,0.48790171422764295,2.1829252663713365,0.03546921621688133,-0.04166840997422073,0.0011540191612897514,0.5140939542907628,0.47082014011253415,2.0546112717482496,0.03447466463044079,-0.04162353413718496,0.0012368903293553588,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7329982639170298,0.3326502852719949,-1.8566725497075978,0.31115095989375546,1.3494268537238834,0.190287769908217,0.5152655439204765,2.1829252663713365,2.3719380936280743,2.3719380936280743,2.5553600000014294,1,0,-0.0001474091040104113,6.78362537098211e-06
+42382,1791617333493504305,22517286000000,1791617333490236771,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.67624544357195,-0.004985650011568415,0.08880098922562434,0.99999996022507,-2.7468030223642e-05,0.00023916244748419934,0.00011419086696288698,0.6761,-0.0048,0.0884668155845998,1.0,0.0,0.0,0.0,0.6562147800853139,0.4571923225127812,2.2725693716090127,0.032643046319421894,-0.045717383269152055,0.0009920547582801273,0.5803745814739165,0.4401107483976724,2.144255376985926,0.031648494732981355,-0.04567250743211629,0.0010749259263457347,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.627408011579831,0.4596550209536231,-1.9809483645250412,0.2931261203376115,1.4076174173218012,0.2775335467520439,0.5152655439204765,2.2725693716090127,2.496213908445518,2.496213908445518,2.7047200000015788,1,0,-0.0001869795539135869,9.804295850036055e-05
+42557,1791617334951455334,22518744000000,1791617334950236573,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762576330612542,-0.004981965778863802,0.08852447499109846,0.9999999566300749,-3.204855577029739e-05,0.00025316043007659564,0.0001143039785205344,0.6761,-0.0048,0.0881759238744431,1.0,0.0,0.0,0.0,0.6990241579685752,0.4238091187924934,2.353924442678582,0.030423246167516196,-0.04873112915569813,0.0008609086507921129,0.6231839593571779,0.4067275446773846,2.225610448055495,0.029428694581075658,-0.048686253318662366,0.0009437798188577203,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.606413084714332,0.35768972943073185,-2.0698130690386223,0.3342443195843581,1.4714026851492796,0.20783562053546079,0.5152655439204765,2.353924442678582,2.585078612959099,2.585078612959099,2.8213600000016954,1,0,-0.00021308892606400486,9.999389791038311e-05
+42713,1791617336251511195,22520044000000,1791617336250237140,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762686601265814,-0.0049825144784715085,0.08824561620626789,0.9999999521312491,-2.546226404247462e-05,0.00026927295040111456,0.00011842345708225002,0.6761,-0.0048,0.08788356305585035,1.0,0.0,0.0,0.0,0.734696488079792,0.378860915490449,2.4426407338840397,0.02743426964138138,-0.051507538783796575,0.0007241179580712041,0.6588562894683947,0.3617793413753402,2.314326739260953,0.02643971805494084,-0.05146266294676081,0.0008069891261368115,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5519415658411048,0.4533355176871813,-2.0875740583953193,0.3234891402822468,1.4792822851491938,0.2738418428836138,0.5152655439204765,2.4426407338840397,2.602839602315796,2.602839602315796,2.9253600000017994,1,0,-0.00023655112811191004,-9.999375913250503e-05
+42861,1791617337485547441,22521278000000,1791617337482236224,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762769374247054,-0.004988575396028461,0.08794684784443065,0.9999999477019738,-2.3846380183550438e-05,0.0002831022587770491,0.0001237876225717987,0.6761,-0.0048,0.08757098605021968,1.0,0.0,0.0,0.0,0.7645175995477242,0.34333132658613086,2.531152755259049,0.024416262032533744,-0.05371901595163781,0.0005779617757311712,0.6886774009363269,0.32624975247102206,2.4028387606359622,0.023421710446093206,-0.053674140114602045,0.0006608329437967787,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4701965890798536,0.38153423116859736,-2.249231712765293,0.3552189582769627,1.5743265040900827,0.22585026481337578,0.5152655439204765,2.531152755259049,2.7644972566857695,2.7644972566857695,3.024080000001898,1,0,-0.0002691533894274859,9.978455148130223e-05
+42993,1791617338585552725,22522378000000,1791617338582237240,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762848590806868,-0.0049934024974952465,0.08764876940516532,0.9999999442091072,-2.159636467951847e-05,0.0002955800719221677,0.00012325041578166912,0.6761,-0.0048,0.08725579422468266,1.0,0.0,0.0,0.0,0.7842084816873737,0.30933066474204707,2.5725868519066037,0.022391764496311608,-0.05470160516289228,0.0005080173721307337,0.7083682830759763,0.29224909062693827,2.444272857283517,0.02139721290987107,-0.054656729325856516,0.0005908885401963411,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4018635231999742,0.417752919426148,-2.1698906476967945,0.3676086805051443,1.5148178254132394,0.25252189862691254,0.5152655439204765,2.5725868519066037,2.685156191617271,2.685156191617271,3.112080000001986,1,0,-0.0003058236039646652,-9.999999025923074e-05
+43112,1791617339576477945,22523369000000,1791617339570236724,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762946111900282,-0.004998395341382659,0.08734651207742292,0.9999999385153457,-2.1214538459791438e-05,0.0003113901192724078,0.00013037755276325283,0.6761,-0.0048,0.08693741985268397,1.0,0.0,0.0,0.0,0.7857658302989033,0.28636438882149423,2.6600925074198285,0.020332832322988128,-0.05468089740926168,0.0004182153947920857,0.709925631687506,0.26928281470638543,2.5317785127967416,0.01933828073654759,-0.05463602157222591,0.0005010865628576932,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.384031026273118,0.3877475066527393,-2.137675774007378,0.37801021841586663,1.4975724916880158,0.22667624384734697,0.5152655439204765,2.6600925074198285,2.6529413179278545,2.6529413179278545,3.1913600000020654,1,0,-0.00033640470537973775,-9.972228184740856e-05
+43224,1791617340510552959,22524303000000,1791617340510236489,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763019874285793,-0.005000444259252204,0.08703107227274075,0.9999999336264467,-1.9782380712659577e-05,0.000326342663245294,0.0001315260056093859,0.6761,-0.0048,0.08660800891260245,1.0,0.0,0.0,0.0,0.8050021993617402,0.26433900816847256,2.69934787541066,0.01833243811400156,-0.05645333198134824,0.0003319003861546421,0.7291620007503429,0.24725743405336376,2.571033880787573,0.017337886527561023,-0.056408456144312474,0.0004147715542202496,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3777458312367754,0.36460267750387104,-2.2506856110897013,0.39997977878952934,1.5768303212061228,0.21881552831412884,0.5152655439204765,2.69934787541066,2.765951155010178,2.765951155010178,3.26608000000214,1,0,-0.00036847478337573145,-9.999391178817092e-05
+43328,1791617341376495861,22525169000000,1791617341374236698,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6763083895182856,-0.004999259741386982,0.08671263864881472,0.9999999304625315,-2.5792293439762438e-05,0.0003364775086937491,0.0001289784487006965,0.6761,-0.0048,0.08627496356098824,1.0,0.0,0.0,0.0,0.8242776722728872,0.2507238389030859,2.7234585338738047,0.017340098093368235,-0.0576762671580375,0.00028861956785801327,0.7484374736614898,0.23364226478797712,2.5951445392507178,0.016345546506927697,-0.057631391321001736,0.00037149073592362074,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.29441912981112406,0.40046262994427734,-2.253616137193482,0.40045167291047024,1.5627457083336187,0.24325150647802493,0.5152655439204765,2.7234585338738047,2.7688816811139585,2.7688816811139585,3.3353600000022094,1,0,-0.0004010576860572198,-9.999999025923074e-05
+43424,1791617342176530705,22525969000000,1791617342174237358,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763160495973721,-0.004998444616707848,0.08639506685638473,0.999999924875052,-2.7255786964252826e-05,0.0003524747859343231,0.0001292725888081344,0.6761,-0.0048,0.08594179376673203,1.0,0.0,0.0,0.0,0.8336154843783575,0.24236807948126238,2.7794775600123103,0.017225997947757317,-0.05858701949836285,0.00022667795951905443,0.7577752857669602,0.22528650536615358,2.6511635653892234,0.01623144636131678,-0.05854214366132708,0.0003095491275846619,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3251833172489995,0.28871836066328443,-2.3208939071855936,0.44161110887287647,1.6206352865155493,0.165283030583879,0.5152655439204765,2.7794775600123103,2.83615945110607,2.83615945110607,3.3993600000022735,1,0,-0.00043046715210023754,-9.999999025923074e-05
+43511,1791617342901578342,22526694000000,1791617342898237428,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763174541786338,-0.005002907539151443,0.08608008336518996,0.9999999229755383,-2.4597827493502673e-05,0.00035695643455093903,0.00013216971120565574,0.6761,-0.0048,0.08562182658961297,1.0,0.0,0.0,0.0,0.851463716264101,0.22657928998760282,2.798871470129001,0.015324295291204843,-0.058667552024960545,0.00018986129195901067,0.7756235176527037,0.20949771587249402,2.6705574755059143,0.014329743704764305,-0.05862267618792478,0.00027273246002461815,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.33549605146333283,0.35063124441145416,-2.246320771148271,0.4349067438331732,1.5790283608315236,0.20916947392597904,0.5152655439204765,2.798871470129001,2.7615863150687474,2.7615863150687474,3.4573600000023315,1,0,-0.00045189705796397215,-9.999999025923074e-05
+43595,1791617343601560614,22527394000000,1791617343594237442,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6763228611818037,-0.005008482802703304,0.08576188653010881,0.9999999196349084,-3.542115185629753e-05,0.00036543041026605326,0.00013182942845935974,0.6761,-0.0048,0.08529761544744408,1.0,0.0,0.0,0.0,0.8439689142890489,0.21846242324286747,2.8290443177195987,0.015314790947249876,-0.059550883528375974,0.0001581998951176466,0.7681287156776515,0.20138084912775867,2.700730323096512,0.014320239360809338,-0.05950600769134021,0.00024107106318325405,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.34987607530523274,0.39453366822321273,-2.374738914139129,0.42926794382751976,1.6660677776247004,0.2394665330212945,0.5152655439204765,2.8290443177195987,2.8900044580596056,2.8900044580596056,3.5133600000023875,1,0,-0.0004705535553387304,-9.998783331711109e-05
+43679,1791617344301624773,22528094000000,1791617344294246666,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763240626100344,-0.0050108297639596695,0.08543579770949833,0.9999999188993558,-3.659327936357674e-05,0.0003685483907214299,0.00012836339761418205,0.6761,-0.0048,0.08495972139290843,1.0,0.0,0.0,0.0,0.8503817963611403,0.19790989561201794,2.8486153321992194,0.014274453475852246,-0.05953481239062803,0.00012140308221491617,0.774541597749743,0.18082832149690914,2.7203013375761325,0.013279901889411708,-0.05948993655359226,0.00020427425028052363,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.36254502243582515,0.3128151135444924,-2.430082044915756,0.4530537215441371,1.7083296981120044,0.1889401242887912,0.5152655439204765,2.8486153321992194,2.9453475888362326,2.9453475888362326,3.5693600000024435,1,0,-0.0004959871588942559,-3.2553232714271733e-05
+43759,1791617344968633721,22528761000000,1791617344966237178,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6763278631211689,-0.005007196467475214,0.08510561422091494,0.9999999153361819,-2.91320369464467e-05,0.0003775435971859746,0.00013184327878290207,0.6761,-0.0048,0.08462160589930803,1.0,0.0,0.0,0.0,0.8456446861572037,0.1715768390048112,2.837839501544313,0.01225736988636445,-0.05961779844679078,0.00010743329889595481,0.7698044875458063,0.1544952648897024,2.709525506921226,0.011262818299923911,-0.05957292260975501,0.00019030446696156227,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.42042299284423895,0.39016155512046574,-2.4369935010592574,0.43022436971160777,1.729969621534837,0.24043794405513416,0.5152655439204765,2.837839501544313,2.952259044979734,2.952259044979734,3.622720000002497,1,0,-0.0005167100628853102,-9.999999025923074e-05
+43831,1791617345568642110,22529361000000,1791617345566237272,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763286926103196,-0.005009742193941969,0.08479477026827893,0.9999999153167276,-3.362873966081286e-05,0.00037765649193682155,0.0001305912864128246,0.6761,-0.0048,0.08430523754610307,1.0,0.0,0.0,0.0,0.8466472026672385,0.1560024212441231,2.8662913010585407,0.010217041679851395,-0.05959667034643273,6.13227387443399e-05,0.7708070040558411,0.1389208471290143,2.737977306435454,0.009222490093410857,-0.05955179450939696,0.00014419390680994737,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.42266231890367756,0.3088097524073923,-2.3741752659535837,0.45610060823290616,1.6915232637184319,0.18724543629032236,0.5152655439204765,2.8662913010585407,2.8894408098740603,2.8894408098740603,3.670720000002545,1,0,-0.0005364962101198342,-9.999910208081104e-05
+43903,1791617346168602690,22529961000000,1791617346162237724,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763243808264446,-0.005013265024820237,0.08446105825917445,0.9999999168243441,-3.141656752940811e-05,0.00037265911379582634,0.0001339117375999467,0.6761,-0.0048,0.08397739780560022,1.0,0.0,0.0,0.0,0.8549914485480652,0.1425688556302138,2.8569192044778715,0.009196437328787936,-0.05954817648995028,5.803572001373534e-05,0.7791512499366678,0.125487281515105,2.7286052098547846,0.008201885742347398,-0.059503300652914516,0.0001409068880793428,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.42308644394482986,0.2295982754661688,-2.5051795208177783,0.47926376218346267,1.7737747968730837,0.13445753567753124,0.5152655439204765,2.8569192044778715,3.020445064738255,3.020445064738255,3.718720000002593,1,0,-0.0005582900929560916,-3.331871266452728e-06
+43970,1791617346726663342,22530519000000,1791617346726236753,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763230785820511,-0.005007583688403781,0.08414892121698718,0.9999999164961147,-3.594335877308273e-05,0.0003745351923788842,0.00012993110762802294,0.6761,-0.0048,0.08365906867448426,1.0,0.0,0.0,0.0,0.8379449462667238,0.13197213148697634,2.8251591451027718,0.009175516195644738,-0.058572431469844644,9.724955692092542e-05,0.7621047476553264,0.11489055737186755,2.696845150479685,0.0081809646092042,-0.05852755563280888,0.0001801207249865329,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5031925468371683,0.3268774477688808,-2.451330173760052,0.45227692218669213,1.7582565995086037,0.19976538747299355,0.5152655439204765,2.8251591451027718,2.9665957176805287,2.9665957176805287,3.7633600000026375,1,0,-0.0005839090805273825,-9.999999025923074e-05
+44038,1791617347293660025,22531086000000,1791617347290237667,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6763237117846039,-0.005012149751254533,0.08381631325106483,0.9999999145166938,-4.084767501664056e-05,0.00037883342484132073,0.00013124851670066664,0.6761,-0.0048,0.08332123822571473,1.0,0.0,0.0,0.0,0.8383913140118935,0.1277174084185328,2.8059778487575855,0.008161596100195859,-0.0585416907384517,0.00010202694989443655,0.7625511154004961,0.11063583430342401,2.6776638541344986,0.0071670445137553196,-0.058496814901415936,0.000184898117960044,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5248271831935482,0.3384129961055826,-2.4751843291401157,0.4434386412110407,1.7792355446218173,0.20502691231835918,0.5152655439204765,2.8059778487575855,2.990449873060592,2.990449873060592,3.808720000002683,1,0,-0.0006091093254320931,-9.999999025923074e-05
+44098,1791617347793624557,22531586000000,1791617347786247413,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763216634902123,-0.005009076397725843,0.08350282886350299,0.9999999157645318,-3.390019908872948e-05,0.00037533234300166226,0.00013375426172417438,0.6761,-0.0048,0.08301069914220402,1.0,0.0,0.0,0.0,0.8476831718784889,0.10310164279268709,2.7956140405297973,0.007165495147254664,-0.059521274797534766,8.422281088801789e-05,0.7718429732670915,0.08602006867757829,2.6673000459067104,0.006170943560814125,-0.059476398960499,0.00016709397895362535,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5527922422258112,0.31358353828552094,-2.5221477663652925,0.4472716261810612,1.8177497493156298,0.1879751727873316,0.5152655439204765,2.7956140405297973,3.037413310285769,3.037413310285769,3.848720000002723,1,0,-0.0006319775107913303,-9.999631264546167e-05
+44158,1791617348293614479,22532086000000,1791617348286237956,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.67631287669792,-0.005011124412486807,0.08317012038043937,0.9999999201604297,-3.889342803572633e-05,0.0003625682872540957,0.00013473506208962964,0.6761,-0.0048,0.08268851145426036,1.0,0.0,0.0,0.0,0.835179623197549,0.08193319990114065,2.7259458172407656,0.005508698255229361,-0.05947575004915368,0.00011690657064917304,0.7593394245861517,0.06485162578603185,2.5976318226176787,0.004514146668788823,-0.059430874212117915,0.0001997777387147805,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6531116099019562,0.27691941442749374,-2.483203684103783,0.4550919242572898,1.8175371769114654,0.16602783375414018,0.5152655439204765,2.7259458172407656,2.9984692280242595,2.9984692280242595,3.888720000002763,1,0,-0.0006566933622817725,-9.999999025923074e-05
+44214,1791617348760641355,22532553000000,1791617348758237397,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6763093357181051,-0.005012937916367302,0.0828456557998124,0.9999999223566616,-4.3452990357038114e-05,0.00035528981731965326,0.00013642037491981316,0.6761,-0.0048,0.08237639806813939,1.0,0.0,0.0,0.0,0.8404882740132452,0.07632350324370994,2.7040069758611684,0.005139779737723234,-0.05946098273502916,0.00013749760942936465,0.7646480754018479,0.05924192912860115,2.5756929812380815,0.004145228151282695,-0.05941610689799339,0.00022036877749497213,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5922520118251898,0.17865164058326818,-2.3998399995842172,0.48230058884589,1.7480335469307169,0.09852212194566463,0.5152655439204765,2.7040069758611684,2.9151055435046938,2.9151055435046938,3.9260800000028,1,0,-0.0006800342687810198,-9.999999025923074e-05
+44266,1791617349193650374,22532986000000,1791617349186247090,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762997582286533,-0.005010199593281346,0.08252943147377803,0.9999999283810875,-4.122969711493261e-05,0.0003375994800210122,0.00013786728245316073,0.6761,-0.0048,0.0820773426115061,1.0,0.0,0.0,0.0,0.844148717034963,0.06203500232367143,2.6639351632253723,0.0041234187378993824,-0.05943317149076536,0.00015558822036493703,0.7683085184235656,0.044953428208562636,2.5356211686022854,0.0031288671514588438,-0.05938829565372959,0.0002384593884305445,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6635165992488862,0.29794703460955657,-2.419531393731267,0.445607025983735,1.7796442943781623,0.17747701182712183,0.5152655439204765,2.6639351632253723,2.9347969376517433,2.9347969376517433,3.960720000002835,1,0,-0.0007014991194973216,-9.999999025923074e-05
+44318,1791617349626648754,22533419000000,1791617349626237253,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762863903111325,-0.005006985737038308,0.08219200710367858,0.9999999356949804,-4.124054840787103e-05,0.0003161383087783265,0.00013567861452255502,0.6761,-0.0048,0.081768917093679,1.0,0.0,0.0,0.0,0.8262375284536667,0.020372187782534107,2.5851283430406973,0.0010505396972317806,-0.058425151605234864,0.0001986815606953644,0.7503973298422694,0.0032906136674253103,2.4568143484176104,5.5988110791241836e-05,-0.0583802757681991,0.0002815527287609719,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7074353907306292,0.2698505625265961,-2.351509048799368,0.44407720113031074,1.7480095775753737,0.15988543552324158,0.5152655439204765,2.5851283430406973,2.8667745927198447,2.8667745927198447,3.9953600000028695,1,0,-0.0007231491152795685,-9.999999025923074e-05
+44370,1791617350060634445,22533853000000,1791617350054247207,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762732707888275,-0.005001764411952446,0.08184835179344722,0.9999999423128619,-4.04105688403337e-05,0.00029392610732080656,0.000137082335040255,0.6761,-0.0048,0.08145037232856715,1.0,0.0,0.0,0.0,0.8156363688062491,-0.01546856672871533,2.4814691223541194,7.35136318144947e-05,-0.058300057510379595,0.0002694303021739011,0.7397961701948518,-0.03255014084382413,2.3531551277310325,-0.000921037954626044,-0.05825518167334383,0.0003523014702395086,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7124566366895859,0.20570814923011427,-2.1986525728452713,0.45199568260093104,1.6484376512903978,0.11561601162845113,0.5152655439204765,2.4814691223541194,2.713918116765748,2.713918116765748,4.030080000002737,1,0,-0.0007448491110520747,-9.999999025923074e-05
+44418,1791617350460692642,22534253000000,1791617350454237155,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762615167284912,-0.005002779912822631,0.08152339062027499,0.9999999471422312,-4.238664379253026e-05,0.00027655667500217906,0.0001373978784766675,0.6761,-0.0048,0.08114844268492753,1.0,0.0,0.0,0.0,0.8031964427403648,-0.026453769015767545,2.3946284320887594,-0.0009879703198494277,-0.05724742944236668,0.00034605952966634314,0.7273562441289675,-0.04353534313087634,2.2663144374656725,-0.0019825219062899664,-0.057202553605330914,0.0004289306977319506,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6757678371516783,0.2757142943481018,-2.2050689153637366,0.42687597854260984,1.6368028351213983,0.16162186313890498,0.5152655439204765,2.3946284320887594,2.720334459284213,2.720334459284213,4.062080000002592,1,0,-0.000764849107155767,-9.999999025923074e-05
+44462,1791617350826704078,22534619000000,1791617350826246600,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762477190029897,-0.0050029064079797955,0.08121224147899121,0.999999952579097,-4.17475651804658e-05,0.0002523758531414331,0.00014438918840283094,0.6761,-0.0048,0.08086516816236272,1.0,0.0,0.0,0.0,0.8081097600243684,-0.05033259661147013,2.3105015346094797,-0.0028853029660454734,-0.057191868927836224,0.00038831173459904486,0.7322695614129711,-0.06741417072657893,2.182187539986393,-0.003879854552486012,-0.05714699309080046,0.00047118290266465234,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7696950005413749,0.14185208648277348,-2.135101268650093,0.4611080550483767,1.6169627567954068,0.07433682635960781,0.5152655439204765,2.3105015346094797,2.6503668125705695,2.6503668125705695,4.091360000002458,1,0,-0.0007831491035906454,-9.999999025923074e-05
+44509,1791617351218702847,22535011000000,1791617351218236884,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6762341989391816,-0.005002379577617424,0.08088329811038171,0.9999999573346199,-4.728375109157984e-05,0.00023369498231846545,0.00014115425963465093,0.6761,-0.0048,0.0805543419145055,1.0,0.0,0.0,0.0,0.7828941508813224,-0.06252270546159835,2.140344929330431,-0.003726303299982502,-0.055484628428386314,0.0005417784965770989,0.7070539522699251,-0.07960427957670715,2.012030934707344,-0.004720854886423041,-0.05543975259135055,0.0006246496646427063,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8148107824047928,0.3016040603999761,-2.043317109590273,0.404766827766657,1.5621033995535167,0.17795112038103478,0.5152655439204765,2.140344929330431,2.5585826535107494,2.5585826535107494,4.122720000002316,1,0,-0.0008027490997722639,-9.999999025923074e-05
+44555,1791617351601706996,22535394000000,1791617351594247105,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762207462513546,-0.004997922627166822,0.08055482518061796,0.9999999614539068,-5.062517859733544e-05,0.00021537500451714297,0.0001399490910461318,0.6761,-0.0048,0.08024323136000902,1.0,0.0,0.0,0.0,0.7624706346946644,-0.07390298466078807,2.000158132430029,-0.00406136588889628,-0.05406211163518977,0.0006696243649919956,0.686630436083267,-0.09098455877589687,1.8718441378069421,-0.005055917475336819,-0.054017235798154005,0.000752495533057603,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8485914755132008,0.20507558484023308,-1.9415008180517344,0.43077726495062607,1.5012535981012272,0.11532726656010937,0.5152655439204765,2.000158132430029,2.456766361972211,2.456766361972211,4.153360000002176,1,0,-0.0008218990960415492,-9.999999025923074e-05
+44601,1791617351985646639,22535778000000,1791617351978237243,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6762055943907557,-0.005000016588315181,0.08021630356658921,0.999999965847007,-5.167923310210166e-05,0.00019564921717794766,0.00013711123241477518,0.6761,-0.0048,0.0799239453078491,1.0,0.0,0.0,0.0,0.7281434304434278,-0.08191894010438379,1.8509043200280155,-0.005015893921742778,-0.05206154366392381,-0.00022162171282882214,0.6523032318320304,-0.09900051421949259,1.7225903254049288,-0.006010445508183316,-0.05201666782688804,-0.00013875054476321467,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8840723936820152,0.22833561258690485,-1.8324474971471363,0.4143078978265144,1.4281849073696866,0.1297128287390939,0.5152655439204765,1.8509043200280155,2.347713041067613,2.347713041067613,4.184080000002036,1,0,-0.0008410990923010938,-9.999999025923074e-05
+44641,1791617352318711330,22536111000000,1791617352318237211,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6761917907577234,-0.004998791429514424,0.07990522717810265,0.999999969070294,-4.485460321066393e-05,0.00017524226625507838,0.00014345901259985163,0.6761,-0.0048,0.07964109541065453,1.0,0.0,0.0,0.0,0.6992574571507201,-0.0901112181910863,1.7381807175220039,-0.005721436797309128,-0.050934263582501325,-0.00012121025223821901,0.6234172585393227,-0.1071927923061951,1.6098667228989172,-0.006715988383749667,-0.05088938774546556,-3.833908417261155e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9214294892055854,0.15430607333934626,-1.7044281930596907,0.43223000719083315,1.348801416788066,0.07989508290519477,0.5152655439204765,1.7381807175220039,2.219693736980167,2.219693736980167,4.210720000001915,1,0,-0.0008577490890574177,-9.999999025923074e-05
+44685,1791617352685686374,22536478000000,1791617352678246139,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6761797490513711,-0.004996040786700997,0.07957492183151481,0.9999999719335495,-3.7919010109333523e-05,0.00015700059752909255,0.00014659033248345544,0.6761,-0.0048,0.07932294344562824,1.0,0.0,0.0,0.0,0.6795929388573749,-0.09055416068852301,1.5914211820231574,-0.005133289175499956,-0.04888042805750263,3.013191185891391e-05,0.6037527402459776,-0.10763573480363181,1.4631071874000707,-0.006127840761940494,-0.048835552220466864,0.00011300307992452138,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9568281656975994,0.08588011657397539,-1.5670670714085753,0.44120073781940755,1.2606743360995625,0.03689531659522659,0.5152655439204765,1.5914211820231574,2.082332615329052,2.082332615329052,4.2400800000017815,1,0,-0.0008760990854825554,-9.999999025923074e-05
+44729,1791617353051663967,22536844000000,1791617353046246517,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761637570146242,-0.004998817014401124,0.07922579114747515,0.9999999754105067,-4.989842273860076e-05,0.0001333038076972557,0.00014269580522050166,0.6761,-0.0048,0.07899895143099582,1.0,0.0,0.0,0.0,0.6606489648335775,-0.08398981710929125,1.455769272105554,-0.004486943360155251,-0.04785047941709339,0.00016277842101616906,0.5848087662221801,-0.10107139122440005,1.3274552774824673,-0.0054814949465957895,-0.04780560358005762,0.00024564958908177654,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9840610472198945,0.16641362660017472,-1.3732761877512025,0.40709414861407717,1.1357514743850192,0.0803089324085391,0.5152655439204765,1.455769272105554,1.888541731671679,1.888541731671679,4.269360000001648,1,0,-0.0008943990819174338,-9.999999025923074e-05
+44769,1791617353385645206,22537178000000,1791617353378246571,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6761471946568792,-0.004998528855317983,0.07889667257386962,0.9999999783804501,-4.6878536052311854e-05,0.00010436962436008934,0.00014693994727301254,0.6761,-0.0048,0.07869744158818034,1.0,0.0,0.0,0.0,0.648966621839084,-0.09014757522113927,1.3298495772162602,-0.005123935464385731,-0.04679127311981031,-0.0007580195186244346,0.5731264232276867,-0.10722914933624807,1.2015355825931735,-0.00611848705082627,-0.04674639728277454,-0.0006751483505588272,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0057253835170754,0.16700959426945403,-1.3293090472609792,0.4035406762094865,1.1049365472637498,0.08151655747488762,0.5152655439204765,1.3298495772162602,1.8445745911814557,1.8445745911814557,4.296080000001527,1,0,-0.0009110990786640169,-9.999999025923074e-05
+44809,1791617353718711781,22537511000000,1791617353718246499,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761282438711551,-0.004994894625856664,0.07856281783899789,0.999999980695309,-5.01723066311822e-05,7.485743731421695e-05,0.0001480923688837424,0.6761,-0.0048,0.07839128169552692,1.0,0.0,0.0,0.0,0.6431824646173232,-0.08625628644895084,1.1742105840488777,-0.005122368470909756,-0.045962930833849475,-0.0006201937626380212,0.5673422660059259,-0.10333786056405964,1.045896589425791,-0.006116920057350294,-0.04591805499681371,-0.0005373225945724138,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0101164326418088,0.13014171568285252,-1.1931214093086344,0.4138540464223199,1.014951908469406,0.05710347223897364,0.5152655439204765,1.1742105840488777,1.708386953229111,1.708386953229111,4.322720000001405,1,0,-0.0009277490754203407,-9.999999025923074e-05
+44849,1791617354051659762,22537844000000,1791617354046246230,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6761165950476739,-0.004990002254187405,0.07823339386561573,0.9999999821252079,-4.962929070327979e-05,5.575023706106704e-05,0.00014704180694065778,0.6761,-0.0048,0.07807957735395364,1.0,0.0,0.0,0.0,0.6050722220063831,-0.08297726344124791,1.0335951090283118,-0.005154582723472346,-0.043688694828230894,-0.00047891965118811354,0.5292320233949858,-0.10005883755635671,0.905281114405225,-0.006149134309912884,-0.04364381899119513,-0.00039604848312250606,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0450469771073212,0.1839576168787473,-1.0987105309602252,0.39040112241166136,0.9541747467078004,0.0913739354401691,0.5152655439204765,1.0335951090283118,1.6139760748807017,1.6139760748807017,4.349360000001284,1,0,-0.0009443990721766646,-9.999999025923074e-05
+44885,1791617354351635138,22538144000000,1791617354350246295,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6761007472288861,-0.004994317147534743,0.07792220499442777,0.9999999826150364,-4.773486686337144e-05,3.205122700559139e-05,0.0001513502320676707,0.6761,-0.0048,0.07779401513274044,1.0,0.0,0.0,0.0,0.5789027580083188,-0.09464072924344903,0.9079820053823909,-0.005186391481029538,-0.04163233545033152,-0.0003492935328992201,0.5030625593969215,-0.11172230335855783,0.7796680107593043,-0.006180943067470076,-0.041587459613295755,-0.00026642236483361264,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0000794777188742,0.1990603594064701,-0.900183210257641,0.37764903854835713,0.8063957030791169,0.09926298223038796,0.5152655439204765,0.9079820053823909,1.4154487541781176,1.4154487541781176,4.373360000001175,1,0,-0.0009593990692544338,-9.999999025923074e-05
+44920,1791617354643722781,22538436000000,1791617354642246152,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6760887927418562,-0.004995889923963514,0.07761856138044497,0.9999999827435219,-5.29378997796034e-05,1.3542586121708768e-05,0.000151558562117479,0.6761,-0.0048,0.07751174630493483,1.0,0.0,0.0,0.0,0.559922512162911,-0.1059485169412875,0.791856808945033,-0.006164770898923888,-0.04057516790118882,-0.00025277941818878694,0.4840823135515137,-0.1230300910563963,0.6635428143219463,-0.007159322485364427,-0.04053029206415305,-0.0001699082501231795,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0726793125880953,0.13854850004182678,-0.8570042888579578,0.3839194427951517,0.7902388870973435,0.05561295872957371,0.5152655439204765,0.791856808945033,1.3722698327784344,1.3722698327784344,4.396720000001069,1,0,-0.0009739990664101292,-9.999999025923074e-05
+44961,1791617354985746797,22538778000000,1791617354982236824,DOWN_FORCE_DETACH,6,0.0455,0.045501746237277985,0.6760742443484069,-0.0049925652856185445,0.07726564525229396,0.9999999828449175,-5.367037859070405e-05,-7.617002811852917e-06,0.0001510446980828385,0.6761,-0.0048,0.0771757230747939,1.0,0.0,0.0,0.0,0.525804262315231,-0.09796721395030038,0.6409186080771189,-0.0062660477865767485,-0.03752043287929294,-8.846220192024941e-05,0.44996406370383374,-0.11504878806540918,0.5126046134540322,-0.007260599373017288,-0.03747555704225718,-5.59103385464194e-06,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0764451466455307,0.07779999089394078,-0.6092305009247474,0.38929134381076147,0.623622918638551,0.010326655797113872,0.5152655439204765,0.6409186080771189,1.124496044845224,1.124496044845224,4.424080000000944,1,0,-0.000991099063078786,-9.999999025923074e-05
+44996,1791617355276686385,22539069000000,1791617355270247218,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6760611472589473,-0.004989061896795307,0.07695590822574117,0.999999983473166,-4.425263103947566e-05,-2.5764778360395518e-05,0.00014790000991939163,0.6761,-0.0048,0.07688520349785181,1.0,0.0,0.0,0.0,0.4950185111956674,-0.10000184567278643,0.5174147598471815,-0.006306659864519214,-0.03504288597169867,-0.000947065169438777,0.4191783125842701,-0.11708341978789523,0.38910076522409487,-0.007301211450959752,-0.0349980101346629,-0.0008641940013731696,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.094460604112668,0.07437405319776262,-0.5143713324323571,0.38319177108920355,0.5575527329117224,0.008767170941923606,0.5152655439204765,0.5174147598471815,1.0296368763528336,1.0296368763528336,4.447360000000838,1,0,-0.001005649060244222,-9.999999025923074e-05
+45032,1791617355576729189,22539369000000,1791617355574236965,DOWN_FORCE_DETACH,6,0.0455,0.045502401888370514,0.6760463266840957,-0.004992529097744179,0.07662604321633788,0.9999999819418236,-4.700554053144124e-05,-5.3436411757189523e-05,0.00014998081865734138,0.6761,-0.0048,0.07658126628021834,1.0,0.0,0.0,0.0,0.4474916869445578,-0.09246391616646557,0.41512219386227356,-0.005331442793544134,-0.032399564721880963,-0.0008505324905284494,0.3716514883331605,-0.10954549028157437,0.2868081992391869,-0.006325994379984673,-0.0323546888848452,-0.000767661322462842,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0410799418370333,0.050178823192496946,-0.34150868204414053,0.38398815175587736,0.42019858725241815,-0.0077993797531299355,0.5152655439204765,0.41512219386227356,0.856774225964617,0.856774225964617,4.471360000000729,1,0,-0.0010206490573219913,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..06fb7fbd623cd834b82f03d497dfc3de4c6d68fd
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d9c96aca2e88a668da6279ca858f9ecf177bec28
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,1.195000000e+01,DOWN_FORCE_DETACH,1791617322763029291,1.967838876e-04,-1.527812360e-04,-7.661668759e-04,1.959562546e-04,-1.515479131e-04,-7.597120436e-04,1.994523395e-04,-1.513599124e-04,-7.583430928e-04,7.017346554e-01,-1.512302747e-04,8.399747743e-01,7.017338277e-01,-1.499969517e-04,8.399812291e-01,7.019286616e-01,-1.495758887e-04,8.288143221e-01
+10,1.326666667e+01,DOWN_FORCE_DETACH,1791617325372993600,2.092222499e-04,-1.618285659e-04,-9.466263481e-04,2.100982023e-04,-1.600013705e-04,-9.393399237e-04,2.133782135e-04,-1.597881349e-04,-9.376224016e-04,7.017470937e-01,-1.602776046e-04,8.397943148e-01,7.017479697e-01,-1.584504092e-04,8.398016013e-01,7.019425875e-01,-1.580041112e-04,8.286350428e-01
+11,1.445000000e+01,DOWN_FORCE_DETACH,1791617327671098351,2.315486261e-04,-1.598940419e-04,-1.143386769e-03,2.307612539e-04,-1.626525206e-04,-1.132416267e-03,2.338999395e-04,-1.624327679e-04,-1.130444045e-03,7.017694201e-01,-1.583430806e-04,8.395975544e-01,7.017686327e-01,-1.611015593e-04,8.396085249e-01,7.019631092e-01,-1.606487442e-04,8.284422212e-01
+12,1.555000000e+01,DOWN_FORCE_DETACH,1791617329765242813,2.497294123e-04,-1.654001332e-04,-1.369921063e-03,2.450623485e-04,-1.637285471e-04,-1.356416150e-03,2.478924302e-04,-1.635244666e-04,-1.353978827e-03,7.017876009e-01,-1.638491719e-04,8.393710201e-01,7.017829338e-01,-1.621775858e-04,8.393845250e-01,7.019771017e-01,-1.617404429e-04,8.282186864e-01
+13,1.653333333e+01,DOWN_FORCE_DETACH,1791617331629271333,2.580355428e-04,-1.676841730e-04,-1.617284966e-03,2.584289435e-04,-1.640154045e-04,-1.599921748e-03,2.609763056e-04,-1.638270625e-04,-1.597183485e-03,7.017959070e-01,-1.661332117e-04,8.391236562e-01,7.017963004e-01,-1.624644432e-04,8.391410194e-01,7.019901856e-01,-1.620430387e-04,8.279754817e-01
+14,1.746666667e+01,DOWN_FORCE_DETACH,1791617333493156516,2.740318515e-04,-1.602010462e-04,-1.901396696e-03,2.707956197e-04,-1.625203741e-04,-1.891204142e-03,2.725966978e-04,-1.623204743e-04,-1.887991907e-03,7.018119033e-01,-1.586500848e-04,8.388395445e-01,7.018086671e-01,-1.609694128e-04,8.388497370e-01,7.020018060e-01,-1.605364506e-04,8.276846733e-01
+15,1.820000000e+01,DOWN_FORCE_DETACH,1791617334953223045,2.845848916e-04,-1.577331823e-04,-2.178192976e-03,2.821854526e-04,-1.620870756e-04,-2.161257019e-03,2.832799054e-04,-1.618882735e-04,-2.157570387e-03,7.018224564e-01,-1.561822209e-04,8.385627482e-01,7.018200569e-01,-1.605361142e-04,8.385796842e-01,7.020124892e-01,-1.601042498e-04,8.274150948e-01
+16,1.890000000e+01,DOWN_FORCE_DETACH,1791617336253228771,2.956811950e-04,-1.589561417e-04,-2.457383280e-03,2.955012893e-04,-1.588344070e-04,-2.457302989e-03,2.957331833e-04,-1.585510062e-04,-2.453192483e-03,7.018335527e-01,-1.574051804e-04,8.382835579e-01,7.018333728e-01,-1.572834457e-04,8.382836382e-01,7.020249424e-01,-1.567669825e-04,8.271194727e-01
+17,1.953333333e+01,DOWN_FORCE_DETACH,1791617337481282516,3.022084235e-04,-1.652574356e-04,-2.759234514e-03,3.021511998e-04,-1.651345015e-04,-2.758986732e-03,3.015563256e-04,-1.648163220e-04,-2.754379494e-03,7.018400799e-01,-1.637064743e-04,8.379817067e-01,7.018400227e-01,-1.635835402e-04,8.379819545e-01,7.020307656e-01,-1.630322983e-04,8.268182857e-01
+18,2.011666667e+01,DOWN_FORCE_DETACH,1791617338582071360,3.099528126e-04,-1.718309020e-04,-3.054361239e-03,3.099044431e-04,-1.718942249e-04,-3.054222876e-03,3.085710051e-04,-1.715493940e-04,-3.049324315e-03,7.018478243e-01,-1.702799407e-04,8.376865799e-01,7.018477759e-01,-1.703432636e-04,8.376867183e-01,7.020377803e-01,-1.697653702e-04,8.265233409e-01
+19,2.065000000e+01,DOWN_FORCE_DETACH,1791617339579970636,3.214180264e-04,-1.752172748e-04,-3.356960685e-03,3.222317342e-04,-1.775359982e-04,-3.344127714e-03,3.202753428e-04,-1.772072528e-04,-3.339277290e-03,7.018592895e-01,-1.736663135e-04,8.373839805e-01,7.018601032e-01,-1.759850369e-04,8.373968135e-01,7.020494846e-01,-1.754232291e-04,8.262333879e-01
+20,2.111666667e+01,DOWN_FORCE_DETACH,1791617340511387807,3.298247134e-04,-1.770527410e-04,-3.670934304e-03,3.296895753e-04,-1.770668010e-04,-3.670970257e-03,3.266844366e-04,-1.766653667e-04,-3.665514401e-03,7.018676962e-01,-1.755017797e-04,8.370700069e-01,7.018675611e-01,-1.755158397e-04,8.370699709e-01,7.020558937e-01,-1.748813429e-04,8.259071508e-01
+21,2.155000000e+01,DOWN_FORCE_DETACH,1791617341375354061,3.366544406e-04,-1.744059219e-04,-3.988316809e-03,3.343274346e-04,-1.712757287e-04,-3.975997075e-03,3.303097666e-04,-1.708544193e-04,-3.970578535e-03,7.018745259e-01,-1.728549606e-04,8.367526244e-01,7.018721989e-01,-1.697247674e-04,8.367649441e-01,7.020595190e-01,-1.690703956e-04,8.256020867e-01
+22,2.195000000e+01,DOWN_FORCE_DETACH,1791617342173508992,3.430455905e-04,-1.756885832e-04,-4.307221790e-03,3.428475350e-04,-1.755879369e-04,-4.307483449e-03,3.378822669e-04,-1.751209997e-04,-4.301603909e-03,7.018809171e-01,-1.741376219e-04,8.364337194e-01,7.018807190e-01,-1.740369756e-04,8.364334577e-01,7.020670915e-01,-1.733369760e-04,8.252710613e-01
+23,2.231666667e+01,DOWN_FORCE_DETACH,1791617342905661261,3.455857125e-04,-1.785630922e-04,-4.623126632e-03,3.452088276e-04,-1.786062088e-04,-4.623431350e-03,3.393681440e-04,-1.780430927e-04,-4.617580153e-03,7.018834572e-01,-1.770121309e-04,8.361178146e-01,7.018830803e-01,-1.770552474e-04,8.361175098e-01,7.020685774e-01,-1.762590690e-04,8.249550850e-01
+24,2.268333333e+01,DOWN_FORCE_DETACH,1791617343603429171,3.495990750e-04,-1.828881119e-04,-4.940320360e-03,3.494291758e-04,-1.822823701e-04,-4.923326840e-03,3.425431071e-04,-1.817851038e-04,-4.917889677e-03,7.018874706e-01,-1.813371506e-04,8.358006208e-01,7.018873007e-01,-1.807314088e-04,8.358176143e-01,7.020717524e-01,-1.800010801e-04,8.246547755e-01
+25,2.305000000e+01,DOWN_FORCE_DETACH,1791617344303473442,3.502118579e-04,-1.853651437e-04,-5.267385940e-03,3.500418854e-04,-1.853392623e-04,-5.267070521e-03,3.420361230e-04,-1.847907253e-04,-5.261900842e-03,7.018880833e-01,-1.838141824e-04,8.354735552e-01,7.018879134e-01,-1.837883009e-04,8.354738707e-01,7.020712454e-01,-1.830067016e-04,8.243107644e-01
+26,2.340000000e+01,DOWN_FORCE_DETACH,1791617344969604591,3.548788964e-04,-1.836684790e-04,-5.597038547e-03,3.539952436e-04,-1.802792202e-04,-5.583006249e-03,3.449138123e-04,-1.797711908e-04,-5.578161907e-03,7.018927504e-01,-1.821175176e-04,8.351439026e-01,7.018918667e-01,-1.787282589e-04,8.351579349e-01,7.020741231e-01,-1.779871670e-04,8.239945033e-01
+27,2.371666667e+01,DOWN_FORCE_DETACH,1791617345567416787,3.553016760e-04,-1.865766690e-04,-5.907259284e-03,3.551437231e-04,-1.867259465e-04,-5.906884947e-03,3.450294563e-04,-1.862009662e-04,-5.902170524e-03,7.018931732e-01,-1.850257077e-04,8.348336819e-01,7.018930152e-01,-1.851749851e-04,8.348340562e-01,7.020742387e-01,-1.844169425e-04,8.236704947e-01
+28,2.403333333e+01,DOWN_FORCE_DETACH,1791617346165610928,3.500346416e-04,-1.869632067e-04,-6.240336208e-03,3.498234115e-04,-1.867408059e-04,-6.240332441e-03,3.385061997e-04,-1.861685305e-04,-6.235618474e-03,7.018879061e-01,-1.854122454e-04,8.345006050e-01,7.018876949e-01,-1.851898446e-04,8.345006087e-01,7.020677155e-01,-1.843845067e-04,8.233370467e-01
+29,2.433333333e+01,DOWN_FORCE_DETACH,1791617346729549513,3.498841233e-04,-1.850821794e-04,-6.552648558e-03,3.504882545e-04,-1.879665215e-04,-6.534809694e-03,3.379827648e-04,-1.874380289e-04,-6.531149962e-03,7.018877556e-01,-1.835312181e-04,8.341882926e-01,7.018883597e-01,-1.864155601e-04,8.342061315e-01,7.020671920e-01,-1.856540052e-04,8.230415152e-01
+30,2.463333333e+01,DOWN_FORCE_DETACH,1791617347297476670,3.529853248e-04,-1.884944038e-04,-6.885278928e-03,3.533548117e-04,-1.865582215e-04,-6.865950592e-03,3.398266279e-04,-1.859258366e-04,-6.862149760e-03,7.018908568e-01,-1.869434425e-04,8.338556623e-01,7.018912263e-01,-1.850072602e-04,8.338749906e-01,7.020690359e-01,-1.841418129e-04,8.227105154e-01
+31,2.490000000e+01,DOWN_FORCE_DETACH,1791617347793487688,3.480827304e-04,-1.856936352e-04,-7.198969939e-03,3.466057837e-04,-1.897103518e-04,-7.183714519e-03,3.317954193e-04,-1.890904868e-04,-7.180373178e-03,7.018859542e-01,-1.841426739e-04,8.335419712e-01,7.018844773e-01,-1.881593905e-04,8.335572267e-01,7.020610047e-01,-1.873064631e-04,8.223922920e-01
+32,2.515000000e+01,DOWN_FORCE_DETACH,1791617348295577756,3.423632642e-04,-1.860067515e-04,-7.533121828e-03,3.422594602e-04,-1.862282729e-04,-7.533132438e-03,3.260263708e-04,-1.855912280e-04,-7.530243403e-03,7.018802347e-01,-1.844557901e-04,8.332078194e-01,7.018801309e-01,-1.846773116e-04,8.332078087e-01,7.020552356e-01,-1.838072042e-04,8.220424218e-01
+33,2.538333333e+01,DOWN_FORCE_DETACH,1791617348759506363,3.354789222e-04,-1.824986431e-04,-7.856996264e-03,3.351240154e-04,-1.825844157e-04,-7.856498676e-03,3.175583569e-04,-1.819937549e-04,-7.853745514e-03,7.018733504e-01,-1.809476818e-04,8.328839449e-01,7.018729955e-01,-1.810334544e-04,8.328844425e-01,7.020467676e-01,-1.802097312e-04,8.217189197e-01
+34,2.560000000e+01,DOWN_FORCE_DETACH,1791617349193612392,3.270214942e-04,-1.867957231e-04,-8.174874862e-03,3.269937633e-04,-1.867555650e-04,-8.174620690e-03,3.081262893e-04,-1.861333045e-04,-8.172375017e-03,7.018648930e-01,-1.852447618e-04,8.325660663e-01,7.018648652e-01,-1.852046037e-04,8.325663205e-01,7.020373355e-01,-1.843492807e-04,8.214002902e-01
+35,2.581666667e+01,DOWN_FORCE_DETACH,1791617349625543508,3.146035906e-04,-1.823952457e-04,-8.507540229e-03,3.145853457e-04,-1.823209953e-04,-8.507309148e-03,2.940837350e-04,-1.815562643e-04,-8.505306785e-03,7.018524751e-01,-1.808442843e-04,8.322334010e-01,7.018524568e-01,-1.807700340e-04,8.322336320e-01,7.020232930e-01,-1.797722406e-04,8.210673584e-01
+36,2.603333333e+01,DOWN_FORCE_DETACH,1791617350057532705,3.000114352e-04,-1.823253020e-04,-8.849244702e-03,2.998772883e-04,-1.823165118e-04,-8.848830312e-03,2.777577661e-04,-1.816405145e-04,-8.847076079e-03,7.018378829e-01,-1.807743407e-04,8.318916965e-01,7.018377488e-01,-1.807655504e-04,8.318921109e-01,7.020069670e-01,-1.798564908e-04,8.207255891e-01
+37,2.623333333e+01,DOWN_FORCE_DETACH,1791617350457717783,2.911323874e-04,-1.845019511e-04,-9.170113392e-03,2.909311345e-04,-1.846834155e-04,-9.169870453e-03,2.673090199e-04,-1.842175396e-04,-9.168773169e-03,7.018290039e-01,-1.829509898e-04,8.315708278e-01,7.018288026e-01,-1.831324542e-04,8.315710707e-01,7.019965183e-01,-1.824335159e-04,8.204038920e-01
+38,2.641666667e+01,DOWN_FORCE_DETACH,1791617350823538181,2.755613027e-04,-1.797647897e-04,-9.485837438e-03,2.753985597e-04,-1.794636472e-04,-9.486045867e-03,2.501646117e-04,-1.790544327e-04,-9.485289348e-03,7.018134328e-01,-1.782138284e-04,8.312551037e-01,7.018132700e-01,-1.779126859e-04,8.312548953e-01,7.019793739e-01,-1.772704090e-04,8.200873758e-01
+39,2.661666667e+01,DOWN_FORCE_DETACH,1791617351221628624,2.608195834e-04,-1.783968926e-04,-9.822845809e-03,2.606388796e-04,-1.784596586e-04,-9.822848690e-03,2.337359750e-04,-1.780591736e-04,-9.822404181e-03,7.017986911e-01,-1.768459313e-04,8.309180954e-01,7.017985104e-01,-1.769086973e-04,8.309180925e-01,7.019629452e-01,-1.762751499e-04,8.197502610e-01
+40,2.681666667e+01,DOWN_FORCE_DETACH,1791617351603538809,2.479994196e-04,-1.756702320e-04,-1.015024811e-02,2.457742264e-04,-1.781000645e-04,-1.013657097e-02,2.173193572e-04,-1.777041599e-04,-1.013639431e-02,7.017858709e-01,-1.741192706e-04,8.305906931e-01,7.017836457e-01,-1.765491031e-04,8.306043702e-01,7.019465286e-01,-1.759201361e-04,8.194362709e-01
+41,2.701666667e+01,DOWN_FORCE_DETACH,1791617351987563202,2.313262929e-04,-1.758998342e-04,-1.049108802e-02,2.310660911e-04,-1.760834138e-04,-1.049089970e-02,2.008835692e-04,-1.761744466e-04,-1.049106041e-02,7.017691978e-01,-1.743488729e-04,8.302498532e-01,7.017689376e-01,-1.745324525e-04,8.302500415e-01,7.019300928e-01,-1.743904228e-04,8.190816048e-01
+42,2.720000000e+01,DOWN_FORCE_DETACH,1791617352317702097,2.205029046e-04,-1.771102925e-04,-1.079418881e-02,2.204549175e-04,-1.768969958e-04,-1.079374762e-02,1.888763035e-04,-1.773701379e-04,-1.079405318e-02,7.017583744e-01,-1.755593312e-04,8.299467524e-01,7.017583264e-01,-1.753460345e-04,8.299471936e-01,7.019180856e-01,-1.755861142e-04,8.187786120e-01
+43,2.738333333e+01,DOWN_FORCE_DETACH,1791617352685578729,2.067648266e-04,-1.725127982e-04,-1.112773094e-02,2.065601135e-04,-1.726575149e-04,-1.112749475e-02,1.735173008e-04,-1.734609426e-04,-1.112794777e-02,7.017446363e-01,-1.709618369e-04,8.296132103e-01,7.017444316e-01,-1.711065536e-04,8.296134464e-01,7.019027266e-01,-1.716769189e-04,8.184447174e-01
+44,2.758333333e+01,DOWN_FORCE_DETACH,1791617353051618290,1.907727899e-04,-1.752890259e-04,-1.147686162e-02,1.903948695e-04,-1.754254110e-04,-1.147693110e-02,1.557088347e-04,-1.764700410e-04,-1.147758409e-02,7.017286443e-01,-1.737380646e-04,8.292640796e-01,7.017282664e-01,-1.738744496e-04,8.292640101e-01,7.018849181e-01,-1.746860172e-04,8.180950811e-01
+45,2.775000000e+01,DOWN_FORCE_DETACH,1791617353383594529,1.741959072e-04,-1.739612407e-04,-1.180286675e-02,1.740196759e-04,-1.738859997e-04,-1.180275233e-02,1.377175767e-04,-1.749507158e-04,-1.180341742e-02,7.017120674e-01,-1.724102794e-04,8.289380744e-01,7.017118912e-01,-1.723350383e-04,8.289381889e-01,7.018669268e-01,-1.731666921e-04,8.177692478e-01
+46,2.793333333e+01,DOWN_FORCE_DETACH,1791617353718326701,1.549743648e-04,-1.746804381e-04,-1.213885687e-02,1.546955218e-04,-1.747343699e-04,-1.213865903e-02,1.167509202e-04,-1.757880586e-04,-1.213937620e-02,7.016928458e-01,-1.731294767e-04,8.286020843e-01,7.016925670e-01,-1.731834086e-04,8.286022822e-01,7.018459602e-01,-1.740040349e-04,8.174332890e-01
+47,2.810000000e+01,DOWN_FORCE_DETACH,1791617354049620015,1.441981116e-04,-1.700314246e-04,-1.246682802e-02,1.440125497e-04,-1.696375881e-04,-1.246648037e-02,1.047169843e-04,-1.706548291e-04,-1.246720695e-02,7.016820696e-01,-1.684804633e-04,8.282741132e-01,7.016818840e-01,-1.680866267e-04,8.282744608e-01,7.018339262e-01,-1.688708053e-04,8.171054582e-01
+48,2.826666667e+01,DOWN_FORCE_DETACH,1791617354349610309,1.303449488e-04,-1.666441033e-04,-1.277171348e-02,1.301951961e-04,-1.666909910e-04,-1.277153323e-02,8.950216955e-05,-1.676792966e-04,-1.277226968e-02,7.016682164e-01,-1.650931419e-04,8.279692277e-01,7.016680667e-01,-1.651400297e-04,8.279694080e-01,7.018187114e-01,-1.658952728e-04,8.168003955e-01
+49,2.841666667e+01,DOWN_FORCE_DETACH,1791617354647630078,1.112561899e-04,-1.695984503e-04,-1.309314428e-02,1.111358431e-04,-1.696953868e-04,-1.309282234e-02,6.877938148e-05,-1.707623785e-04,-1.309358578e-02,7.016491277e-01,-1.680474890e-04,8.276477969e-01,7.016490073e-01,-1.681444255e-04,8.276481188e-01,7.017979886e-01,-1.689783548e-04,8.164790794e-01
+50,2.860000000e+01,DOWN_FORCE_DETACH,1791617354981706007,1.000161110e-04,-1.666161556e-04,-1.343241085e-02,9.980977171e-05,-1.666895846e-04,-1.343208732e-02,5.605029906e-05,-1.677040150e-04,-1.343283268e-02,7.016378876e-01,-1.650651942e-04,8.273085303e-01,7.016376813e-01,-1.651386233e-04,8.273088539e-01,7.017852596e-01,-1.659199912e-04,8.161398325e-01
+51,2.875000000e+01,DOWN_FORCE_DETACH,1791617355279630997,8.688535034e-05,-1.667306871e-04,-1.375138136e-02,8.672824674e-05,-1.665080992e-04,-1.375090503e-02,4.158890295e-05,-1.675110029e-04,-1.375172060e-02,7.016247568e-01,-1.651797258e-04,8.269895598e-01,7.016245997e-01,-1.649571379e-04,8.269900362e-01,7.017707982e-01,-1.657269792e-04,8.158209446e-01
+52,2.891666667e+01,DOWN_FORCE_DETACH,1791617355580021445,7.289102613e-05,-1.646364926e-04,-1.408020851e-02,7.287016575e-05,-1.646730316e-04,-1.407974011e-02,2.624155223e-05,-1.656502061e-04,-1.408053441e-02,7.016107625e-01,-1.630855313e-04,8.266607327e-01,7.016107416e-01,-1.631220703e-04,8.266612011e-01,7.017554508e-01,-1.638661824e-04,8.154921308e-01
+53,2.906666667e+01,DOWN_FORCE_DETACH,1791617355877639017,5.811110390e-05,-1.654793241e-04,-1.440971555e-02,5.808090925e-05,-1.653735785e-04,-1.440941067e-02,1.000034163e-05,-1.663391627e-04,-1.441021550e-02,7.015959826e-01,-1.639283628e-04,8.263312256e-01,7.015959524e-01,-1.638226172e-04,8.263315305e-01,7.017392096e-01,-1.645551390e-04,8.151624497e-01
+54,2.921666667e+01,DOWN_FORCE_DETACH,1791617356151728332,3.954008081e-05,-1.281067756e-04,-1.472253928e-02,3.920379293e-05,-1.282468778e-04,-1.472245862e-02,-1.036524478e-05,-1.289944643e-04,-1.472332566e-02,7.015774116e-01,-1.265558143e-04,8.260184019e-01,7.015770753e-01,-1.266959165e-04,8.260184826e-01,7.017188440e-01,-1.272104405e-04,8.148493395e-01
+55,2.936666667e+01,DOWN_FORCE_DETACH,1791617356445757047,3.260589937e-05,-1.293047179e-04,-1.505168137e-02,3.241273868e-05,-1.290759790e-04,-1.505150009e-02,-1.845712915e-05,-1.298249923e-04,-1.505233416e-02,7.015704774e-01,-1.277537566e-04,8.256892598e-01,7.015702842e-01,-1.275250177e-04,8.256894411e-01,7.017107521e-01,-1.280409686e-04,8.145203310e-01
+56,2.950000000e+01,DOWN_FORCE_DETACH,1791617356709657928,4.457823020e-06,-1.304621393e-04,-1.537367438e-02,4.271898082e-06,-1.306705873e-04,-1.537393665e-02,-4.846676712e-05,-1.314307353e-04,-1.537485216e-02,7.015423293e-01,-1.289111780e-04,8.253672668e-01,7.015421434e-01,-1.291196260e-04,8.253670045e-01,7.016807425e-01,-1.296467116e-04,8.141978130e-01
+57,2.965000000e+01,DOWN_FORCE_DETACH,1791617357009835287,2.197885145e-07,-1.210370351e-04,-1.571413510e-02,-1.393990776e-07,-1.210933904e-04,-1.571411601e-02,-5.400174502e-05,-1.217867578e-04,-1.571502919e-02,7.015380913e-01,-1.194860738e-04,8.250268061e-01,7.015377321e-01,-1.195424291e-04,8.250268252e-01,7.016752075e-01,-1.200027341e-04,8.138576360e-01
+58,2.980000000e+01,DOWN_FORCE_DETACH,1791617357309673526,-1.527490522e-05,-1.211528328e-04,-1.606725978e-02,-1.544009812e-05,-1.211943223e-04,-1.606703189e-02,-7.082828888e-05,-1.218696084e-04,-1.606795341e-02,7.015225966e-01,-1.196018715e-04,8.246736814e-01,7.015224314e-01,-1.196433609e-04,8.246739093e-01,7.016583810e-01,-1.200855847e-04,8.135047118e-01
+59,3.008333333e+01,DOWN_SETTLE,1791617357875723926,-4.253981429e-05,-1.007621453e-04,-1.636552261e-02,-4.567166282e-05,-1.033317958e-04,-1.636651090e-02,-1.029169595e-04,-1.039066240e-04,-1.636742940e-02,7.014953317e-01,-9.921118394e-05,8.243754186e-01,7.014921998e-01,-1.017808345e-04,8.243744303e-01,7.016262923e-01,-1.021226003e-04,8.132052358e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c9d91fa5b6e9899ef252dd0e14d3d4afa3f1ae1d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.4251e-02,1.9144e-03,2.4512e+00,-3.6918e-02,3.5759e-02,6.4964e-06,5.4203e-04,3.6481e-06,3.3092e-04,-4.3958e-07,3.6225e-05,3.7221e-07,6.3507e-04,3.6229e-05
+1,1.4000e+00,DOWN_FORCE_DETACH,3.3101e-04,6.4131e-03,3.0573e-02,2.4933e+00,-3.8935e-02,3.7208e-02,1.1755e-04,2.1207e-02,2.8663e-02,4.2418e-02,-2.0166e-03,1.4847e-03,1.1143e-04,5.5413e-02,2.5067e-03
+2,2.4833e+00,DOWN_FORCE_DETACH,6.6076e-04,-2.3736e-02,3.8290e-02,2.5406e+00,-3.9388e-02,3.5089e-02,1.2691e-04,-8.9423e-03,3.6379e-02,8.9689e-02,-2.4698e-03,-6.3392e-04,1.2079e-04,9.7198e-02,2.5527e-03
+3,3.5667e+00,DOWN_FORCE_DETACH,9.8927e-04,-1.7465e-02,5.8057e-02,2.5305e+00,-4.0719e-02,3.5458e-02,1.4956e-04,-2.6712e-03,5.6146e-02,7.9612e-02,-3.8013e-03,-2.6480e-04,1.4344e-04,9.7456e-02,3.8132e-03
+4,4.8833e+00,DOWN_FORCE_DETACH,1.3204e-03,1.3711e-02,5.8851e-02,2.4889e+00,-4.0855e-02,3.7688e-02,1.1529e-04,2.8504e-02,5.6941e-02,3.7974e-02,-3.9371e-03,1.9655e-03,1.0917e-04,7.4140e-02,4.4018e-03
+5,6.4333e+00,DOWN_FORCE_DETACH,1.6548e-03,2.3776e-02,5.6802e-02,2.4635e+00,-4.0797e-02,3.8456e-02,4.1485e-06,3.8569e-02,5.4892e-02,1.2584e-02,-3.8789e-03,2.7327e-03,-1.9756e-06,6.8257e-02,4.7448e-03
+6,7.9500e+00,DOWN_FORCE_DETACH,1.9851e-03,2.6197e-02,5.6673e-02,2.4692e+00,-4.0796e-02,3.8619e-02,-8.1356e-06,4.0990e-02,5.4762e-02,1.8287e-02,-3.8776e-03,2.8966e-03,-1.4260e-05,7.0806e-02,4.8401e-03
+7,9.3333e+00,DOWN_FORCE_DETACH,2.3137e-03,1.7212e-02,5.8365e-02,2.4855e+00,-4.0874e-02,3.7974e-02,-6.7994e-06,3.2006e-02,5.6454e-02,3.4585e-02,-3.9562e-03,2.2515e-03,-1.2923e-05,7.3536e-02,4.5520e-03
+8,1.0667e+01,DOWN_FORCE_DETACH,2.6465e-03,1.5890e-02,5.9398e-02,2.5022e+00,-4.0889e-02,3.7872e-02,-1.6865e-05,3.0683e-02,5.7487e-02,5.1290e-02,-3.9713e-03,2.1493e-03,-2.2990e-05,8.2927e-02,4.5156e-03
+9,1.1950e+01,DOWN_FORCE_DETACH,2.9760e-03,1.3127e-02,6.1584e-02,2.5157e+00,-4.0969e-02,3.7661e-02,-5.2756e-05,2.7921e-02,5.9673e-02,6.4824e-02,-4.0506e-03,1.9381e-03,-5.8880e-05,9.2426e-02,4.4908e-03
+10,1.3267e+01,DOWN_FORCE_DETACH,3.3048e-03,1.2905e-02,6.4256e-02,2.5335e+00,-4.1093e-02,3.7620e-02,-9.7882e-05,2.7699e-02,6.2346e-02,8.2600e-02,-4.1751e-03,1.8975e-03,-1.0401e-04,1.0713e-01,4.5873e-03
+11,1.4450e+01,DOWN_FORCE_DETACH,3.6381e-03,1.0754e-02,6.5928e-02,2.5478e+00,-4.1178e-02,3.7461e-02,-9.1830e-05,2.5547e-02,6.4017e-02,9.6919e-02,-4.2599e-03,1.7379e-03,-9.7954e-05,1.1893e-01,4.6018e-03
+12,1.5550e+01,DOWN_FORCE_DETACH,3.9692e-03,1.4609e-02,6.5790e-02,2.5702e+00,-4.1101e-02,3.7695e-02,-5.9354e-05,2.9402e-02,6.3879e-02,1.1924e-01,-4.1828e-03,1.9719e-03,-6.5478e-05,1.3843e-01,4.6248e-03
+13,1.6533e+01,DOWN_FORCE_DETACH,4.2984e-03,2.2071e-02,6.4347e-02,2.5900e+00,-4.0961e-02,3.8190e-02,-3.9315e-05,3.6864e-02,6.2436e-02,1.3908e-01,-4.0429e-03,2.4677e-03,-4.5439e-05,1.5684e-01,4.7367e-03
+14,1.7467e+01,DOWN_FORCE_DETACH,4.6260e-03,2.3654e-02,6.4855e-02,2.6044e+00,-4.0964e-02,3.8300e-02,-5.1789e-05,3.8447e-02,6.2944e-02,1.5347e-01,-4.0462e-03,2.5770e-03,-5.7913e-05,1.7028e-01,4.7976e-03
+15,1.8200e+01,DOWN_FORCE_DETACH,4.9617e-03,2.0409e-02,6.4985e-02,2.6334e+00,-4.0918e-02,3.8047e-02,-6.0129e-05,3.5203e-02,6.3074e-02,1.8244e-01,-3.9998e-03,2.3241e-03,-6.6253e-05,1.9622e-01,4.6265e-03
+16,1.8900e+01,DOWN_FORCE_DETACH,5.2896e-03,1.6115e-02,6.8269e-02,2.6418e+00,-4.1045e-02,3.7734e-02,-7.2169e-05,3.0909e-02,6.6358e-02,1.9085e-01,-4.1265e-03,2.0115e-03,-7.8293e-05,2.0441e-01,4.5913e-03
+17,1.9533e+01,DOWN_FORCE_DETACH,5.6232e-03,1.5740e-02,6.9785e-02,2.6563e+00,-4.1074e-02,3.7686e-02,-6.6963e-05,3.0533e-02,6.7874e-02,2.0537e-01,-4.1560e-03,1.9627e-03,-7.3087e-05,2.1844e-01,4.5967e-03
+18,2.0117e+01,DOWN_FORCE_DETACH,5.9537e-03,2.0355e-02,7.0214e-02,2.6731e+00,-4.1050e-02,3.7980e-02,-5.1887e-05,3.5148e-02,6.8303e-02,2.2214e-01,-4.1320e-03,2.2571e-03,-5.8011e-05,2.3505e-01,4.7087e-03
+19,2.0650e+01,DOWN_FORCE_DETACH,6.2791e-03,2.3036e-02,7.1260e-02,2.6846e+00,-4.1082e-02,3.8157e-02,-4.2772e-05,3.7830e-02,6.9349e-02,2.3372e-01,-4.1635e-03,2.4339e-03,-4.8896e-05,2.4671e-01,4.8230e-03
+20,2.1117e+01,DOWN_FORCE_DETACH,6.6090e-03,2.3392e-02,7.5578e-02,2.7039e+00,-4.1286e-02,3.8158e-02,-4.4009e-05,3.8186e-02,7.3667e-02,2.5300e-01,-4.3684e-03,2.4348e-03,-5.0133e-05,2.6626e-01,5.0014e-03
+21,2.1550e+01,DOWN_FORCE_DETACH,6.9404e-03,2.0732e-02,7.6934e-02,2.7139e+00,-4.1311e-02,3.7963e-02,-4.0923e-05,3.5526e-02,7.5023e-02,2.6303e-01,-4.3925e-03,2.2404e-03,-4.7047e-05,2.7581e-01,4.9311e-03
+22,2.1950e+01,DOWN_FORCE_DETACH,7.2783e-03,2.1293e-02,7.7844e-02,2.7218e+00,-4.1311e-02,3.7985e-02,-3.3297e-05,3.6087e-02,7.5934e-02,2.7087e-01,-4.3929e-03,2.2621e-03,-3.9421e-05,2.8362e-01,4.9413e-03
+23,2.2317e+01,DOWN_FORCE_DETACH,7.6040e-03,2.3856e-02,7.9874e-02,2.7321e+00,-4.1372e-02,3.8149e-02,-2.5741e-05,3.8650e-02,7.7963e-02,2.8116e-01,-4.4541e-03,2.4264e-03,-3.1865e-05,2.9432e-01,5.0722e-03
+24,2.2683e+01,DOWN_FORCE_DETACH,7.9302e-03,2.4891e-02,7.9637e-02,2.7211e+00,-4.1319e-02,3.8220e-02,-2.9968e-05,3.9684e-02,7.7726e-02,2.7018e-01,-4.4013e-03,2.4969e-03,-3.6092e-05,2.8392e-01,5.0604e-03
+25,2.3050e+01,DOWN_FORCE_DETACH,8.2637e-03,2.5275e-02,7.9772e-02,2.7025e+00,-4.1321e-02,3.8250e-02,-3.7178e-05,4.0069e-02,7.7861e-02,2.5162e-01,-4.4028e-03,2.5271e-03,-4.3302e-05,2.6643e-01,5.0767e-03
+26,2.3400e+01,DOWN_FORCE_DETACH,8.6024e-03,2.5715e-02,7.9409e-02,2.6993e+00,-4.1287e-02,3.8282e-02,-3.4506e-05,4.0508e-02,7.7498e-02,2.4838e-01,-4.3694e-03,2.5589e-03,-4.0630e-05,2.6332e-01,5.0637e-03
+27,2.3717e+01,DOWN_FORCE_DETACH,8.9202e-03,2.7751e-02,8.1423e-02,2.6888e+00,-4.1377e-02,3.8423e-02,-2.6040e-05,4.2545e-02,7.9513e-02,2.3789e-01,-4.4586e-03,2.7005e-03,-3.2164e-05,2.5441e-01,5.2127e-03
+28,2.4033e+01,DOWN_FORCE_DETACH,9.2640e-03,3.0398e-02,8.1215e-02,2.6732e+00,-4.1381e-02,3.8616e-02,-2.9896e-05,4.5192e-02,7.9304e-02,2.2228e-01,-4.4634e-03,2.8932e-03,-3.6020e-05,2.4029e-01,5.3192e-03
+29,2.4333e+01,DOWN_FORCE_DETACH,9.5837e-03,2.8116e-02,7.7849e-02,2.6527e+00,-4.1224e-02,3.8473e-02,-5.2311e-05,4.2909e-02,7.5939e-02,2.0177e-01,-4.3060e-03,2.7499e-03,-5.8435e-05,2.1982e-01,5.1095e-03
+30,2.4633e+01,DOWN_FORCE_DETACH,9.9241e-03,2.7511e-02,8.3885e-02,2.6379e+00,-4.1604e-02,3.8443e-02,-6.0096e-05,4.2305e-02,8.1975e-02,1.8698e-01,-4.6857e-03,2.7204e-03,-6.6220e-05,2.0850e-01,5.4185e-03
+31,2.4900e+01,DOWN_FORCE_DETACH,1.0243e-02,2.9506e-02,8.5284e-02,2.6362e+00,-4.1594e-02,3.8576e-02,-5.2408e-05,4.4299e-02,8.3373e-02,1.8523e-01,-4.6757e-03,2.8532e-03,-5.8532e-05,2.0791e-01,5.4778e-03
+32,2.5150e+01,DOWN_FORCE_DETACH,1.0581e-02,2.8758e-02,8.2520e-02,2.6198e+00,-4.1456e-02,3.8542e-02,-5.5355e-05,4.3551e-02,8.0609e-02,1.6885e-01,-4.5380e-03,2.8196e-03,-6.1479e-05,1.9211e-01,5.3429e-03
+33,2.5383e+01,DOWN_FORCE_DETACH,1.0909e-02,2.7657e-02,7.8369e-02,2.5991e+00,-4.1276e-02,3.8485e-02,-7.7249e-05,4.2451e-02,7.6458e-02,1.4815e-01,-4.3584e-03,2.7623e-03,-8.3373e-05,1.7204e-01,5.1607e-03
+34,2.5600e+01,DOWN_FORCE_DETACH,1.1232e-02,2.8731e-02,8.4230e-02,2.5792e+00,-4.1666e-02,3.8575e-02,-8.0833e-05,4.3525e-02,8.2319e-02,1.2827e-01,-4.7478e-03,2.8521e-03,-8.6957e-05,1.5851e-01,5.5393e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1a8cfbb2b28801e311160437f84ce53ddf952
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:859d6a6659011860e66df7acac935852a29e4b9a38be5459fdee142cbdc054f0
+size 3860480
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81917d04ebac9d07ec34758b0c2f41ef1290ffed
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ff9a5f4ac395ef1f7cfe565fceb73540c25fb525
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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+37519,1791617292980055902,22476773000000,1791617292978246452,UP_FORCE_HOLD,6,0.0455,0.04550306126475334,0.6759748425296119,-0.004835338390935712,0.09070267978531331,0.9999999763074625,1.1627219475442236e-05,-0.00019666130324156773,-4.132599412605926e-06,0.6761,-0.0048,0.09099731855044761,1.0,0.0,0.0,0.0,0.6702773536124921,0.3665065573727253,-0.8239321060915874,0.020388198472392937,-0.0447679912083225,-0.000756451247892593,0.5944371550010947,0.3494249832576165,-0.9522461007146741,0.0193936468859524,-0.04472311537128673,-0.0006735800798269855,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.36926376788113807,0.4290700835993143,2.2346265562170995,-0.08684094487672606,-1.367975152434044,0.24261365276659347,0.5152655439204765,0.8239321060915874,-1.719361012296623,0.8239321060915874,0.558,0,0,-1.6399997050690847e-05,-9.999999025923074e-05
+37522,1791617293005024521,22476798000000,1791617292998246493,UP_FORCE_HOLD,6,0.0455,0.04550306126475334,0.6759766278311633,-0.004832537692398069,0.0907034764365892,0.9999999766487125,1.1043958407577487e-05,-0.0001948760890033943,-6.839575316312916e-06,0.6761,-0.0048,0.09099689355052451,1.0,0.0,0.0,0.0,0.6764184710975713,0.3744300495741864,-0.8234449291350895,0.021429620834723506,-0.045597524186268716,-0.0007554269618806911,0.6005782724861739,0.3573484754590776,-0.9517589237581762,0.020435069248282967,-0.04555264834923295,-0.0006725557938150837,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3954322070020675,0.4889364561511781,2.294258400503113,-0.09922918843654474,-1.415744254462182,0.28340922404755897,0.5152655439204765,0.8234449291350895,-1.7789928565826365,0.8234449291350895,0.558,0,0,-1.7649996807171615e-05,-9.999999025923074e-05
+37526,1791617293038049982,22476831000000,1791617293034246753,UP_FORCE_HOLD,6,0.0455,0.04550306126475334,0.6759774365641272,-0.004833245696857707,0.0907056980402599,0.9999999770466141,1.142349957106266e-05,-0.00019276011191279827,-7.91698197454125e-06,0.6761,-0.0048,0.09099628470063534,1.0,0.0,0.0,0.0,0.6966565432399004,0.3886060313032359,-0.813059589486757,0.022653787910085016,-0.0464848033629724,-0.0007659509235612371,0.6208163446285031,0.3715244571881271,-0.9413735841098437,0.021659236323644478,-0.04643992752593663,-0.0006830797554956297,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.4412996726903428,0.4807066946302254,2.3054907686129824,-0.09588867130423294,-1.4366220790379693,0.2782202380183214,0.5152655439204765,0.813059589486757,-1.790225224692506,0.813059589486757,0.558,0,0,-1.929999648572623e-05,-9.999999025923074e-05
+37534,1791617293104954642,22476898000000,1791617293102246339,UP_FORCE_HOLD,6,0.0455,0.04550306126475334,0.6759766793594362,-0.004838662149607418,0.09070405715597753,0.9999999767076161,6.838968374715505e-06,-0.00019482488530323726,-4.9116653399068865e-06,0.6761,-0.0048,0.09099488105089298,1.0,0.0,0.0,0.0,0.7149260003435924,0.4272416110312918,-0.8037209508729058,0.02530958103016825,-0.047914214070761414,-0.0007550704876058253,0.6390858017321951,0.410160036916183,-0.9320349454959925,0.024315029443727713,-0.04786933823372565,-0.0006721993195402179,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3645366538994993,0.4702603185987042,2.2539056863730567,-0.0773847646512304,-1.384277981239764,0.2728505323964504,0.5152655439204765,0.8037209508729058,-1.7386401424525801,0.8037209508729058,0.558,0,0,-2.264999583309469e-05,-9.999999025923074e-05
+37539,1791617293146046854,22476939000000,1791617293142237263,UP_FORCE_HOLD,6,0.0455,0.04550306126475334,0.6759756459407023,-0.004845232708202008,0.09070556558166298,0.9999999767493625,2.678744308453163e-06,-0.00019470426163851925,-5.216700936376879e-06,0.6761,-0.0048,0.09099391140107221,1.0,0.0,0.0,0.0,0.7233338878191029,0.4399380077125866,-0.7923216123584461,0.026648444197439215,-0.04895156175040412,-0.0007662521442365339,0.6474936892077056,0.4228564335974778,-0.9206356069815328,0.025653892610998676,-0.04890668591336835,-0.0006833809761709265,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.4037595606176881,0.5223423557313934,2.3124843448400805,-0.08787122567482368,-1.435588466396129,0.30639451440263166,0.5152655439204765,0.7923216123584461,-1.797218800919604,0.7923216123584461,0.558,0,0,-2.469999543372315e-05,-9.999999025923074e-05
+37546,1791617293205053874,22476998000000,1791617293202246573,UP_FORCE_HOLD,6,0.0455,0.045502401888370514,0.6759749772915226,-0.004853760941809705,0.09070340416618322,0.999999976599214,-1.2586281661800572e-06,-0.00019554428696454452,-2.298661971183969e-06,0.6761,-0.0048,0.09099236855135887,1.0,0.0,0.0,0.0,0.7468009691681234,0.4742663317469781,-0.790054197901379,0.0287034461464172,-0.050003981288348064,-0.0007643757410083556,0.6709607705567261,0.4571847576318693,-0.9183681925244657,0.02770889455997666,-0.0499591054513123,-0.0006815045729427481,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.4023691321348345,0.6318444120499511,2.2473746558240784,-0.12181809508073017,-1.3933893614992363,0.3773611257187614,0.5152655439204765,0.790054197901379,-1.7321091119036018,0.790054197901379,0.558,0,0,-2.7649994859017764e-05,-9.999999025923074e-05
+37554,1791617293271009927,22477064000000,1791617293266246628,UP_FORCE_HOLD,6,0.0455,0.045502401888370514,0.6759757332446049,-0.0048537570584910655,0.09070500083226446,0.9999999767119965,-5.096766009693003e-07,-0.00019497547837514848,-1.7815900411932163e-06,0.6761,-0.0048,0.09099043640171971,1.0,0.0,0.0,0.0,0.7589769143513455,0.4890576873415051,-0.7790118468303074,0.03011690604856402,-0.05106371981565699,0.0002521779452536455,0.6831367157399482,0.4719761132263963,-0.9073258414533941,0.02912235446212348,-0.05101884397862122,0.000335049113319253,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3558124868781691,0.5694749555948808,2.1928734935617697,-0.09429411805137022,-1.3455233778387965,0.33803199263625844,0.5152655439204765,0.7790118468303074,-1.6776079496412932,0.7790118468303074,0.558,0,0,-3.094999421612699e-05,-9.999999025923074e-05
+37558,1791617293305025555,22477098000000,1791617293302246948,UP_FORCE_HOLD,6,0.0455,0.045502401888370514,0.6759745691307386,-0.004858012769941768,0.0907020854853288,0.9999999765093983,-3.296093671309722e-06,-0.00019599251002319363,-3.728255663788282e-07,0.6761,-0.0048,0.09098935605192215,1.0,0.0,0.0,0.0,0.7682020767003467,0.5028992586607052,-0.7689881417020034,0.031148263323132256,-0.0519668544799653,0.00024761063730110994,0.6923618780889493,0.48581768454559643,-0.89730213632509,0.030153711736691718,-0.05192197864292954,0.0003304818053667174,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34118741470525893,0.627455200985562,2.175834520081114,-0.1101926734688817,-1.3314188628066985,0.37586622740192344,0.5152655439204765,0.7689881417020034,-1.6605689761606377,0.7689881417020034,0.558,0,0,-3.264999388494084e-05,-9.999999025923074e-05
+37562,1791617293337958140,22477131000000,1791617293330246973,UP_FORCE_HOLD,6,0.0455,0.045502401888370514,0.6759744534517067,-0.0048605107607867905,0.09070436013004281,0.9999999764993348,-5.348020464179055e-06,-0.00019599803662448512,6.023218620589089e-07,0.6761,-0.0048,0.09098825220212942,1.0,0.0,0.0,0.0,0.7717737492104839,0.5247563308278458,-0.7684036604693386,0.03218130518268807,-0.052114528890125626,-0.0005405737523795328,0.6959335505990866,0.507674756712737,-0.8967176550924253,0.031186753596247535,-0.05206965305308986,-0.0004577025843139254,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34846276492246625,0.6913603688935642,2.2352250612768163,-0.12113809855799515,-1.3719542546082948,0.41899514825546547,0.5152655439204765,0.7684036604693386,-1.7199595173563398,0.7684036604693386,0.558,0,0,-3.429999356349545e-05,-9.999999025923074e-05
+37566,1791617293371072610,22477164000000,1791617293370247085,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759738269163761,-0.004862633842968547,0.09070313402813984,0.9999999762680908,-3.3172417440260424e-06,-0.00019721751347218826,9.646973559803632e-07,0.6761,-0.0048,0.09098709390234729,1.0,0.0,0.0,0.0,0.7769169473730365,0.526444322598395,-0.7583412104295216,0.03300224572317934,-0.052315248358386315,0.00024881472567652466,0.7010767487616392,0.5093627484832862,-0.8866552050526083,0.032007694136738804,-0.05227037252135055,0.00033168589374213213,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3365284956017062,0.6590324912538623,2.118819670594091,-0.1126507624458084,-1.295762586217773,0.3984097205336622,0.5152655439204765,0.7583412104295216,-1.6035541266736146,0.7583412104295216,0.558,0,0,-3.594999324205007e-05,-9.999999025923074e-05
+37568,1791617293388038589,22477181000000,1791617293382247221,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759741656316595,-0.004859490478635143,0.09070353654149663,0.9999999763730227,-5.7318548841514685e-06,-0.00019663134545617406,2.797695709590365e-07,0.6761,-0.0048,0.09098647595246366,1.0,0.0,0.0,0.0,0.7769584832368718,0.5224639664985268,-0.7578157065283025,0.03319094808323756,-0.05282626817638915,0.00024707370756814,0.7011182846254744,0.505382392383418,-0.8861297011513892,0.03219639649679702,-0.05278139233935338,0.00032994487563374746,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3256460805099559,0.5868535438761805,2.1903738217595916,-0.09175429103884748,-1.3392014242687045,0.3498592482323425,0.5152655439204765,0.7578157065283025,-1.675108277839115,0.7578157065283025,0.558,0,0,-3.679999307645699e-05,-9.999999025923074e-05
+37570,1791617293404954594,22477198000000,1791617293402246942,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759760836175034,-0.00485952461830742,0.09070603206987027,0.9999999770853317,-3.817392502688899e-06,-0.0001930221539394463,-2.7593957259826896e-07,0.6761,-0.0048,0.09098584355258285,1.0,0.0,0.0,0.0,0.7852822346509689,0.5340304462011005,-0.74943932220729,0.033648146374700365,-0.05315060321199304,0.00025009489625392467,0.7094420360395716,0.5169488720859917,-0.8777533168303767,0.03265359478825983,-0.05310572737495727,0.00033296606431953215,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3265188186403719,0.6704532875868795,2.232176767529928,-0.11438217065277785,-1.365156856931303,0.40522415627311903,0.5152655439204765,0.74943932220729,-1.7169112236094515,0.74943932220729,0.558,0,0,-3.764999291086391e-05,-9.999999025923074e-05
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+37594,1791617293604958329,22477398000000,1791617293598246797,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759764953027512,-0.004869926200216856,0.09070563487459532,0.9999999772491035,-1.026236504543342e-05,-0.00019191583533764367,2.7663930694030624e-06,0.6761,-0.0048,0.09097731855419647,1.0,0.0,0.0,0.0,0.811730960864139,0.5812260867739051,-0.72566830905041,0.03729996172676527,-0.055134114935217776,0.0002402842542174167,0.7358907622527416,0.5641445126587963,-0.8539823036734967,0.036305410140324734,-0.05508923909818201,0.0003231554222830242,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2868835607634507,0.7007824690656618,2.0799001710818104,-0.10533405527429202,-1.2621212989053774,0.42698004624745073,0.5152655439204765,0.72566830905041,-1.5646346271613338,0.72566830905041,0.558,0,0,-4.764999096271006e-05,-9.999999025923074e-05
+37598,1791617293638057620,22477431000000,1791617293630247085,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759781636030573,-0.004869132725397615,0.09070864780897016,0.9999999775491079,-7.334044243421981e-06,-0.000190467536347999,3.6024541916370156e-06,0.6761,-0.0048,0.09097571970450016,1.0,0.0,0.0,0.0,0.8112945601038565,0.590228401106836,-0.7216481255035531,0.03738374688621433,-0.055270400532106204,0.00023671520506177618,0.7354543614924591,0.5731468269917273,-0.8499621201266397,0.03638919529977379,-0.05522552469507044,0.00031958637312738366,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2490495605760751,0.7344945051385524,2.0670579223741643,-0.11862420796775021,-1.2453111613679808,0.4510143687465672,0.5152655439204765,0.7216481255035531,-1.5517923784536878,0.7216481255035531,0.558,0,0,-4.9299990641264675e-05,-9.999999025923074e-05
+37606,1791617293705065877,22477498000000,1791617293698246571,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759769675838523,-0.0048743208429922,0.09070579514891432,0.9999999772272329,-1.3890481635159228e-05,-0.0001917869340011149,3.636583910037279e-06,0.6761,-0.0048,0.09097230605514939,1.0,0.0,0.0,0.0,0.8117124765579966,0.6023840566570795,-0.7151742759806723,0.03840474492440664,-0.05529386008392042,0.00024304718354882748,0.7358722779465993,0.5853024825419707,-0.843488270603759,0.0374101933379661,-0.05524898424688465,0.00032591835161443496,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.28300575075111817,0.7392975473761854,2.1596390709176703,-0.11526947617680143,-1.314970616185963,0.45466127902499515,0.5152655439204765,0.7151742759806723,-1.6443735269971937,0.7151742759806723,0.558,0,0,-5.2649989988633135e-05,-9.999999025923074e-05
+37614,1791617293771058148,22477564000000,1791617293766246728,UP_FORCE_HOLD,6,0.0455,0.045501090586185455,0.6759759196253161,-0.004873797627643196,0.0907038171757572,0.9999999767973656,-1.441534738343678e-05,-0.00019396301048649846,4.322172246470483e-06,0.6761,-0.0048,0.09096872390583167,1.0,0.0,0.0,0.0,0.814986826580364,0.598497433531686,-0.704717484759394,0.03944190124792594,-0.05619211988582303,0.00022690220078789794,0.7391466279689667,0.5814158594165773,-0.8330314793824807,0.0384473496614854,-0.056147244048787265,0.0003097733688535054,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2333134339034841,0.7023802688457905,2.1063721825859782,-0.09584605371820336,-1.2708282776532522,0.4307797533286013,0.5152655439204765,0.704717484759394,-1.5911066386655017,0.704717484759394,0.558,0,0,-5.5949989345742364e-05,-9.999999025923074e-05
+37622,1791617293838059572,22477631000000,1791617293834246875,UP_FORCE_HOLD,6,0.0455,0.045501090586185455,0.6759747046883945,-0.004875713806748713,0.0907026032602292,0.9999999765175566,-1.4369059352435907e-05,-0.0001953964221109085,4.6388828476728795e-06,0.6761,-0.0048,0.0909648648682845,1.0,0.0,0.0,0.0,0.8196526864607596,0.6091874656157917,-0.6945939210500524,0.03985217875795042,-0.0563382255988623,0.00022781730161867177,0.7438124878493623,0.5921058915006829,-0.822907915673139,0.03885762717150988,-0.05629334976182653,0.00031068846968427925,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.28659410422549475,0.7687301256309016,2.091887905110905,-0.11339745161383324,-1.2771727808497826,0.477088754431859,0.5152655439204765,0.6945939210500524,-1.5766223611904286,0.6945939210500524,0.558,0,0,-5.926374256900134e-05,-9.124462581843235e-05
+37630,1791617293904956708,22477698000000,1791617293902238165,UP_FORCE_HOLD,6,0.0455,0.045501090586185455,0.6759784806293734,-0.0048766154181986475,0.09070802828216634,0.9999999777800218,-1.5266132347894782e-05,-0.00018874596676318845,4.9724928599666085e-06,0.6761,-0.0048,0.09096083835638215,1.0,0.0,0.0,0.0,0.8200392068847028,0.6212730301230587,-0.6842055145416858,0.040468562126058406,-0.05635274081005723,0.00022637424829513868,0.7441990082733054,0.6041914560079499,-0.8125195091647724,0.03947401053961787,-0.05630786497302146,0.00030924541636074616,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.20760905131611265,0.664407314581755,2.0948096251421786,-0.08198390612514508,-1.2574319559866864,0.4063186866065065,0.5152655439204765,0.6842055145416858,-1.579544081221702,0.6842055145416858,0.558,0,0,-6.062703718183408e-05,-2.5007273626351218e-05
+37634,1791617293938059907,22477731000000,1791617293930246807,UP_FORCE_HOLD,6,0.0455,0.045501090586185455,0.6759762591069579,-0.004875378584671429,0.0907025870095466,0.9999999769621587,-1.5019379291671712e-05,-0.0001930607401374748,4.529407624147815e-06,0.6761,-0.0048,0.0909588320259927,1.0,0.0,0.0,0.0,0.8200221539905219,0.6215116138203792,-0.677837812394341,0.04046723381354553,-0.056354455915633435,0.00022005785211549135,0.7441819553791246,0.6044300397052704,-0.8061518070174277,0.03947268222710499,-0.05630958007859767,0.00030292902018109883,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2363068690471677,0.6821100375596727,2.132800642631602,-0.090643030466967,-1.291317388654617,0.4160986392649623,0.5152655439204765,0.677837812394341,-1.6175350987111257,0.677837812394341,0.558,0,0,-6.086375391663906e-05,9.543916358268346e-06
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+37662,1791617294171025713,22477964000000,1791617294170246987,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759767657222309,-0.004886765211402856,0.09070314056149521,0.9999999772477143,-2.2104834140325745e-05,-0.00019077235023286004,8.045012883022879e-06,0.6761,-0.0048,0.09094517128284871,1.0,0.0,0.0,0.0,0.8281212908709478,0.6481369651743253,-0.6493095974864251,0.04250477134907571,-0.05639985280790369,0.00022221483954846464,0.7522810922595504,0.6310553910592165,-0.7776235921095118,0.04151021976263517,-0.05635497697086792,0.0003050860076140721,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.22937386156146763,0.7836151481097517,1.9715361624417278,-0.11582826059898137,-1.19724918812934,0.4858091197149096,0.5152655439204765,0.6493095974864251,-1.4562706185212513,0.6493095974864251,0.558,0,0,-5.4903505607135965e-05,8.694711203650058e-05
+37666,1791617294205017827,22477998000000,1791617294202236995,UP_FORCE_HOLD,6,0.0455,0.045501746237277985,0.6759775218336145,-0.004884759716724112,0.09070355557040215,0.9999999774420912,-1.913828852439636e-05,-0.0001900671748033462,8.177804237863725e-06,0.6761,-0.0048,0.09094333179621453,1.0,0.0,0.0,0.0,0.82010907684315,0.6483680859596817,-0.643357950827976,0.04250384340145491,-0.05640099898192327,0.00021643488523806926,0.7442688782317527,0.6312865118445729,-0.7716719454510627,0.04150929181501437,-0.056356123144887506,0.00029930605330367674,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.26060943129566544,0.7300649188790923,2.0442202998961174,-0.09552836937234754,-1.2522626822475453,0.4529031904500665,0.5152655439204765,0.643357950827976,-1.528954755975641,0.643357950827976,0.558,0,0,-5.3231506470770344e-05,9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b73ce10488f0c936e05f992bf2de1a1d0545da6a
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0911c946e96517b60746d0ead9a371517661c632
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.050000000e+00,UP_FORCE_HOLD,1791617294672647779,-2.499425538e-06,-1.033055727e-04,-6.117921259e-06,-2.969504629e-06,-9.077296611e-05,-7.367023880e-08,-2.649511644e-06,-9.071181494e-05,4.609873760e-08,7.015353721e-01,-1.017546113e-04,8.407348233e-01,7.015349020e-01,-8.922200478e-05,8.407408675e-01,7.017265597e-01,-8.892779122e-05,8.295727113e-01
+44,1.100000000e+00,UP_FORCE_HOLD,1791617294770750902,-1.362271326e-07,-1.054388682e-04,-4.655990259e-06,-2.969504629e-06,-9.077296611e-05,-7.367023880e-08,-2.639007232e-06,-9.071199866e-05,5.152044480e-08,7.015377353e-01,-1.038879069e-04,8.407362852e-01,7.015349020e-01,-8.922200478e-05,8.407408675e-01,7.017265703e-01,-8.892797494e-05,8.295727167e-01
+45,1.150000000e+00,UP_FORCE_HOLD,1791617294872670491,-7.150229241e-07,-1.058559393e-04,-7.226316822e-06,-2.969504629e-06,-9.077296611e-05,-7.367023880e-08,-2.628996951e-06,-9.071217041e-05,5.665314329e-08,7.015371565e-01,-1.043049779e-04,8.407337149e-01,7.015349020e-01,-8.922200478e-05,8.407408675e-01,7.017265803e-01,-8.892814669e-05,8.295727218e-01
+46,1.166666667e+00,UP_FORCE_HOLD,1791617294904678017,1.950344528e-06,-1.057787252e-04,-4.768729445e-06,-2.969504629e-06,-9.077296611e-05,-7.367023880e-08,-2.625765789e-06,-9.071222532e-05,5.830252292e-08,7.015398218e-01,-1.042277639e-04,8.407361725e-01,7.015349020e-01,-8.922200478e-05,8.407408675e-01,7.017265835e-01,-8.892820159e-05,8.295727235e-01
+47,1.183333333e+00,UP_FORCE_HOLD,1791617294936685544,-2.086796566e-06,-1.091552055e-04,-8.832936173e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.981323669e-06,-1.090623037e-04,-8.992713985e-06,7.015357847e-01,-1.076042442e-04,8.407321083e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272279e-01,-1.072782800e-04,8.295636725e-01
+48,1.200000000e+00,UP_FORCE_HOLD,1791617294970681975,1.044139277e-06,-1.112764376e-04,-4.363235765e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.978306160e-06,-1.090732047e-04,-9.001883502e-06,7.015389156e-01,-1.097254763e-04,8.407365780e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272310e-01,-1.072891809e-04,8.295636633e-01
+49,1.233333333e+00,UP_FORCE_HOLD,1791617295038653869,-1.789417179e-06,-1.065979274e-04,-1.019070393e-05,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.971645214e-06,-1.090773050e-04,-9.010633630e-06,7.015360821e-01,-1.050469660e-04,8.407307505e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272376e-01,-1.072932813e-04,8.295636546e-01
+50,1.250000000e+00,UP_FORCE_HOLD,1791617295072629331,2.119128436e-06,-1.087590497e-04,-4.318129516e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.968394515e-06,-1.090792188e-04,-9.014198845e-06,7.015399906e-01,-1.072080884e-04,8.407366231e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272409e-01,-1.072951951e-04,8.295636510e-01
+51,1.266666667e+00,UP_FORCE_HOLD,1791617295104651265,5.111412128e-07,-1.067857031e-04,-7.157807127e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.965112670e-06,-1.090806898e-04,-9.017377868e-06,7.015383826e-01,-1.052347418e-04,8.407337834e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272441e-01,-1.072966661e-04,8.295636478e-01
+52,1.300000000e+00,UP_FORCE_HOLD,1791617295170670522,-7.608779529e-08,-1.088298389e-04,-5.863883919e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.958899681e-06,-1.090827750e-04,-9.022998865e-06,7.015377954e-01,-1.072788776e-04,8.407350773e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272504e-01,-1.072987513e-04,8.295636422e-01
+53,1.333333333e+00,UP_FORCE_HOLD,1791617295236691648,2.797109946e-07,-1.070458901e-04,-6.346205319e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.952900197e-06,-1.090841249e-04,-9.027936759e-06,7.015381512e-01,-1.054949288e-04,8.407345950e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272564e-01,-1.073001012e-04,8.295636373e-01
+54,1.366666667e+00,UP_FORCE_HOLD,1791617295286683204,2.332250405e-06,-1.111285110e-04,-5.568313445e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.947113352e-06,-1.090850387e-04,-9.032394776e-06,7.015402037e-01,-1.095775497e-04,8.407353729e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272621e-01,-1.073010150e-04,8.295636328e-01
+55,1.416666667e+00,UP_FORCE_HOLD,1791617295368843408,3.163784199e-06,-1.087213354e-04,-4.487472152e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.938867507e-06,-1.090859195e-04,-9.038432349e-06,7.015410353e-01,-1.071703741e-04,8.407364537e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272704e-01,-1.073018958e-04,8.295636268e-01
+56,1.433333333e+00,UP_FORCE_HOLD,1791617295402764672,1.858742370e-06,-1.150198002e-04,-6.558745517e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.936197354e-06,-1.090861414e-04,-9.040297306e-06,7.015397302e-01,-1.134688388e-04,8.407343824e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272731e-01,-1.073021177e-04,8.295636249e-01
+57,1.450000000e+00,UP_FORCE_HOLD,1791617295436685937,-4.553586185e-07,-1.119497078e-04,-9.026096665e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.933575208e-06,-1.090863365e-04,-9.042100222e-06,7.015374161e-01,-1.103987465e-04,8.407319151e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272757e-01,-1.073023128e-04,8.295636231e-01
+58,1.500000000e+00,UP_FORCE_HOLD,1791617295536686241,1.108497614e-06,-1.115268319e-04,-7.442562134e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.925936151e-06,-1.090868282e-04,-9.047166095e-06,7.015389800e-01,-1.099758706e-04,8.407334986e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272833e-01,-1.073028045e-04,8.295636180e-01
+59,1.516666667e+00,UP_FORCE_HOLD,1791617295568704544,1.323465821e-06,-1.069424042e-04,-5.701359692e-06,-2.307302294e-06,-1.091464562e-04,-9.315299166e-06,-1.923496486e-06,-1.090869558e-04,-9.048759100e-06,7.015391949e-01,-1.053914429e-04,8.407352398e-01,7.015355642e-01,-1.075954949e-04,8.407316259e-01,7.017272858e-01,-1.073029321e-04,8.295636164e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cab6eb3d57e88579b32d539294202b732dbe15f8
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_06/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.4251e-02,1.9144e-03,2.4512e+00,-3.6918e-02,3.5759e-02,6.4964e-06,5.4203e-04,3.6481e-06,3.3092e-04,-4.3958e-07,3.6225e-05,3.7221e-07,6.3507e-04,3.6229e-05
+1,1.6667e-02,UP_FORCE_HOLD,3.9256e-06,-1.3731e-02,1.9173e-03,2.4516e+00,-3.6919e-02,3.5794e-02,6.8702e-06,1.0626e-03,6.4844e-06,6.4993e-04,-8.2329e-07,7.1142e-05,7.4608e-07,1.2456e-03,7.1151e-05
+2,3.3333e-02,UP_FORCE_HOLD,1.0875e-05,-1.3223e-02,1.9175e-03,2.4519e+00,-3.6919e-02,3.5828e-02,7.2478e-06,1.5705e-03,6.7168e-06,9.5987e-04,-1.0468e-06,1.0533e-04,1.1237e-06,1.8406e-03,1.0534e-04
+3,5.0000e-02,UP_FORCE_HOLD,2.2495e-05,-1.2730e-02,1.9186e-03,2.4522e+00,-3.6919e-02,3.5861e-02,7.6279e-06,2.0634e-03,7.8657e-06,1.2584e-03,-1.3188e-06,1.3860e-04,1.5038e-06,2.4169e-03,1.3861e-04
+4,5.0000e-02,UP_FORCE_HOLD,2.2495e-05,-1.2730e-02,1.9186e-03,2.4522e+00,-3.6919e-02,3.5861e-02,7.6279e-06,2.0634e-03,7.8657e-06,1.2584e-03,-1.3188e-06,1.3860e-04,1.5038e-06,2.4169e-03,1.3861e-04
+5,8.3333e-02,UP_FORCE_HOLD,2.8552e-05,-1.1520e-02,3.2733e-03,2.4531e+00,-3.7009e-02,3.5943e-02,8.8602e-06,3.2736e-03,1.3626e-03,2.1524e-03,-9.0703e-05,2.2039e-04,2.7360e-06,4.1480e-03,2.3834e-04
+6,1.0000e-01,UP_FORCE_HOLD,3.5485e-05,-5.1983e-03,1.6021e-02,2.4593e+00,-3.7864e-02,3.6375e-02,1.9939e-05,9.5952e-03,1.4110e-02,8.4181e-03,-9.4607e-04,6.5257e-04,1.3815e-05,1.9027e-02,1.1494e-03
+7,1.1667e-01,UP_FORCE_HOLD,4.6632e-05,-5.6235e-03,1.4748e-02,2.4589e+00,-3.7784e-02,3.6349e-02,2.0518e-05,9.1700e-03,1.2837e-02,7.9689e-03,-8.6572e-04,6.2653e-04,1.4394e-05,1.7674e-02,1.0687e-03
+8,1.1667e-01,UP_FORCE_HOLD,4.6632e-05,-5.6235e-03,1.4748e-02,2.4589e+00,-3.7784e-02,3.6349e-02,2.0518e-05,9.1700e-03,1.2837e-02,7.9689e-03,-8.6572e-04,6.2653e-04,1.4394e-05,1.7674e-02,1.0687e-03
+9,1.3333e-01,UP_FORCE_HOLD,4.9397e-05,-5.6457e-03,1.4851e-02,2.4589e+00,-3.7794e-02,3.6350e-02,2.1562e-05,9.1479e-03,1.2940e-02,7.9999e-03,-8.7561e-04,6.2708e-04,1.5438e-05,1.7752e-02,1.0771e-03
+10,1.5000e-01,UP_FORCE_HOLD,5.7566e-05,-7.9951e-04,2.4909e-02,2.4661e+00,-3.8555e-02,3.6712e-02,5.5116e-05,1.3994e-02,2.2999e-02,1.5142e-02,-1.6368e-03,9.8921e-04,4.8992e-05,3.0888e-02,1.9131e-03
+11,1.6667e-01,UP_FORCE_HOLD,6.4168e-05,-1.2149e-03,2.3809e-02,2.4651e+00,-3.8482e-02,3.6685e-02,5.5605e-05,1.3579e-02,2.1898e-02,1.4209e-02,-1.5643e-03,9.6212e-04,4.9481e-05,2.9425e-02,1.8372e-03
+12,1.8333e-01,UP_FORCE_HOLD,6.9651e-05,-1.4884e-03,2.2896e-02,2.4644e+00,-3.8422e-02,3.6667e-02,5.6094e-05,1.3305e-02,2.0985e-02,1.3445e-02,-1.5039e-03,9.4420e-04,4.9970e-05,2.8252e-02,1.7764e-03
+13,2.1667e-01,UP_FORCE_HOLD,7.5391e-05,-1.7194e-03,2.1515e-02,2.4632e+00,-3.8330e-02,3.6652e-02,5.7058e-05,1.3074e-02,1.9604e-02,1.2322e-02,-1.4117e-03,9.2892e-04,5.0933e-05,2.6591e-02,1.6907e-03
+14,2.3333e-01,UP_FORCE_HOLD,8.3490e-05,-1.7409e-03,2.0843e-02,2.4627e+00,-3.8284e-02,3.6650e-02,5.7688e-05,1.3053e-02,1.8932e-02,1.1793e-02,-1.3664e-03,9.2738e-04,5.1564e-05,2.5843e-02,1.6522e-03
+15,2.6667e-01,UP_FORCE_HOLD,8.6385e-05,-1.7121e-03,2.8525e-02,2.4550e+00,-3.8876e-02,3.6648e-02,1.2219e-04,1.3081e-02,2.6614e-02,4.1003e-03,-1.9579e-03,9.2476e-04,1.1607e-04,2.9937e-02,2.1684e-03
+16,3.0000e-01,UP_FORCE_HOLD,9.5160e-05,-1.5477e-03,2.8997e-02,2.4562e+00,-3.8901e-02,3.6659e-02,1.2251e-04,1.3246e-02,2.7086e-02,5.3277e-03,-1.9825e-03,9.3592e-04,1.1639e-04,3.0618e-02,2.1954e-03
+17,3.1667e-01,UP_FORCE_HOLD,9.8255e-05,-1.4114e-03,2.9098e-02,2.4567e+00,-3.8904e-02,3.6668e-02,1.2266e-04,1.3382e-02,2.7187e-02,5.8312e-03,-1.9863e-03,9.4509e-04,1.1653e-04,3.0858e-02,2.2027e-03
+18,3.3333e-01,UP_FORCE_HOLD,1.0660e-04,-1.2486e-03,2.9141e-02,2.4572e+00,-3.8904e-02,3.6679e-02,1.2279e-04,1.3545e-02,2.7230e-02,6.2728e-03,-1.9864e-03,9.5602e-04,1.1666e-04,3.1053e-02,2.2075e-03
+19,3.5000e-01,UP_FORCE_HOLD,1.1206e-04,-1.0649e-03,2.9143e-02,2.4576e+00,-3.8902e-02,3.6691e-02,1.2291e-04,1.3729e-02,2.7232e-02,6.6612e-03,-1.9839e-03,9.6838e-04,1.1679e-04,3.1216e-02,2.2107e-03
+20,3.6667e-01,UP_FORCE_HOLD,1.1725e-04,-8.3266e-04,2.9108e-02,2.4580e+00,-3.8897e-02,3.6707e-02,1.2306e-04,1.3961e-02,2.7198e-02,7.0820e-03,-1.9786e-03,9.8403e-04,1.1693e-04,3.1381e-02,2.2129e-03
+21,3.8333e-01,UP_FORCE_HOLD,1.2412e-04,-5.9337e-04,2.9048e-02,2.4584e+00,-3.8890e-02,3.6723e-02,1.2319e-04,1.4200e-02,2.7137e-02,7.4360e-03,-1.9718e-03,1.0002e-03,1.1706e-04,3.1518e-02,2.2141e-03
+22,4.1667e-01,UP_FORCE_HOLD,1.2964e-04,-1.0522e-04,2.8890e-02,2.4589e+00,-3.8874e-02,3.6756e-02,1.2341e-04,1.4688e-02,2.6979e-02,7.9954e-03,-1.9563e-03,1.0333e-03,1.1728e-04,3.1742e-02,2.2155e-03
+23,4.5000e-01,UP_FORCE_HOLD,1.3674e-04,3.9282e-04,2.8715e-02,2.4593e+00,-3.8858e-02,3.6790e-02,1.2358e-04,1.5186e-02,2.6804e-02,8.4257e-03,-1.9402e-03,1.0672e-03,1.1746e-04,3.1939e-02,2.2174e-03
+24,4.8333e-01,UP_FORCE_HOLD,1.4232e-04,6.3012e-04,3.1281e-02,2.4588e+00,-3.9024e-02,3.6807e-02,1.2452e-04,1.5424e-02,2.9370e-02,7.8354e-03,-2.1057e-03,1.0842e-03,1.1839e-04,3.4087e-02,2.3714e-03
+25,5.0000e-01,UP_FORCE_HOLD,1.4645e-04,7.2926e-04,3.2195e-02,2.4585e+00,-3.9083e-02,3.6814e-02,1.2496e-04,1.5523e-02,3.0284e-02,7.5667e-03,-2.1653e-03,1.0914e-03,1.1883e-04,3.4862e-02,2.4277e-03
+26,5.3333e-01,UP_FORCE_HOLD,1.5131e-04,1.0162e-03,3.3437e-02,2.4582e+00,-3.9165e-02,3.6834e-02,1.2577e-04,1.5810e-02,3.1526e-02,7.2491e-03,-2.2466e-03,1.1115e-03,1.1964e-04,3.6006e-02,2.5094e-03
+27,5.6667e-01,UP_FORCE_HOLD,1.5870e-04,1.4278e-03,3.4310e-02,2.4580e+00,-3.9222e-02,3.6863e-02,1.2666e-04,1.6221e-02,3.2400e-02,7.1087e-03,-2.3044e-03,1.1402e-03,1.2053e-04,3.6924e-02,2.5738e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e81c77790de952fb9b18cad065a187c7d43e40a1
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:e9fa5ba16d997f2ec69ffe2ec0ec5efa610bca03e20b7e3230bf6b4714ca59a6
+size 91873280
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fe3a7bd46b8c3a954973862338089106916e687d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,3.288333e+01,2822,6.939702e-01,1.999951e-02,8.175397e-01,4.297212e-05,-1.014782e-04,-1.652780e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,3.288333e+01,2826,6.992628e-01,2.125618e-02,8.245872e-01,-3.024809e-05,-8.926287e-05,-1.655476e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bfb3a62bbdde8017fe747c3217926f19808ced8d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/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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+49015,1791617388746128116,22572538000000,1791617388738246414,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676130201060117,-0.004968670584597662,0.09023456988202559,0.9999999866577985,-8.095443176108152e-05,5.949241673510986e-05,8.963425412154285e-05,0.6761,-0.0048,0.09011070840791853,1.0,0.0,0.0,0.0,0.33331091036443816,0.7869675020593643,1.4343864330303548,0.057646808238865574,-0.023728168062411598,0.002270089950186985,0.2574707117530408,0.7698859279442555,1.3060724384072682,0.056652256652425036,-0.023683292225375827,0.0023529611182525924,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7618519344016232,0.47135418435169946,-0.6685861990294836,0.19520819642239334,0.592376558858134,0.253011715199224,0.5152655439204765,1.4343864330303548,1.18385174294996,1.18385174294996,1.0247199999998986,1,0,-1.360161983043895e-12,1.3739009929736312e-11
+49390,1791617391871170035,22575663000000,1791617391866246461,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6761294335733191,-0.0049676416182038345,0.09022425509007875,0.9999999867718085,-7.916182043241608e-05,5.6973372022132086e-05,9.157886428798205e-05,0.6761,-0.0048,0.09009404711336653,1.0,0.0,0.0,0.0,0.33558868744172066,0.7758715184895753,1.4177791836183222,0.057538697154576324,-0.02473537570097866,0.0022612393437341388,0.2597484888303233,0.7587899443744665,1.2894651889952355,0.056544145568135785,-0.02469049986394289,0.002344110511799746,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7544696330327219,0.4039569617682242,-0.6700593198684329,0.21195711378848558,0.5891246710001009,0.2106126311068623,0.5152655439204765,1.4177791836183222,1.1853248637889093,1.1853248637889093,1.2747200000001486,1,0,-2.38103128422359e-05,-9.714538481831454e-05
+49749,1791617394863169167,22578655000000,1791617394862246177,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676143440420107,-0.0049701209116531225,0.09017404593967229,0.9999999843786928,-8.84987474752572e-05,8.09136234125942e-05,9.113965057668162e-05,0.6761,-0.0048,0.09000401701406119,1.0,0.0,0.0,0.0,0.306106946736575,0.7986445615854182,1.6095286223080376,0.059488762376686495,-0.022787418569386125,0.0021572359971807923,0.23026674812517764,0.7815629874703094,1.481214627684951,0.05849421079024596,-0.022742542732350355,0.0022401071652463998,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8970478466909712,0.449627932106304,-0.9856442192455589,0.2093258513941529,0.8173802322828295,0.24091617637155133,0.5152655439204765,1.6095286223080376,1.5009097631660353,1.5009097631660353,1.514080000000388,1,0,-3.817603468484065e-05,9.691984301086193e-05
+50105,1791617397829241214,22581621000000,1791617397826246276,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6761580198094734,-0.004974413861078332,0.09009488210968351,0.9999999851315623,3.162583470327785e-05,0.00010642227552109107,9.409487550354452e-05,0.6761,-0.0048,0.08989635418087089,1.0,0.0,0.0,0.0,0.296102581920502,0.8063215327035813,1.810120983197135,0.05970614101065161,-0.021597550505176918,0.0020111597489410092,0.2202623833091046,0.7892399585884725,1.6818069885740483,0.05871158942421107,-0.021552674668141147,0.0020940309170066167,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9697191028468449,0.38556093825193155,-1.2271247252862454,0.2235570847732996,0.9867457358093311,0.18222081217369887,0.5152655439204765,1.810120983197135,1.742390269206722,1.742390269206722,1.7513600000006253,1,0,-3.8160083180834075e-05,9.997557923047679e-05
+50436,1791617400588238363,22584380000000,1791617400586237539,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6761726831823921,-0.004978991577824421,0.08998874876313535,0.9999999817864639,4.165697117297073e-06,0.00013465809807434951,9.858894443774448e-05,0.6761,-0.0048,0.08976282413896591,1.0,0.0,0.0,0.0,0.3045887307938625,0.8000509122230666,1.9524540078422918,0.05937259947479632,-0.02091535930078705,0.0019151577255080822,0.22874853218246516,0.7829693381079578,1.8241400132192052,0.05837804788835578,-0.02087048346375128,0.0019980288935736897,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9875096314475122,0.3854236207904492,-1.3475285504222356,0.24634610565694573,1.0591836517882867,0.21109670193903424,0.5152655439204765,1.9524540078422918,1.8627940943427121,1.8627940943427121,1.972080000000846,1,0,-5.3082355049054126e-05,-9.999999025923074e-05
+50747,1791617403179259191,22586971000000,1791617403178237363,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676187062731917,-0.004980056875261971,0.0898517391233408,0.9999999782615208,-2.8505473538021013e-05,0.0001594698696269929,9.314838304662678e-05,0.6761,-0.0048,0.08959376923135273,1.0,0.0,0.0,0.0,0.3299185875414661,0.7761161021130836,2.089876396048983,0.0573566689472985,-0.022852743544513526,0.0017522204708496523,0.25407838893006873,0.7590345279979748,1.961562401425896,0.056362117360857965,-0.022807867707477756,0.0018350916389152597,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.986283876736605,0.3166752302794605,-1.5952613334123147,0.2827890785102738,1.2170338151171247,0.1739800544901133,0.5152655439204765,2.089876396048983,2.1105268773327914,2.1105268773327914,2.1793600000010533,1,0,-7.248828340769708e-05,9.990149959915868e-05
+51055,1791617405746235709,22589538000000,1791617405742237399,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762072610641482,-0.004982363966700606,0.08968200387078472,0.9999999726537959,-4.253278024568422e-05,0.0001886355509833468,9.350327965236373e-05,0.6761,-0.0048,0.08939041489828005,1.0,0.0,0.0,0.0,0.36873105067388245,0.7460003555806,2.2000087227709826,0.05433164698068527,-0.024966382032522046,0.0016049398432814118,0.2928908520624851,0.7289187814654912,2.0716947281478957,0.053337095394244735,-0.024921506195486276,0.0016878110113470192,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9907822780352822,0.31815950308433033,-1.7926113475515917,0.2971728991780549,1.3450321118242448,0.17901508763550864,0.5152655439204765,2.2000087227709826,2.307876891472068,2.307876891472068,2.3847200000012587,1,0,-8.742945347276076e-05,8.750065535879088e-05
+51326,1791617408004259513,22591796000000,1791617408002236778,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.676228904114632,-0.004984440687638921,0.08949415717556902,0.9999999665398552,-4.520355902173065e-05,0.0002175227281847115,9.488758526426231e-05,0.6761,-0.0048,0.08917066597394709,1.0,0.0,0.0,0.0,0.401922290199974,0.7084917854437334,2.299544488750265,0.05234602427400998,-0.0278682695588656,0.0014526185120128231,0.32608209158857665,0.6914102113286246,2.1712304941271783,0.05135147268756944,-0.02782339372182983,0.0015354896800784305,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9740666705905495,0.38074959131395064,-1.8303708275448245,0.2880015251179269,1.3622817556144278,0.2217935775019343,0.5152655439204765,2.299544488750265,2.345636371465301,2.345636371465301,2.5653600000014394,1,0,-0.00010869429615675686,-9.970356071165582e-05
+51590,1791617410204380325,22593996000000,1791617410202237142,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762432541714981,-0.004991212942654154,0.08925893854137479,0.9999999607368472,-5.0175056743854807e-05,0.00023906739127617526,0.00010148110616338295,0.6761,-0.0048,0.08891960226917389,1.0,0.0,0.0,0.0,0.4692769765237588,0.643988982812161,2.4182741248559028,0.04735342216228929,-0.032856270392669286,0.0012283631472050033,0.3934367779123615,0.6269074086970522,2.289960130232816,0.046358870575848754,-0.03281139455563352,0.0013112343152706107,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9295012778735231,0.3322133142308867,-2.0676256376272146,0.31795481098839884,1.5136609510424128,0.19488184268139755,0.5152655439204765,2.4182741248559028,2.582891181547691,2.582891181547691,2.7413600000016154,1,0,-0.0001224578267782298,-4.360836348393527e-05
+51821,1791617412129398609,22595921000000,1791617412126237486,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762540481843667,-0.004992829547107659,0.0890136804070681,0.9999999566999148,-3.94069469990351e-05,0.0002535224879306647,0.0001105281573660878,0.6761,-0.0048,0.0886618131175618,1.0,0.0,0.0,0.0,0.53433869637679,0.5900578289403485,2.5065027705343526,0.043360827616125044,-0.036857728798728825,0.0010559697841413796,0.4584984977653926,0.5729762548252397,2.3781887759112657,0.042366276029684506,-0.03681285296169306,0.001138840952206987,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8399098349819109,0.4689728234483256,-2.1226099540122387,0.2806017213155721,1.5386102286668815,0.281552229728335,0.5152655439204765,2.5065027705343526,2.6378754979327153,2.6378754979327153,2.8953600000017694,1,0,-0.00014865032848673654,-9.999141378636551e-05
+52032,1791617413888312041,22597680000000,1791617413886239321,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6762712261751611,-0.0049848139567106415,0.08874907679654698,0.9999999500498422,-2.671734960261242e-05,0.00027955245589957045,0.00011171295861073046,0.6761,-0.0048,0.08836821036872312,1.0,0.0,0.0,0.0,0.6049156693100096,0.5517553681492441,2.616887340771327,0.040412774805324056,-0.041889966811403855,0.0008622338906448147,0.5290754706986123,0.5346737940341353,2.48857334614824,0.03941822321888352,-0.04184509097436809,0.0009451050587104222,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7713325790590574,0.33725296679856887,-2.247640810518213,0.34666656751081776,1.6092657962253751,0.20018343714434234,0.5152655439204765,2.616887340771327,2.7629063544386896,2.7629063544386896,3.03608000000191,1,0,-0.00018010253855923886,-9.999999025923074e-05
+52228,1791617415521334153,22599313000000,1791617415518236421,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6762855143752343,-0.004988451258538482,0.08845388817269738,0.9999999437912317,-3.0802108817074215e-05,0.0002999401379681976,0.00011378726508225809,0.6761,-0.0048,0.08805429598363983,1.0,0.0,0.0,0.0,0.6540336755135782,0.5038349236961241,2.7159337537013073,0.03641889725313209,-0.04588700386107818,0.0006792438636574029,0.5781934769021808,0.4867533495810154,2.5876197590782204,0.03542434566669155,-0.04584212802404241,0.0007621150317230103,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6908377124414988,0.4594249235243958,-2.439214979680679,0.32074560680159886,1.7258413559638357,0.2780284743025326,0.5152655439204765,2.7159337537013073,2.9544805236011555,2.9544805236011555,3.166720000002041,1,0,-0.00020704471566793258,9.96262753113541e-05
+52400,1791617416954419110,22600746000000,1791617416954236865,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6762946878499622,-0.004991833135800382,0.08815168558644983,0.9999999388374058,-3.307247530162628e-05,0.00031373907759506655,0.00011934006741670741,0.6761,-0.0048,0.08774081935541263,1.0,0.0,0.0,0.0,0.7009194204959963,0.4444312487459449,2.811056581295106,0.031750090576941246,-0.04885709432777764,0.000514531013763539,0.625079221884599,0.4273496746308361,2.682742586672019,0.030755538990500705,-0.048812218490741875,0.0005974021818291464,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5975489626072533,0.3906229778006397,-2.405583188709452,0.3506930821755299,1.694263189245048,0.23235465189066523,0.5152655439204765,2.811056581295106,2.9208487326299286,2.9208487326299286,3.2813600000021554,1,0,-0.00023258756165075856,-9.999999025923074e-05
+52555,1791617418246372254,22602038000000,1791617418242237094,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763090871014941,-0.00499085478846223,0.08785316351906668,0.9999999324029153,-2.427170161283834e-05,0.0003338400489850989,0.00012082522658003677,0.6761,-0.0048,0.0874205197427265,1.0,0.0,0.0,0.0,0.7418822124464313,0.4105519184355515,2.8942311963289145,0.029396664741028394,-0.05179267771826244,0.0003688623399134802,0.6660420138350339,0.3934703443204427,2.7659172017058276,0.028402113154587856,-0.05174780188122667,0.0004517335079790877,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5635277669886096,0.4499013597494242,-2.5342334813499683,0.35110326932296504,1.7819845838576305,0.27444981790283596,0.5152655439204765,2.8942311963289145,3.049499025270445,3.049499025270445,3.384720000002259,1,0,-0.00026234910825514697,-5.886536899297242e-05
+52695,1791617419413378125,22603205000000,1791617419406237378,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763194760797507,-0.004991919375469792,0.08754648210561011,0.9999999264185957,-2.0623016875779778e-05,0.0003512342095528998,0.00012171642824985506,0.6761,-0.0048,0.08709313851894157,1.0,0.0,0.0,0.0,0.7528379609207493,0.36205616811954355,2.9724860119768826,0.025689525162495157,-0.05185719031019984,0.00025857087390763507,0.6769977623093519,0.34497459400443475,2.8441720173537957,0.02469497357605462,-0.051812314473164076,0.00034144204197324255,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5436312736760751,0.3322883220368086,-2.557541457431057,0.3996325400102329,1.8066525728424,0.19643312581208983,0.5152655439204765,2.9724860119768826,3.0728070013515336,3.0728070013515336,3.478080000002352,1,0,-0.00029829017101776065,-7.666375453763691e-05
+52827,1791617420513464973,22604305000000,1791617420510236904,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763311102055651,-0.00499930193820461,0.08722580675342323,0.9999999175453077,-2.7328100314410265e-05,0.00037420451560533945,0.0001248054391050357,0.6761,-0.0048,0.0867521263494134,1.0,0.0,0.0,0.0,0.7731284638474624,0.32906512726500503,3.0416523914723013,0.02329756975626869,-0.05380942922318514,0.00015507008038351423,0.697288265236065,0.31198355314989623,2.9133383968492144,0.022303018169828152,-0.053764553386149376,0.00023794124844912169,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4306335652532345,0.46520443744546974,-2.590104865617042,0.36888625486091436,1.8058860216928874,0.28502238984664735,0.5152655439204765,3.0416523914723013,3.1053704095375183,3.1053704095375183,3.56608000000244,1,0,-0.0003245974587965091,-9.96259144888711e-05
+52947,1791617421513404213,22605305000000,1791617421506236956,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763421067556004,-0.004993833392812196,0.08690447397851055,0.9999999125483917,-2.360184154265648e-05,0.0003889006470178287,0.00012060395228726671,0.6761,-0.0048,0.08641187750272099,1.0,0.0,0.0,0.0,0.8022310436835566,0.30002985917143193,3.121486097890987,0.021293973783935143,-0.05581423043820252,3.9324699085422165e-05,0.7263908450721592,0.28294828505632313,2.9931721032679,0.020299422197494605,-0.055769354601166755,0.00012219586715102963,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3912456866942442,0.33474009867828247,-2.69277301122604,0.4159587967322904,1.872500544046997,0.1984689329716261,0.5152655439204765,3.121486097890987,3.2080385551465165,3.2080385551465165,3.64608000000252,1,0,-0.000356105596547054,5.729738042677807e-05
+53058,1791617422438426768,22606230000000,1791617422438236727,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763495220707834,-0.005000947176623506,0.08658251728632249,0.9999999056772686,-2.5043244105219562e-05,0.0004035003183871204,0.00012902963713910597,0.6761,-0.0048,0.0860709805182677,1.0,0.0,0.0,0.0,0.8176641855235413,0.2720524221416825,3.157839623968407,0.019271614068172637,-0.05679624240560666,-2.725520325293584e-05,0.7418239869121439,0.2549708480265737,3.02952562934532,0.0182770624817321,-0.056751366568570896,5.5615964812671625e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3642290191081076,0.3345208363945446,-2.617995857014868,0.4276384189143084,1.826085105480335,0.19905549120702043,0.5152655439204765,3.157839623968407,3.1332614009353446,3.1332614009353446,3.720080000002594,1,0,-0.0003815125059161969,-9.999933800320377e-05
+53162,1791617423304498845,22607096000000,1791617423302237467,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763601851494891,-0.00499762117196462,0.08625545665869032,0.999999896728224,-1.8343736094428304e-05,0.00042601542237725374,0.00012712502898289655,0.6761,-0.0048,0.08572951928241142,1.0,0.0,0.0,0.0,0.8417718942874384,0.25619062995371694,3.2056243813492498,0.017492150994489045,-0.05880458328526058,0.0008989004310700766,0.765931695676041,0.23910905583860814,3.077310386726163,0.016497599408048506,-0.05875970744822481,0.000981771599135684,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3684799984615783,0.3593639506712597,-2.623382398544408,0.43234812694652336,1.839358177755257,0.21393243232299827,0.5152655439204765,3.2056243813492498,3.1386479424648845,3.1386479424648845,3.7893600000026635,1,0,-0.00040458455826816584,-9.999990699250389e-05
+53262,1791617424138476518,22607930000000,1791617424138237134,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763630892127235,-0.005002571858730537,0.08591666069908982,0.999999894034271,-3.5295549421803646e-05,0.00043222636535190657,0.00012372915673161943,0.6761,-0.0048,0.08538210863369326,1.0,0.0,0.0,0.0,0.8530396622172967,0.22695355274159756,3.250540239979794,0.01627129366371264,-0.05979698817908872,-0.00017803363538280265,0.7771994636058993,0.20987197862648876,3.122226245356707,0.015276742077272101,-0.05975211234205295,-9.516246731719519e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.39421079597525555,0.32178094620968517,-2.742844517569079,0.44880533544024326,1.9301441446964898,0.18928688442603542,0.5152655439204765,3.250540239979794,3.2581100614895555,3.2581100614895555,3.85608000000273,1,0,-0.00042954110135026555,-9.998065850081445e-05
+53354,1791617424904485577,22608696000000,1791617424902237184,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676371058181107,-0.005001833155537677,0.08559368656858854,0.9999998890490889,-2.7632265021073794e-05,0.00044367318862356057,0.00012544016165185577,0.6761,-0.0048,0.08504609421392864,1.0,0.0,0.0,0.0,0.8721266737639464,0.1892364860395933,3.2696693730530773,0.013230916009473839,-0.06075594844634368,-0.00024109855880684344,0.796286475152549,0.1721549119244845,3.1413553784299904,0.0122363644230333,-0.060711072609307914,-0.00015822739074123596,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3340063522843294,0.21101576902868022,-2.7924769240488865,0.4813458775917816,1.9467940967263142,0.11984501149681148,0.5152655439204765,3.2696693730530773,3.307742467969363,3.307742467969363,3.9173600000027915,1,0,-0.0004490884814814785,-9.999835268026942e-05
+53442,1791617425638535678,22609430000000,1791617425638236391,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763751190440517,-0.004999665352833392,0.08526532090731699,0.9999998859884424,-2.4091477662373105e-05,0.00045039605902034155,0.00012660551941218447,0.6761,-0.0048,0.08470819927356385,1.0,0.0,0.0,0.0,0.8728775749721456,0.15408593855959324,3.279430635944599,0.011176193784133436,-0.06072325821055584,0.0007540539077731462,0.7970373763607482,0.13700436444448444,3.151116641321512,0.010181642197692898,-0.06067838237352007,0.0008369250758387537,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3932526502601417,0.29770370410668967,-2.8963703664315323,0.45954816070269683,2.0344059427315493,0.17662566772743926,0.5152655439204765,3.279430635944599,3.411635910352009,3.411635910352009,3.9760800000028502,1,0,-0.00046970494717715896,9.780412177218806e-05
+53529,1791617426363523541,22610155000000,1791617426358236758,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763802029769093,-0.005006520455146943,0.08493073831033505,0.999999880807628,-2.9798358840824434e-05,0.0004617300351566152,0.00012547918794369022,0.6761,-0.0048,0.08436005689511514,1.0,0.0,0.0,0.0,0.8839865929411425,0.13257212304560567,3.304816661663719,0.009173597123688672,-0.06231567698536722,0.0006866294116027607,0.8081463943297451,0.11549054893049687,3.176502667040632,0.008179045537248134,-0.06227080114833145,0.0007695005796683681,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.34483769783249696,0.4022946147299576,-2.8806458982647807,0.42926094038578855,2.0178683093778806,0.24687010873015613,0.5152655439204765,3.304816661663719,3.395911442185257,3.395911442185257,4.034080000002719,1,0,-0.0004882783529267228,-9.998138014578046e-05
+53609,1791617427029472427,22610821000000,1791617427022237941,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763822074322738,-0.005004860063237111,0.08460439823302819,0.9999998797381602,-2.71723377371423e-05,0.0004641417496391251,0.00012570055677581582,0.6761,-0.0048,0.08403010954977434,1.0,0.0,0.0,0.0,0.9036771653747262,0.10363474837880447,3.3181182627630017,0.007165810795898795,-0.06368730246949948,0.0006333562048142147,0.8278369667633289,0.08655317426369567,3.189804268139915,0.0061712592094582555,-0.06364242663246371,0.0007162273728798221,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.392081029324189,0.3055552383139583,-2.895946956643274,0.4607547126287299,2.0417978394451923,0.18118887016447793,0.5152655439204765,3.3181182627630017,3.4112125005637504,3.4112125005637504,4.087360000002477,1,0,-0.0005055882671231845,-9.991269897391958e-05
+53689,1791617427696514276,22611488000000,1791617427694236888,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763848016226106,-0.004999570043817298,0.08426944143626665,0.9999998760793404,-2.8812330486620744e-05,0.00047240780640081233,0.00012363204439199178,0.6761,-0.0048,0.08368485079224908,1.0,0.0,0.0,0.0,0.889682315791503,0.08481359420782109,3.257242689067955,0.006128001016029184,-0.06264678986388841,0.0006852030909603725,0.8138421171801057,0.06773202009271229,3.128928694444868,0.005133449429588645,-0.06260191402685264,0.0007680742590259799,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.44573899017131396,0.21550908221547235,-2.762628395303166,0.48850291791741357,1.9697649581463812,0.1254152899083856,0.5152655439204765,3.257242689067955,3.2778939392236426,3.2778939392236426,4.140720000002234,1,0,-0.000532118738026692,-9.999999025923074e-05
+53761,1791617428296581895,22612088000000,1791617428294236929,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.676382148752402,-0.005004638261380752,0.08394423746606204,0.9999998755518039,-3.3157011149981655e-05,0.0004734534295450317,0.00012280758925346626,0.6761,-0.0048,0.08335718149086722,1.0,0.0,0.0,0.0,0.8980646565209822,0.049681791275393655,3.2488806217437576,0.003066145698909841,-0.06258578000507238,0.0006584527891096038,0.8222244579095849,0.032600217160284856,3.1205666271206707,0.0020715941124693025,-0.0625409041680366,0.0007413239571752113,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3977727287370444,0.27274567232270597,-2.8550754731967154,0.4622197235263438,2.0183672211010166,0.15944454035077446,0.5152655439204765,3.2488806217437576,3.370341017117192,3.370341017117192,4.188720000002015,1,0,-0.0005599194760161616,-9.999749225742533e-05
+53833,1791617428896492637,22612688000000,1791617428890237428,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763795949706883,-0.004998633755819211,0.08359327029392101,0.9999998780054709,-3.1317875778312926e-05,0.0004670983893099459,0.0001275546673246058,0.6761,-0.0048,0.0830133481660462,1.0,0.0,0.0,0.0,0.8978217529413328,0.018802057496422303,3.246209992815134,0.0010615284822099319,-0.06355937706408551,0.000621545110115139,0.8219815543299355,0.0017204833813135086,3.117895998192047,6.697689576939317e-05,-0.06351450122704974,0.0007044162781807465,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.42849041382609343,0.216238845803388,-2.8459033115537316,0.4708585076369045,2.0245904777407677,0.11986398265898092,0.5152655439204765,3.246209992815134,3.361168855474208,3.361168855474208,4.236720000001797,1,0,-0.0005861841219881578,-9.999999025923074e-05
+53897,1791617429429530420,22613221000000,1791617429426236746,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763763686751127,-0.004997486212554095,0.08326815416041786,0.9999998798138329,-2.4912482661499125e-05,0.00046322774720491256,0.00012889766034193396,0.6761,-0.0048,0.0826943170628711,1.0,0.0,0.0,0.0,0.8978720898580005,0.002200724140641536,3.206564913975611,0.0010553090973903054,-0.06354870077995756,0.0006535282628277747,0.8220318912466031,-0.01488084997446726,3.078250919352524,6.075751094976667e-05,-0.06350382494292178,0.0007363994308933822,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5124596954137368,0.3200207649483395,-2.938678953073581,0.43994331649539004,2.1055887831504165,0.19305364748675038,0.5152655439204765,3.206564913975611,3.4539444969940574,3.4539444969940574,4.279360000001603,1,0,-0.000611309437774403,-9.999999025923074e-05
+53961,1791617429963565635,22613755000000,1791617429962237417,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.676371063884368,-0.004995398491927408,0.08292672891907565,0.9999998834167844,-2.6137613063434478e-05,0.000454634241188022,0.0001312776217999452,0.6761,-0.0048,0.08236076227449099,1.0,0.0,0.0,0.0,0.8897525285798467,-0.04363529758452914,3.174072358858986,-0.0009759109136660521,-0.06349513150409938,-0.00023598675626612745,0.8139123299684493,-0.060716871699637937,3.045758364235899,-0.0019704625001065908,-0.06345025566706361,-0.00015311558820052,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5556240528127246,0.2648179573458971,-2.9203456612407215,0.4454644999560029,2.1093432425919363,0.15388521378317957,0.5152655439204765,3.174072358858986,3.435611205161198,3.435611205161198,4.322080000001408,1,0,-0.0006380094325728322,-9.999999025923074e-05
+54016,1791617430421600789,22614213000000,1791617430414237239,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763628438604736,-0.0049895161684623615,0.08261261147441987,0.9999998913394039,-2.669133372503419e-05,0.0004378380225355559,0.00012786509911954247,0.6761,-0.0048,0.0820633213053965,1.0,0.0,0.0,0.0,0.8815170792307465,-0.06957179423843433,3.1424386800485875,-0.004058538393022006,-0.06241747502310029,-0.0003657746688425969,0.8056768806193492,-0.08665336835354313,3.0141246854255006,-0.005053089979462544,-0.062372599186064526,-0.0002829035007769894,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5168095816467405,0.24870847614792688,-2.8983779924020823,0.45217001234355625,2.0862171743285214,0.14295874799075758,0.5152655439204765,3.1424386800485875,3.413643536322559,3.413643536322559,4.358720000001242,1,0,-0.0006609094281115599,-9.999999025923074e-05
+54076,1791617430921612362,22614713000000,1791617430914246838,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763568977067738,-0.004984994952350438,0.08225471614340785,0.9999998968198252,-2.5534162093295407e-05,0.0004257645760968031,0.00012599895174493167,0.6761,-0.0048,0.08172662909256075,1.0,0.0,0.0,0.0,0.8562245840296283,-0.11415538295310929,3.0709152468018357,-0.007137104540186585,-0.06132876697661607,-0.0003299608262620083,0.780384385418231,-0.13123695706821809,2.942601252178749,-0.008131656126627123,-0.061283891139580306,-0.00024708965819640084,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.552462977726672,0.2362079740748942,-2.8387061642549827,0.43584378180983874,2.0578479721973024,0.13313013784969444,0.5152655439204765,3.0709152468018357,3.353971708175459,3.353971708175459,4.39872000000106,1,0,-0.0006859094232411752,-9.999999025923074e-05
+54128,1791617431354618595,22615146000000,1791617431350237199,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763470682655621,-0.0049780134752375185,0.08193425493926311,0.9999999030378418,-2.823629034218182e-05,0.0004106072699267065,0.00012637861139973424,0.6761,-0.0048,0.08142495391321257,1.0,0.0,0.0,0.0,0.8473597167401484,-0.1657648388406494,2.9889908032961006,-0.010213611062235216,-0.06023593964587288,-0.000278307200092864,0.7715195181287511,-0.1828464129557582,2.8606768086730137,-0.011208162648675754,-0.06019106380883711,-0.00019543603202725653,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5698758658536056,0.10093300239716863,-2.7726440588007866,0.46491170760119005,2.0181679299758164,0.04442773083506822,0.5152655439204765,2.9889908032961006,3.287909602721263,3.287909602721263,4.433360000000902,1,0,-0.0007075594190234222,-9.999999025923074e-05
+54180,1791617431788580140,22615580000000,1791617431786237088,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6763298917349545,-0.004975664467684252,0.0815951778614059,0.999999913616403,-3.0306831085204542e-05,0.0003849212911458372,0.00012299246590040763,0.6761,-0.0048,0.08111317507627588,1.0,0.0,0.0,0.0,0.8127758236868141,-0.19830818642215878,2.879040029619147,-0.013309263419730724,-0.058210080625163224,-0.00020306670171930615,0.7369356250754168,-0.21538976053726758,2.75072603499606,-0.014303815006171262,-0.05816520478812746,-0.0001201955336536987,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6199860328811856,0.12231195464057242,-2.73401721366868,0.44242828659176264,2.0074169112323514,0.05317224797348463,0.5152655439204765,2.879040029619147,3.2492827575891563,3.2492827575891563,4.468080000000744,1,0,-0.0007292594147959283,-9.999999025923074e-05
+54232,1791617432221606011,22616013000000,1791617432214237241,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763179402738527,-0.004971343698607348,0.0812446495274793,0.9999999211205113,-2.593273251697255e-05,0.0003633397255020046,0.00012850514741582827,0.6761,-0.0048,0.0807927293505845,1.0,0.0,0.0,0.0,0.8050543199812483,-0.2539409153546893,2.7860897944067418,-0.016667983594131634,-0.05762481322177716,-0.00015178618352616172,0.729214121369851,-0.2710224894697981,2.657775799783655,-0.017662535180572172,-0.057579937384741396,-6.891501546055426e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6203162689450012,0.14677922476782826,-2.6859479245568103,0.42708757014636817,1.9728784042106213,0.06911911002161467,0.5152655439204765,2.7860897944067418,3.201213468477287,3.201213468477287,4.502720000000586,1,0,-0.0007509094105781752,-9.999999025923074e-05
+54280,1791617432621603427,22616413000000,1791617432614247131,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6763052191698798,-0.004966842739996564,0.08092190561315925,0.9999999279169153,-3.0360347663220594e-05,0.00034490773475936336,0.000125403080334502,0.6761,-0.0048,0.08048837558713444,1.0,0.0,0.0,0.0,0.7800517916753441,-0.28245904048001624,2.6306714008945296,-0.019430148345162313,-0.05592841042492935,-4.259722458492747e-05,0.7042115930639468,-0.29954061459512504,2.5023574062714427,-0.02042469993160285,-0.05588353458789359,4.0273943480679995e-05,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6425901363812858,0.11430831374713327,-2.4621531738540483,0.4267095901546867,1.8312441479559691,0.045985260650510444,0.5152655439204765,2.6306714008945296,2.977418717774525,2.977418717774525,4.534720000000441,1,0,-0.0007709094066818675,-9.999999025923074e-05
+54328,1791617433021612294,22616813000000,1791617433018237205,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762910819962896,-0.004964440685293728,0.08058873053027676,0.999999934251625,-3.0305284517007483e-05,0.00032571162796634566,0.00012622652368751578,0.6761,-0.0048,0.0801760218252429,1.0,0.0,0.0,0.0,0.7520244142121671,-0.31372503010237274,2.482632345671058,-0.021381506462828326,-0.05383314674965956,8.220103065537952e-05,0.6761842156007698,-0.33080660421748154,2.3543183510479713,-0.022376058049268864,-0.053788270912623795,0.00016507219872098698,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6662679211940786,0.013225586924549173,-2.3223011415920505,0.44469206727632976,1.7426265525700224,-0.019356685565804256,0.5152655439204765,2.482632345671058,2.837566685512527,2.837566685512527,4.566720000000295,1,0,-0.0007909094027855598,-9.999999025923074e-05
+54376,1791617433421615351,22617213000000,1791617433418236836,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762764338236709,-0.004960141512148962,0.08024636648793838,0.9999999405479513,-2.6850928032459875e-05,0.0003065839092484399,0.00012502916763747375,0.6761,-0.0048,0.07985566806490989,1.0,0.0,0.0,0.0,0.7312538036756773,-0.3324723942563947,2.3150102026030828,-0.022527411269851038,-0.052754168845422784,-0.0008078488011802583,0.6554136050642799,-0.3495539683715035,2.186696207979996,-0.023521962856291576,-0.05270929300838702,-0.0007249776331146509,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7316741538769802,0.02616768307665287,-2.237243897499541,0.43684674995880063,1.69634916917198,-0.011228101655280119,0.5152655439204765,2.3150102026030828,2.7525094414200173,2.7525094414200173,4.598720000000149,1,0,-0.0008109093988892521,-9.999999025923074e-05
+54420,1791617433788647020,22617580000000,1791617433782237518,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762579840783429,-0.004961190670850351,0.07991440550869501,0.9999999484296713,-2.3365348791693303e-05,0.00027878738804789174,0.0001277308574775759,0.6761,-0.0048,0.0795547062661753,1.0,0.0,0.0,0.0,0.7028999386622018,-0.33962931774044103,2.128429618271854,-0.022871592083666705,-0.050683015483784614,-0.000632555962780785,0.6270597400508044,-0.3567108918555498,2.000115623648767,-0.023866143670107243,-0.05063813964674885,-0.0005496847947151776,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7535693157716439,0.1004265187535082,-1.986559033602134,0.4060406121240455,1.5334601013628333,0.03810880860339443,0.5152655439204765,2.128429618271854,2.5018245775226102,2.5018245775226102,4.628080000000016,1,0,-0.0008292593953143898,-9.999999025923074e-05
+54467,1791617434179615269,22617971000000,1791617434174237143,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762410561841286,-0.004954638958701544,0.07956691469222664,0.9999999554037666,-2.2237853291754997e-05,0.0002514651660403711,0.0001300233730757726,0.6761,-0.0048,0.07922665359335387,1.0,0.0,0.0,0.0,0.6885990396348073,-0.34208480570657873,1.9601716653360823,-0.02356323186365446,-0.04961837588796219,-0.0004915296579913196,0.6127588410234099,-0.35916637982168753,1.8318576707129957,-0.024557783450095,-0.04957350005092642,-0.00040865848992571214,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8126391210083749,0.07388134690786151,-1.8570751275189121,0.41089114821053524,1.458177919098602,0.020373995291025064,0.5152655439204765,1.9601716653360823,2.372340671439389,2.372340671439389,4.659359999999873,1,0,-0.000848809391505749,-9.999999025923074e-05
+54512,1791617434554654479,22618346000000,1791617434550237014,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6762237850487613,-0.004956751789167845,0.07921513653547813,0.9999999610030368,-2.249302183938993e-05,0.00022733701442489648,0.00013133443996668346,0.6761,-0.0048,0.07890484382222594,1.0,0.0,0.0,0.0,0.6735968516742001,-0.3437761232797942,1.7982543936964837,-0.023555243895781727,-0.048567982857567894,-0.0012553935420630085,0.5977566530628028,-0.360857697394903,1.669940399073397,-0.024549795482222265,-0.04852310702053213,-0.001172522373997401,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8075879684265934,-0.06723259074620773,-1.7257002591719188,0.4338431652964058,1.3634216584988283,-0.07902010691252662,0.5152655439204765,1.7982543936964837,2.2409658030923953,2.2409658030923953,4.689359999999737,1,0,-0.0008675593878529605,-9.999999025923074e-05
+54551,1791617434879665364,22618671000000,1791617434878236986,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6762035359646438,-0.0049553249272919035,0.0788969474687871,0.9999999682633981,-2.301329985438344e-05,0.00019132593631439467,0.00013334482135078833,0.6761,-0.0048,0.07862025452168975,1.0,0.0,0.0,0.0,0.6582450730536921,-0.36226315874594106,1.6396393094111608,-0.024570724875422747,-0.047496119993352084,-0.0012422032032980259,0.5824048744422947,-0.37934473286104986,1.511325314788074,-0.025565276461863285,-0.04745124415631632,-0.0011593320352324184,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8355156416189735,-0.024902734964191632,-1.6590777570014732,0.4101578784472537,1.3237024595436249,-0.05310626352123457,0.5152655439204765,1.6396393094111608,2.17434330092195,2.17434330092195,4.7153599999996185,1,0,-0.0008838093846872105,-9.999999025923074e-05
+54591,1791617435213662596,22619005000000,1791617435210237202,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6761824827258319,-0.004955323983441004,0.07856976159593883,0.9999999736457349,-2.542006775015569e-05,0.0001587270093764035,0.00013531796108377965,0.6761,-0.0048,0.07832228163774917,1.0,0.0,0.0,0.0,0.6439052684696193,-0.3637061534649122,1.4574341450758508,-0.02558330030306336,-0.046425172185366764,-0.0010935897177737667,0.5680650698582219,-0.380787727580021,1.329120150452764,-0.026577851889503897,-0.046380296348331,-0.0010107185497081593,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8065686541591506,-0.0627788581731988,-1.4591456497106103,0.42559600333093073,1.1790034240544114,-0.07303668477973566,0.5152655439204765,1.4574341450758508,1.9744111936310869,1.9744111936310869,4.742079999999497,1,0,-0.0009005093814337936,-9.999999025923074e-05
+54631,1791617435546673509,22619338000000,1791617435546236390,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.67616506230228,-0.004956461442218663,0.07823734063477296,0.9999999775618976,-2.345798497660072e-05,0.00012857723547725656,0.00013869638174177242,0.6761,-0.0048,0.07801964811427341,1.0,0.0,0.0,0.0,0.6251886431594235,-0.365436378198814,1.2855060422245221,-0.02455721359833312,-0.04539045003278975,-0.0009220772777420367,0.5493484445480261,-0.3825179523139228,1.1571920476014355,-0.02555176518477366,-0.04534557419575398,-0.0008392061096764293,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.824326760705601,0.026958257516864915,-1.2490438787264868,0.3866144826440622,1.0410609845323955,-0.02044542635993269,0.5152655439204765,1.2855060422245221,1.7643094226469633,1.7643094226469633,4.768719999999376,1,0,-0.0009171593781901174,-9.999999025923074e-05
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+54711,1791617436213638593,22620005000000,1791617436210236813,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6761231335585326,-0.004959019354062502,0.07754466798830048,0.999999983085638,-3.067720565434238e-05,6.513402765240705e-05,0.000141732338528057,0.6761,-0.0048,0.07739679726119063,1.0,0.0,0.0,0.0,0.6082876166150896,-0.3349804529174179,0.9125890880694542,-0.023510644326317907,-0.04331703566067502,-0.0016145054465153171,0.5324474180036922,-0.3520620270325267,0.7842750934463675,-0.024505195912758446,-0.04327215982363925,-0.0015316342784497097,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8757630771153662,-0.06870574071138326,-0.8395394295522308,0.42109107708994203,0.7726005521164859,-0.08193276148152952,0.5152655439204765,0.9125890880694542,1.3548049734727075,1.3548049734727075,4.822079999999133,1,0,-0.0009505093716930243,-9.999999025923074e-05
+54751,1791617436546576067,22620338000000,1791617436546237124,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676100777188516,-0.004960188394980298,0.07720103408303212,0.9999999848591494,-3.414043636638482e-05,3.258765549033968e-05,0.0001396318038889765,0.6761,-0.0048,0.07707751374095854,1.0,0.0,0.0,0.0,0.5777745299625289,-0.3182849735251084,0.7168290886431115,-0.022029120493082126,-0.04127057625883359,-0.0014132674867462554,0.5019343313511315,-0.33536654764021717,0.5885150940200248,-0.023023672079522665,-0.04122570042179782,-0.001330396318680648,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.835319720333685,0.02575305913943027,-0.696621379819542,0.38082535637796294,0.657338186742473,-0.021692824592573438,0.5152655439204765,0.7168290886431115,1.2118869237400185,1.2118869237400185,4.848719999999012,1,0,-0.0009671593684493482,-9.999999025923074e-05
+54787,1791617436846677619,22620638000000,1791617436846236653,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.676086997822374,-0.004937005280573119,0.07688220033926081,0.9999999878632264,-1.8804741316070028e-05,8.540568772295763e-06,0.00012365214091196732,0.6761,-0.0048,0.07678512343086354,1.0,0.0,0.0,0.0,0.5608529628194908,-0.2690619250580912,0.5856239108556668,-0.01847340878469477,-0.04028662873999201,-0.0012502841511653937,0.48501276420809347,-0.2861434991732,0.45730991623258005,-0.01946796037113531,-0.04024175290295624,-0.0011674129830997863,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8632275572761707,-0.02324269470567905,-0.49964926880138877,0.4179835715405583,0.5225185635908395,-0.0524021088525058,0.5152655439204765,0.5856239108556668,1.0149148127218652,1.0149148127218652,4.872719999998902,1,0,-0.0009821593655271173,-9.999999025923074e-05
+54823,1791617437146648985,22620938000000,1791617437146237134,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6760648164874211,-0.004937142545521405,0.07654774370012825,0.9999999876701435,-1.4550368514643329e-05,-2.5878965841978144e-05,0.00012337399685381328,0.6761,-0.0048,0.0764882331216452,1.0,0.0,0.0,0.0,0.6105336327985137,-0.19432735994449818,0.44918308115141004,-0.013271048761159884,-0.04336026565014998,-0.0011242805786729768,0.5346934341871163,-0.21140893405960698,0.32086908652832336,-0.014265600347600422,-0.04331538981311421,-0.0010414094106073694,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8902100273276082,0.128731630624166,-0.4196307757904557,0.38248667951415755,0.4662659223886949,0.04760796662360014,0.5152655439204765,0.44918308115141004,0.9348963197109322,0.9348963197109322,4.896719999998793,1,0,-0.0009971593626048865,-9.999999025923074e-05
+54859,1791617437446683791,22621238000000,1791617437446236944,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.676043932336285,-0.004938005489408576,0.07621475458960482,0.9999999858705645,-2.235951370653468e-05,-6.231485308649263e-05,0.00012376852012068544,0.6761,-0.0048,0.07618684281330353,1.0,0.0,0.0,0.0,0.5640774052650355,-0.18608667540913285,0.30793951367151307,-0.01224242139876449,-0.040346732442736746,-0.0009584728542357888,0.4882372066536381,-0.20316824952424165,0.17962551904842639,-0.013236972985205028,-0.04030185660570098,-0.0008756016861701814,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9017292886185269,0.08833169373534644,-0.26680810796311766,0.381834272662031,0.35959114522822033,0.01791150187024792,0.5152655439204765,0.30793951367151307,0.7820736518835942,0.7820736518835942,4.920719999998684,1,0,-0.0010121593596826557,-9.999999025923074e-05
+54898,1791617437771587755,22621563000000,1791617437770236975,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6760235093007279,-0.004938235893590648,0.07585614663960889,0.999999982847962,-1.3648261729869975e-05,-9.459763914821095e-05,0.00012888736088647034,0.6761,-0.0048,0.07585525852192268,1.0,0.0,0.0,0.0,0.5166383432929049,-0.1565178778999175,0.19487910089432292,-0.011306778074243592,-0.03629750370893388,-0.000787037376164708,0.4407981446815075,-0.1735994520150263,0.06656510627123621,-0.01230132966068413,-0.03625262787189811,-0.0007041662080991006,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0178901184762668,0.03063644520888656,-0.18377562176613463,0.3898549250760456,0.3211291141040362,-0.02277284573558675,0.5152655439204765,0.19487910089432292,0.6990411656866111,0.6990411656866111,4.946719999998566,1,0,-0.0010284093565169057,-9.999999025923074e-05
+54934,1791617438071594739,22621863000000,1791617438070236895,DOWN_FORCE_DETACH,7,0.045,0.04500202462077141,0.6760060813796782,-0.004937927814331607,0.07551757304296432,0.9999999803579166,-1.056885243892392e-05,-0.00012012922891879091,0.00012721752500096696,0.6761,-0.0048,0.0755444932154074,1.0,0.0,0.0,0.0,0.4587912523594079,-0.12278869403392859,0.09731535075370087,-0.008334256165990275,-0.03227159851004976,-0.0006302109309653364,0.38295105374801053,-0.13987026814903739,-0.030998643869385833,-0.009328807752430814,-0.03222672267301399,-0.0005473397628997289,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9244008249082379,0.09998743503095467,-0.006531908364144705,0.36127371465547303,0.16916825179633346,0.020761345913047416,0.5152655439204765,0.09731535075370087,0.5217974522846213,0.5217974522846213,4.970719999998456,1,0,-0.001043409353594675,-9.999999025923074e-05
+54967,1791617438346660309,22622138000000,1791617438346236786,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6759907512718065,-0.004938251725736353,0.07519526461991474,0.9999999752004836,-1.2263483124299653e-05,-0.0001520810531055807,0.000133277368789694,0.6761,-0.0048,0.07525567189353853,1.0,0.0,0.0,0.0,0.4123965168754884,-0.11845694268237977,0.013420746988303991,-0.00841106620517713,-0.0294444910488345,-0.0005069400002935792,0.33655631826409105,-0.13553851679748857,-0.11489324763478272,-0.009405617791617669,-0.02939961521179873,-0.0004240688322279717,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9543133205606177,0.13108389548626517,0.05913355083209182,0.3406490849118568,0.12716833128006744,0.03778582213313024,0.5152655439204765,0.013420746988303991,0.4561319930883847,0.4561319930883847,4.992719999998356,1,0,-0.0010571593509159634,-9.999999025923074e-05
+55002,1791617438638674550,22622430000000,1791617438638236570,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6759720685708794,-0.0049406870518078705,0.07486165788233184,0.9999999713179727,-1.6873024226974562e-05,-0.000175894406391267,0.0001326023268812015,0.6761,-0.0048,0.07494485706348776,1.0,0.0,0.0,0.0,0.36430405199463756,-0.11227233192208183,-0.06266080470598284,-0.006427546513650037,-0.026197249832541694,-0.0003942986664833695,0.2884638533832402,-0.12935390603719063,-0.19097479932906955,-0.007422098100090575,-0.026152373995505924,-0.000311427498417762,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9732510199423036,0.021262720996760503,0.11296239969113209,0.35980760773049825,0.08969014861300961,-0.035352978499977004,0.5152655439204765,0.06266080470598284,0.40230314422934443,0.40230314422934443,5.01607999999825,1,0,-0.0010717593480716588,-9.999999025923074e-05
+55038,1791617438938655876,22622730000000,1791617438934246466,DOWN_FORCE_DETACH,7,0.045,0.04500136524438858,0.6759675504343986,-0.004934611817316436,0.07452528669527515,0.9999999686339813,-9.424412240425755e-06,-0.00019071974581137555,0.00013308666317365627,0.6761,-0.0048,0.07462108675950606,1.0,0.0,0.0,0.0,0.30667574046334345,-0.0502054514189396,-0.16512943275040912,-0.0031112776933482533,-0.021791897440335044,-0.00021029255872624138,0.2308355418519461,-0.0672870255340484,-0.2934434273734958,-0.004105829279788792,-0.021747021603299273,-0.00012742139066063393,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0408197824087178,0.04529846031117993,0.2787348896048822,0.3560409102016158,-0.017661798488145274,-0.01905119517179253,0.5152655439204765,0.16512943275040912,0.23653065431559434,0.23653065431559434,5.040079999998141,1,0,-0.001086759345149428,-9.999999025923074e-05
+55107,1791617439506682743,22623298000000,1791617439506246676,DOWN_SETTLE,7,0.045,0.04500136524438858,0.6759219590278364,-0.004918913175112183,0.07419555956887969,0.9999999530347118,-5.700512225616319e-07,-0.00026241174050619276,0.00012850366640612546,0.6761,-0.0048,0.07438649477868817,1.0,0.0,0.0,0.0,0.27894467421812585,-0.05925217358032536,-0.5018531210893369,-0.0034336410167448163,-0.020073708028687794,-0.0009481994353444218,0.20310447560672848,-0.07633374769543416,-0.6301671157124236,-0.004428192603185355,-0.020028832191652024,-0.0008653282672788144,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8396785494256374,0.1562769352558275,0.7039527980756207,0.2937190128402636,-0.33827710780357223,0.04238713966055559,0.5152655439204765,0.5018531210893369,-0.1886872541551442,0.0,0.0,1,1,-1.2354922038258053e-05,0.0001247971923056369
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df17c6fcc0b0b32a4de7b0f9f39210aa45358159
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70ee033e9d10b3bc3d7eb8dae81c3721d9eadf30
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,6.666666667e+00,DOWN_FORCE_DETACH,1791617388742882212,1.702920480e-04,-1.103827261e-04,-4.552318289e-04,1.699743124e-04,-1.165688045e-04,-4.482740595e-04,1.743017625e-04,-1.163672321e-04,-4.479553798e-04,7.017081635e-01,-1.088317648e-04,8.402857094e-01,7.017078458e-01,-1.150178432e-04,8.402926671e-01,7.019034704e-01,-1.146115894e-04,8.291247251e-01
+6,8.250000000e+00,DOWN_FORCE_DETACH,1791617391871028462,1.676551455e-04,-1.095601804e-04,-4.676204433e-04,1.644793187e-04,-1.081610686e-04,-4.669679312e-04,1.686559291e-04,-1.079449800e-04,-4.665323687e-04,7.017055266e-01,-1.080092191e-04,8.402733207e-01,7.017023508e-01,-1.066101073e-04,8.402739733e-01,7.018978246e-01,-1.061893372e-04,8.291061482e-01
+7,9.783333333e+00,DOWN_FORCE_DETACH,1791617394865005543,1.814186573e-04,-1.166662011e-04,-5.161119388e-04,1.768987667e-04,-1.167346904e-04,-5.063298420e-04,1.811569181e-04,-1.165450159e-04,-5.057277250e-04,7.017192901e-01,-1.151152398e-04,8.402248292e-01,7.017147702e-01,-1.151837291e-04,8.402346113e-01,7.019103256e-01,-1.147893732e-04,8.290669528e-01
+8,1.133333333e+01,DOWN_FORCE_DETACH,1791617397826784176,1.991160328e-04,-1.117527781e-04,-5.933719138e-04,1.963776543e-04,-1.171767617e-04,-5.880628933e-04,2.007914106e-04,-1.169744317e-04,-5.871127354e-04,7.017369875e-01,-1.102018168e-04,8.401475693e-01,7.017342491e-01,-1.156258004e-04,8.401528783e-01,7.019299601e-01,-1.152187889e-04,8.289855678e-01
+9,1.271666667e+01,DOWN_FORCE_DETACH,1791617400586961201,2.110317834e-04,-1.207450156e-04,-7.029635712e-04,2.101278767e-04,-1.198682053e-04,-6.935603052e-04,2.145214249e-04,-1.196519219e-04,-6.922599904e-04,7.017489033e-01,-1.191940543e-04,8.400379776e-01,7.017479994e-01,-1.183172440e-04,8.400473809e-01,7.019436901e-01,-1.178962792e-04,8.288804205e-01
+10,1.406666667e+01,DOWN_FORCE_DETACH,1791617403182799282,2.263981637e-04,-1.267700331e-04,-8.408293728e-04,2.249738589e-04,-1.225013179e-04,-8.400850919e-04,2.292117574e-04,-1.222391612e-04,-8.383072923e-04,7.017642696e-01,-1.252190718e-04,8.399001118e-01,7.017628453e-01,-1.209503566e-04,8.399008561e-01,7.019583804e-01,-1.204835185e-04,8.287343732e-01
+11,1.541666667e+01,DOWN_FORCE_DETACH,1791617405743180326,2.443759131e-04,-1.248694056e-04,-1.011338302e-03,2.443394762e-04,-1.249105920e-04,-1.011279091e-03,2.484442665e-04,-1.246471396e-04,-1.009256766e-03,7.017822474e-01,-1.233184443e-04,8.397296029e-01,7.017822110e-01,-1.233596307e-04,8.397296621e-01,7.019776129e-01,-1.228914969e-04,8.285634238e-01
+12,1.656666667e+01,DOWN_FORCE_DETACH,1791617408002911708,2.657138702e-04,-1.289936568e-04,-1.199163100e-03,2.638410197e-04,-1.312829479e-04,-1.180086520e-03,2.679226499e-04,-1.310722220e-04,-1.177947052e-03,7.018035854e-01,-1.274426955e-04,8.395417781e-01,7.018017125e-01,-1.297319866e-04,8.395608547e-01,7.019970913e-01,-1.293165793e-04,8.283947335e-01
+13,1.768333333e+01,DOWN_FORCE_DETACH,1791617410201117824,2.824764114e-04,-1.328586681e-04,-1.429945418e-03,2.787282782e-04,-1.296970278e-04,-1.422274579e-03,2.825038891e-04,-1.294746923e-04,-1.419508541e-03,7.018203479e-01,-1.313077067e-04,8.393109958e-01,7.018165998e-01,-1.281460665e-04,8.393186666e-01,7.020116725e-01,-1.277190496e-04,8.281531720e-01
+14,1.870000000e+01,DOWN_FORCE_DETACH,1791617412131341192,2.953129202e-04,-1.356722864e-04,-1.673907704e-03,2.952432381e-04,-1.361434503e-04,-1.673876546e-03,2.986809849e-04,-1.359013967e-04,-1.670618286e-03,7.018331844e-01,-1.341213251e-04,8.390670335e-01,7.018331147e-01,-1.345924890e-04,8.390670646e-01,7.020278496e-01,-1.341457539e-04,8.279020622e-01
+15,1.963333333e+01,DOWN_FORCE_DETACH,1791617413891313901,3.111978238e-04,-1.329204835e-04,-1.939882649e-03,3.085397748e-04,-1.309293146e-04,-1.926685966e-03,3.113601721e-04,-1.306810400e-04,-1.923322162e-03,7.018490693e-01,-1.313695222e-04,8.388010585e-01,7.018464113e-01,-1.293783533e-04,8.388142552e-01,7.020405288e-01,-1.289253972e-04,8.276493584e-01
+16,2.046666667e+01,DOWN_FORCE_DETACH,1791617415523114148,3.239345600e-04,-1.303107526e-04,-2.237895681e-03,3.232144200e-04,-1.294564971e-04,-2.232329431e-03,3.252832940e-04,-1.291532903e-04,-2.227976801e-03,7.018618060e-01,-1.287597913e-04,8.385030455e-01,7.018610859e-01,-1.279055358e-04,8.385086118e-01,7.020544519e-01,-1.273976476e-04,8.273447037e-01
+17,2.118333333e+01,DOWN_FORCE_DETACH,1791617416952957444,3.305051078e-04,-1.329112008e-04,-2.544140701e-03,3.309143757e-04,-1.355318213e-04,-2.533053989e-03,3.320947473e-04,-1.351362106e-04,-2.528375820e-03,7.018683766e-01,-1.313602395e-04,8.381968005e-01,7.018687859e-01,-1.339808600e-04,8.382078872e-01,7.020612634e-01,-1.333805678e-04,8.270443047e-01
+18,2.185000000e+01,DOWN_FORCE_DETACH,1791617418249798143,3.482010750e-04,-1.337525388e-04,-2.840033737e-03,3.456421961e-04,-1.323843264e-04,-2.831955235e-03,3.461273061e-04,-1.320239904e-04,-2.827064928e-03,7.018860726e-01,-1.322015775e-04,8.379009075e-01,7.018835137e-01,-1.308333651e-04,8.379089860e-01,7.020752960e-01,-1.302683477e-04,8.267456156e-01
+19,2.246666667e+01,DOWN_FORCE_DETACH,1791617419415110529,3.579160707e-04,-1.326810834e-04,-3.146532132e-03,3.577726130e-04,-1.326801828e-04,-3.146672268e-03,3.576430810e-04,-1.322808618e-04,-3.141226420e-03,7.018957876e-01,-1.311301221e-04,8.375944091e-01,7.018956441e-01,-1.311292215e-04,8.375942689e-01,7.020868117e-01,-1.305252191e-04,8.264314541e-01
+20,2.303333333e+01,DOWN_FORCE_DETACH,1791617420511297304,3.714512300e-04,-1.380941143e-04,-3.463568298e-03,3.711590141e-04,-1.379716880e-04,-3.463290993e-03,3.702214951e-04,-1.375673933e-04,-3.457565854e-03,7.019093227e-01,-1.365431530e-04,8.372773729e-01,7.019090305e-01,-1.364207267e-04,8.372776502e-01,7.020993901e-01,-1.358117505e-04,8.261151147e-01
+21,2.356666667e+01,DOWN_FORCE_DETACH,1791617421511159829,3.793998777e-04,-1.393604531e-04,-3.786889498e-03,3.765966298e-04,-1.405535665e-04,-3.778454768e-03,3.747020597e-04,-1.400713136e-04,-3.772693766e-03,7.019172714e-01,-1.378094918e-04,8.369540517e-01,7.019144681e-01,-1.390026052e-04,8.369624864e-01,7.021038707e-01,-1.383156709e-04,8.257999868e-01
+22,2.405000000e+01,DOWN_FORCE_DETACH,1791617422441381339,3.890789159e-04,-1.402261077e-04,-4.107968101e-03,3.888836390e-04,-1.403848752e-04,-4.108076723e-03,3.860475651e-04,-1.398833103e-04,-4.101949506e-03,7.019269504e-01,-1.386751464e-04,8.366329731e-01,7.019267551e-01,-1.388339139e-04,8.366328645e-01,7.021152162e-01,-1.381276676e-04,8.254707310e-01
+23,2.450000000e+01,DOWN_FORCE_DETACH,1791617423307292110,3.962700066e-04,-1.410360967e-04,-4.440340555e-03,3.962548962e-04,-1.412542731e-04,-4.439867311e-03,3.925461197e-04,-1.407275332e-04,-4.433266702e-03,7.019341415e-01,-1.394851354e-04,8.363006006e-01,7.019341264e-01,-1.397033118e-04,8.363010739e-01,7.021217148e-01,-1.389718905e-04,8.251394138e-01
+24,2.491666667e+01,DOWN_FORCE_DETACH,1791617424137084448,4.013975239e-04,-1.438710301e-04,-4.774822109e-03,4.032663988e-04,-1.458284492e-04,-4.757999743e-03,3.987767791e-04,-1.453112352e-04,-4.751668329e-03,7.019392690e-01,-1.423200688e-04,8.359661191e-01,7.019411379e-01,-1.442774879e-04,8.359829414e-01,7.021279454e-01,-1.435555924e-04,8.248210122e-01
+25,2.530000000e+01,DOWN_FORCE_DETACH,1791617424903206241,4.105576033e-04,-1.386660022e-04,-5.095620503e-03,4.103748944e-04,-1.388468877e-04,-5.095573859e-03,4.047990819e-04,-1.382870810e-04,-5.089239631e-03,7.019484291e-01,-1.371150409e-04,8.356453207e-01,7.019482464e-01,-1.372959264e-04,8.356453673e-01,7.021339677e-01,-1.365314383e-04,8.244834409e-01
+26,2.566666667e+01,DOWN_FORCE_DETACH,1791617425635241623,4.160134121e-04,-1.454968580e-04,-5.419503422e-03,4.165620097e-04,-1.436769497e-04,-5.402258617e-03,4.100714508e-04,-1.430707218e-04,-5.396335352e-03,7.019538849e-01,-1.439458967e-04,8.353214378e-01,7.019544335e-01,-1.421259884e-04,8.353386826e-01,7.021392401e-01,-1.413150791e-04,8.241763452e-01
+27,2.603333333e+01,DOWN_FORCE_DETACH,1791617426367439314,4.199448421e-04,-1.450112519e-04,-5.758598844e-03,4.189340429e-04,-1.466209772e-04,-5.746589395e-03,4.113263782e-04,-1.460437488e-04,-5.740827553e-03,7.019578163e-01,-1.434602906e-04,8.349823423e-01,7.019568055e-01,-1.450700159e-04,8.349943518e-01,7.021404950e-01,-1.442881061e-04,8.238318530e-01
+28,2.638333333e+01,DOWN_FORCE_DETACH,1791617427031481430,4.170103117e-04,-1.456055950e-04,-6.093727489e-03,4.165830113e-04,-1.456377620e-04,-6.094040115e-03,4.077854789e-04,-1.450376883e-04,-6.088418066e-03,7.019548818e-01,-1.440546336e-04,8.346472137e-01,7.019544545e-01,-1.440868007e-04,8.346469011e-01,7.021369541e-01,-1.432820456e-04,8.234842625e-01
+29,2.673333333e+01,DOWN_FORCE_DETACH,1791617427695527195,4.226396765e-04,-1.474172577e-04,-6.420082738e-03,4.226103665e-04,-1.471465869e-04,-6.419923460e-03,4.127988821e-04,-1.465784683e-04,-6.414629424e-03,7.019605112e-01,-1.458662964e-04,8.343208584e-01,7.019604818e-01,-1.455956256e-04,8.343210177e-01,7.021419675e-01,-1.448228256e-04,8.231580511e-01
+30,2.705000000e+01,DOWN_FORCE_DETACH,1791617428295265504,4.201062423e-04,-1.481649940e-04,-6.747480431e-03,4.199203076e-04,-1.484255074e-04,-6.747276108e-03,4.089388829e-04,-1.477894282e-04,-6.742504505e-03,7.019579777e-01,-1.466140327e-04,8.339934608e-01,7.019577918e-01,-1.468745461e-04,8.339936651e-01,7.021381075e-01,-1.460337854e-04,8.228301760e-01
+31,2.736666667e+01,DOWN_FORCE_DETACH,1791617428895540922,4.174735700e-04,-1.415488351e-04,-7.096853375e-03,4.176431537e-04,-1.416722682e-04,-7.096450521e-03,4.054714286e-04,-1.410591429e-04,-7.091357747e-03,7.019553451e-01,-1.399978737e-04,8.336440878e-01,7.019555146e-01,-1.401213069e-04,8.336444907e-01,7.021346401e-01,-1.393035001e-04,8.224813228e-01
+32,2.765000000e+01,DOWN_FORCE_DETACH,1791617429427230079,4.162170956e-04,-1.424263234e-04,-7.419750447e-03,4.126344933e-04,-1.400232358e-04,-7.404306992e-03,3.991780716e-04,-1.394706985e-04,-7.400702500e-03,7.019540886e-01,-1.408753620e-04,8.333211907e-01,7.019505060e-01,-1.384722745e-04,8.333366342e-01,7.021283467e-01,-1.377150557e-04,8.221719780e-01
+33,2.793333333e+01,DOWN_FORCE_DETACH,1791617429959178789,4.094679511e-04,-1.349189199e-04,-7.761355305e-03,4.092562814e-04,-1.348084751e-04,-7.760996901e-03,3.944308848e-04,-1.342829208e-04,-7.756909678e-03,7.019473394e-01,-1.333679586e-04,8.329795859e-01,7.019471278e-01,-1.332575138e-04,8.329799443e-01,7.021235995e-01,-1.325272781e-04,8.218157708e-01
+34,2.818333333e+01,DOWN_FORCE_DETACH,1791617430425232233,4.001291008e-04,-1.355669074e-04,-8.082710463e-03,3.999322136e-04,-1.354646126e-04,-8.082585405e-03,3.837168989e-04,-1.348883212e-04,-8.079541129e-03,7.019380006e-01,-1.340159461e-04,8.326582307e-01,7.019378037e-01,-1.339136512e-04,8.326583558e-01,7.021128856e-01,-1.331326785e-04,8.214931394e-01
+35,2.845000000e+01,DOWN_FORCE_DETACH,1791617430923428945,3.954529664e-04,-1.242419727e-04,-8.436434062e-03,3.952876313e-04,-1.242597082e-04,-8.436293257e-03,3.777113633e-04,-1.235236942e-04,-8.433199152e-03,7.019333244e-01,-1.226910114e-04,8.323045071e-01,7.019331591e-01,-1.227087469e-04,8.323046479e-01,7.021068800e-01,-1.217680514e-04,8.211394814e-01
+36,2.866666667e+01,DOWN_FORCE_DETACH,1791617431355399085,3.852898378e-04,-1.199320375e-04,-8.757620594e-03,3.798660739e-04,-1.273081205e-04,-8.742219367e-03,3.607813743e-04,-1.267115693e-04,-8.739736091e-03,7.019231613e-01,-1.183810762e-04,8.319833206e-01,7.019177376e-01,-1.257571592e-04,8.319987218e-01,7.020899500e-01,-1.249559266e-04,8.208329444e-01
+37,2.888333333e+01,DOWN_FORCE_DETACH,1791617431789389053,3.687604336e-04,-1.174938667e-04,-9.097125830e-03,3.685754476e-04,-1.175150149e-04,-9.097084228e-03,3.478793310e-04,-1.171220849e-04,-9.095312339e-03,7.019066319e-01,-1.159429054e-04,8.316438154e-01,7.019064469e-01,-1.159640536e-04,8.316438570e-01,7.020770480e-01,-1.153664422e-04,8.204773682e-01
+38,2.910000000e+01,DOWN_FORCE_DETACH,1791617432219381133,3.545764297e-04,-1.126335810e-04,-9.444207469e-03,3.543568649e-04,-1.126856942e-04,-9.444446028e-03,3.320538549e-04,-1.122679689e-04,-9.442819666e-03,7.018924479e-01,-1.110826197e-04,8.312967337e-01,7.018922283e-01,-1.111347329e-04,8.312964952e-01,7.020612225e-01,-1.105123262e-04,8.201298609e-01
+39,2.930000000e+01,DOWN_FORCE_DETACH,1791617432620438118,3.434407421e-04,-1.087613022e-04,-9.769969920e-03,3.433347318e-04,-1.089078846e-04,-9.769786107e-03,3.194334906e-04,-1.084692150e-04,-9.768598504e-03,7.018813122e-01,-1.072103409e-04,8.309709713e-01,7.018812062e-01,-1.073569233e-04,8.309711551e-01,7.020486021e-01,-1.067135723e-04,8.198040820e-01
+40,2.950000000e+01,DOWN_FORCE_DETACH,1791617433019678498,3.296672602e-04,-1.075406297e-04,-1.009895432e-02,3.295452273e-04,-1.077052913e-04,-1.009943056e-02,3.039561576e-04,-1.071252610e-04,-1.009842903e-02,7.018675387e-01,-1.059896684e-04,8.306419869e-01,7.018674167e-01,-1.061543299e-04,8.306415106e-01,7.020331248e-01,-1.053696182e-04,8.194742515e-01
+41,2.970000000e+01,DOWN_FORCE_DETACH,1791617433419286306,3.140050272e-04,-1.014124512e-04,-1.044551906e-02,3.137520674e-04,-1.014032792e-04,-1.044553763e-02,2.863619602e-04,-1.010450899e-04,-1.044525564e-02,7.018518765e-01,-9.986148985e-05,8.302954221e-01,7.018516235e-01,-9.985231791e-05,8.302954036e-01,7.020155306e-01,-9.928944715e-05,8.191274249e-01
+42,2.988333333e+01,DOWN_FORCE_DETACH,1791617433785259913,2.969272239e-04,-9.693422398e-05,-1.077466642e-02,2.966782979e-04,-9.675622232e-05,-1.077459254e-02,2.676914602e-04,-9.654224673e-05,-1.077464518e-02,7.018347987e-01,-9.538326265e-05,8.299662748e-01,7.018345498e-01,-9.520526099e-05,8.299663486e-01,7.019968601e-01,-9.478660400e-05,8.187980353e-01
+43,3.008333333e+01,DOWN_FORCE_DETACH,1791617434183516319,2.778584727e-04,-9.784125070e-05,-1.113271886e-02,2.774880305e-04,-9.760576184e-05,-1.113281299e-02,2.466351116e-04,-9.760004551e-05,-1.113319260e-02,7.018157300e-01,-9.629028938e-05,8.296082223e-01,7.018153595e-01,-9.605480052e-05,8.296081282e-01,7.019758038e-01,-9.584440278e-05,8.184394879e-01
+44,3.026666667e+01,DOWN_FORCE_DETACH,1791617434551486894,2.609851099e-04,-9.482297808e-05,-1.147403805e-02,2.608212279e-04,-9.482204928e-05,-1.147390543e-02,2.283289231e-04,-9.510925413e-05,-1.147445175e-02,7.017988566e-01,-9.327201676e-05,8.292669031e-01,7.017986927e-01,-9.327108796e-05,8.292670358e-01,7.019574976e-01,-9.335361139e-05,8.180982288e-01
+45,3.045000000e+01,DOWN_FORCE_DETACH,1791617434881580825,2.403412240e-04,-9.409771091e-05,-1.180238608e-02,2.401900549e-04,-9.414074153e-05,-1.180207199e-02,2.060211648e-04,-9.467776046e-05,-1.180277922e-02,7.017782127e-01,-9.254674959e-05,8.289385551e-01,7.017780615e-01,-9.258978021e-05,8.289388692e-01,7.019351898e-01,-9.292211772e-05,8.177699013e-01
+46,3.061666667e+01,DOWN_FORCE_DETACH,1791617435215536775,2.216311439e-04,-9.857921310e-05,-1.212511021e-02,2.214083703e-04,-9.857890516e-05,-1.212551659e-02,1.856182327e-04,-9.914874354e-05,-1.212619227e-02,7.017595026e-01,-9.702825178e-05,8.286158310e-01,7.017592799e-01,-9.702794384e-05,8.286154246e-01,7.019147869e-01,-9.739310081e-05,8.174464883e-01
+47,3.080000000e+01,DOWN_FORCE_DETACH,1791617435548096867,2.005826323e-04,-9.517481254e-05,-1.245906409e-02,2.003969342e-04,-9.518970836e-05,-1.245892568e-02,1.628935748e-04,-9.572661605e-05,-1.245965145e-02,7.017384541e-01,-9.362385122e-05,8.282818771e-01,7.017382684e-01,-9.363874704e-05,8.282820155e-01,7.018920622e-01,-9.397097331e-05,8.171130291e-01
+48,3.098333333e+01,DOWN_FORCE_DETACH,1791617435913440422,1.841355398e-04,-9.682422684e-05,-1.282821512e-02,1.837982864e-04,-9.681287433e-05,-1.282856868e-02,1.445893372e-04,-9.736450658e-05,-1.282928391e-02,7.017220070e-01,-9.527326552e-05,8.279127261e-01,7.017216698e-01,-9.526191301e-05,8.279123725e-01,7.018737580e-01,-9.560886385e-05,8.167433966e-01
+49,3.115000000e+01,DOWN_FORCE_DETACH,1791617436213391614,1.613551307e-04,-1.009379163e-04,-1.314720755e-02,1.610481400e-04,-1.006608860e-04,-1.314719033e-02,1.201329869e-04,-1.011759315e-04,-1.314795765e-02,7.016992266e-01,-9.938695498e-05,8.275937336e-01,7.016989196e-01,-9.910992472e-05,8.275937509e-01,7.018493016e-01,-9.942028875e-05,8.164247229e-01
+50,3.131666667e+01,DOWN_FORCE_DETACH,1791617436545348975,1.381108960e-04,-1.007012759e-04,-1.349018874e-02,1.377103109e-04,-1.005946853e-04,-1.349002006e-02,9.502588669e-05,-1.011438565e-04,-1.349077529e-02,7.016759824e-01,-9.915031459e-05,8.272507524e-01,7.016755818e-01,-9.904372400e-05,8.272509211e-01,7.018241945e-01,-9.938821379e-05,8.160819052e-01
+51,3.148333333e+01,DOWN_FORCE_DETACH,1791617436845367435,1.248299353e-04,-8.304487447e-05,-1.380926128e-02,1.247684600e-04,-8.277753259e-05,-1.380907631e-02,8.066550670e-05,-8.323561282e-05,-1.380987293e-02,7.016627014e-01,-8.149391315e-05,8.269316799e-01,7.016626399e-01,-8.122657127e-05,8.269318649e-01,7.018098342e-01,-8.147997008e-05,8.157628076e-01
+52,3.163333333e+01,DOWN_FORCE_DETACH,1791617437143362614,1.001321426e-04,-7.847839723e-05,-1.414164039e-02,1.000904970e-04,-7.845089100e-05,-1.414117206e-02,5.419506330e-05,-7.885373823e-05,-1.414201963e-02,7.016380036e-01,-7.692743591e-05,8.265993008e-01,7.016379620e-01,-7.689992968e-05,8.265997691e-01,7.017833637e-01,-7.709809549e-05,8.154306609e-01
+53,3.180000000e+01,DOWN_FORCE_DETACH,1791617437443348458,8.072788274e-05,-8.006685527e-05,-1.447426630e-02,8.024415730e-05,-7.980794011e-05,-1.447461837e-02,3.267811760e-05,-8.021113229e-05,-1.447543528e-02,7.016185994e-01,-7.851589395e-05,8.262666749e-01,7.016181156e-01,-7.825697879e-05,8.262663228e-01,7.017618468e-01,-7.845548956e-05,8.150972452e-01
+54,3.196666667e+01,DOWN_FORCE_DETACH,1791617437775395384,6.181392525e-05,-8.371453833e-05,-1.483788520e-02,6.150586730e-05,-8.349345888e-05,-1.483811032e-02,1.228547925e-05,-8.390788879e-05,-1.483901425e-02,7.015996854e-01,-8.216357701e-05,8.259030560e-01,7.015993773e-01,-8.194249756e-05,8.259028309e-01,7.017414541e-01,-8.215224606e-05,8.147336663e-01
+55,3.213333333e+01,DOWN_FORCE_DETACH,1791617438075336864,4.698244641e-05,-8.234498451e-05,-1.517325751e-02,4.656873354e-05,-8.232470625e-05,-1.517338230e-02,-4.123771938e-06,-8.275457748e-05,-1.517423614e-02,7.015848539e-01,-8.079402319e-05,8.255676837e-01,7.015844402e-01,-8.077374493e-05,8.255675589e-01,7.017250449e-01,-8.099893474e-05,8.143984444e-01
+56,3.226666667e+01,DOWN_FORCE_DETACH,1791617438343349131,3.111043183e-05,-8.132671280e-05,-1.548799119e-02,3.087522519e-05,-8.141226793e-05,-1.548790535e-02,-2.131143770e-05,-8.181612792e-05,-1.548883144e-02,7.015689819e-01,-7.977575148e-05,8.252529500e-01,7.015687467e-01,-7.986130661e-05,8.252530358e-01,7.017078572e-01,-8.006048518e-05,8.140838491e-01
+57,3.243333333e+01,DOWN_FORCE_DETACH,1791617438639501177,1.029014307e-05,-8.260561405e-05,-1.583021765e-02,9.912681007e-06,-8.259054299e-05,-1.582993110e-02,-4.397395761e-05,-8.301541905e-05,-1.583083108e-02,7.015481616e-01,-8.105465273e-05,8.249107235e-01,7.015477842e-01,-8.103958167e-05,8.249110101e-01,7.016851947e-01,-8.125977631e-05,8.137418494e-01
+58,3.258333333e+01,DOWN_FORCE_DETACH,1791617438942617080,6.951348526e-06,-7.824361172e-05,-1.617211106e-02,6.777514204e-06,-7.855762923e-05,-1.617165432e-02,-4.822795072e-05,-7.895974369e-05,-1.617255066e-02,7.015448228e-01,-7.669265040e-05,8.245688301e-01,7.015446490e-01,-7.700666791e-05,8.245692869e-01,7.016809407e-01,-7.720410095e-05,8.134001299e-01
+59,3.288333333e+01,DOWN_SETTLE,1791617439505644093,-4.018006403e-05,-6.325501710e-05,-1.649810927e-02,-4.004189390e-05,-6.354842246e-05,-1.649802135e-02,-9.742866035e-05,-6.384960868e-05,-1.649900142e-02,7.014976914e-01,-6.170405578e-05,8.242428319e-01,7.014978296e-01,-6.199746114e-05,8.242429198e-01,7.016317400e-01,-6.209396594e-05,8.130736791e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a08eb7984f76db201d162c886cec74968b7e2abf
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.8452e-02,8.9564e-04,2.4497e+00,-3.6848e-02,3.5461e-02,5.4468e-06,5.0727e-04,-3.8019e-06,2.8801e-04,1.4156e-07,3.3770e-05,2.2262e-07,5.8334e-04,3.3771e-05
+1,1.4167e+00,DOWN_FORCE_DETACH,3.4084e-04,1.1377e-02,2.2227e-02,2.4962e+00,-3.8351e-02,3.7540e-02,7.9702e-05,3.0336e-02,2.1327e-02,4.6792e-02,-1.5028e-03,2.1128e-03,7.4477e-05,5.9705e-02,2.5938e-03
+2,2.5333e+00,DOWN_FORCE_DETACH,6.7835e-04,-2.2873e-02,2.9095e-02,2.5531e+00,-3.8766e-02,3.5134e-02,1.0044e-04,-3.9142e-03,2.8195e-02,1.0368e-01,-1.9179e-03,-2.9286e-04,9.5217e-05,1.0752e-01,1.9425e-03
+3,3.6833e+00,DOWN_FORCE_DETACH,1.0192e-03,-2.1034e-02,4.7187e-02,2.5426e+00,-3.9974e-02,3.5203e-02,1.3442e-04,-2.0746e-03,4.6288e-02,9.3175e-02,-3.1252e-03,-2.2378e-04,1.2920e-04,1.0406e-01,3.1359e-03
+4,5.2167e+00,DOWN_FORCE_DETACH,1.3603e-03,1.7205e-02,4.9553e-02,2.4804e+00,-4.0278e-02,3.8009e-02,6.3665e-05,3.6164e-02,4.8654e-02,3.0985e-02,-3.4297e-03,2.5818e-03,5.8440e-05,6.8081e-02,4.2932e-03
+5,6.6667e+00,DOWN_FORCE_DETACH,1.6985e-03,2.6266e-02,4.9592e-02,2.4658e+00,-4.0309e-02,3.8631e-02,1.9417e-05,4.5225e-02,4.8693e-02,1.6416e-02,-3.4604e-03,3.2043e-03,1.4193e-05,6.8453e-02,4.7161e-03
+6,8.2500e+00,DOWN_FORCE_DETACH,2.0386e-03,3.0105e-02,4.6255e-02,2.4731e+00,-4.0090e-02,3.8892e-02,1.6071e-06,4.9064e-02,4.5356e-02,2.3652e-02,-3.2414e-03,3.4651e-03,-3.6171e-06,7.0879e-02,4.7449e-03
+7,9.7833e+00,DOWN_FORCE_DETACH,2.3772e-03,2.1772e-02,4.9589e-02,2.4818e+00,-4.0304e-02,3.8305e-02,3.2646e-06,4.0731e-02,4.8690e-02,3.2398e-02,-3.4557e-03,2.8782e-03,-1.9596e-06,7.1270e-02,4.4973e-03
+8,1.1333e+01,DOWN_FORCE_DETACH,2.7206e-03,1.7078e-02,4.9707e-02,2.4997e+00,-4.0280e-02,3.7963e-02,5.2294e-07,3.6037e-02,4.8807e-02,5.0296e-02,-3.4317e-03,2.5359e-03,-4.7013e-06,7.8807e-02,4.2670e-03
+9,1.2717e+01,DOWN_FORCE_DETACH,3.0569e-03,1.5791e-02,5.1921e-02,2.5151e+00,-4.0377e-02,3.7853e-02,-1.8895e-05,3.4750e-02,5.1022e-02,6.5706e-02,-3.5285e-03,2.4260e-03,-2.4120e-05,9.0156e-02,4.2821e-03
+10,1.4067e+01,DOWN_FORCE_DETACH,3.3970e-03,1.3418e-02,5.2305e-02,2.5217e+00,-4.0318e-02,3.7676e-02,-6.9202e-05,3.2377e-02,5.1405e-02,7.2287e-02,-3.4697e-03,2.2495e-03,-7.4426e-05,9.4426e-02,4.1357e-03
+11,1.5417e+01,DOWN_FORCE_DETACH,3.7388e-03,1.1667e-02,5.5441e-02,2.5322e+00,-4.0488e-02,3.7537e-02,-9.8408e-05,3.0626e-02,5.4542e-02,8.2784e-02,-3.6392e-03,2.1100e-03,-1.0363e-04,1.0376e-01,4.2079e-03
+12,1.6567e+01,DOWN_FORCE_DETACH,4.0754e-03,1.0367e-02,5.5221e-02,2.5604e+00,-4.0470e-02,3.7425e-02,-7.6594e-05,2.9326e-02,5.4322e-02,1.1095e-01,-3.6212e-03,1.9983e-03,-8.1818e-05,1.2697e-01,4.1368e-03
+13,1.7683e+01,DOWN_FORCE_DETACH,4.4190e-03,1.5043e-02,5.4161e-02,2.5822e+00,-4.0344e-02,3.7712e-02,-3.8377e-05,3.4002e-02,5.3262e-02,1.3280e-01,-3.4956e-03,2.2851e-03,-4.3602e-05,1.4706e-01,4.1765e-03
+14,1.8700e+01,DOWN_FORCE_DETACH,4.7565e-03,2.2800e-02,5.5131e-02,2.5972e+00,-4.0401e-02,3.8241e-02,-3.2527e-05,4.1759e-02,5.4231e-02,1.4784e-01,-3.5522e-03,2.8141e-03,-3.7751e-05,1.6291e-01,4.5320e-03
+15,1.9633e+01,DOWN_FORCE_DETACH,5.0951e-03,2.1295e-02,5.6193e-02,2.6154e+00,-4.0421e-02,3.8127e-02,-4.7293e-05,4.0254e-02,5.5293e-02,1.6601e-01,-3.5725e-03,2.7002e-03,-5.2517e-05,1.7954e-01,4.4785e-03
+16,2.0467e+01,DOWN_FORCE_DETACH,5.4371e-03,1.8735e-02,5.5923e-02,2.6484e+00,-4.0367e-02,3.7914e-02,-5.4399e-05,3.7694e-02,5.5023e-02,1.9902e-01,-3.5181e-03,2.4872e-03,-5.9623e-05,2.0990e-01,4.3089e-03
+17,2.1183e+01,DOWN_FORCE_DETACH,5.7816e-03,1.4662e-02,6.1209e-02,2.6704e+00,-4.0602e-02,3.7606e-02,-5.8554e-05,3.3621e-02,6.0310e-02,2.2098e-01,-3.7536e-03,2.1786e-03,-6.3778e-05,2.3152e-01,4.3405e-03
+18,2.1850e+01,DOWN_FORCE_DETACH,6.1135e-03,1.2567e-02,6.0128e-02,2.6831e+00,-4.0472e-02,3.7439e-02,-5.0651e-05,3.1526e-02,5.9229e-02,2.3371e-01,-3.6234e-03,2.0124e-03,-5.5875e-05,2.4315e-01,4.1451e-03
+19,2.2467e+01,DOWN_FORCE_DETACH,6.4542e-03,1.7137e-02,5.9783e-02,2.6999e+00,-4.0429e-02,3.7732e-02,-4.2939e-05,3.6096e-02,5.8884e-02,2.5047e-01,-3.5804e-03,2.3055e-03,-4.8164e-05,2.5982e-01,4.2587e-03
+20,2.3033e+01,DOWN_FORCE_DETACH,6.7972e-03,1.9424e-02,6.1006e-02,2.7100e+00,-4.0491e-02,3.7881e-02,-4.2104e-05,3.8383e-02,6.0107e-02,2.6054e-01,-3.6425e-03,2.4545e-03,-4.7328e-05,2.7012e-01,4.3926e-03
+21,2.3567e+01,DOWN_FORCE_DETACH,7.1365e-03,1.9658e-02,6.5194e-02,2.7257e+00,-4.0680e-02,3.7870e-02,-4.3890e-05,3.8617e-02,6.4295e-02,2.7627e-01,-3.8314e-03,2.4433e-03,-4.9114e-05,2.8627e-01,4.5444e-03
+22,2.4050e+01,DOWN_FORCE_DETACH,7.4720e-03,1.6135e-02,6.4872e-02,2.7326e+00,-4.0624e-02,3.7619e-02,-3.6795e-05,3.5094e-02,6.3973e-02,2.8322e-01,-3.7751e-03,2.1920e-03,-4.2019e-05,2.9246e-01,4.3656e-03
+23,2.4500e+01,DOWN_FORCE_DETACH,7.8135e-03,1.6818e-02,6.6107e-02,2.7488e+00,-4.0654e-02,3.7650e-02,-2.9507e-05,3.5777e-02,6.5207e-02,2.9942e-01,-3.8060e-03,2.2235e-03,-3.4731e-05,3.0852e-01,4.4080e-03
+24,2.4917e+01,DOWN_FORCE_DETACH,8.1592e-03,2.4027e-02,6.6599e-02,2.7614e+00,-4.0656e-02,3.8122e-02,-2.5031e-05,4.2986e-02,6.5699e-02,3.1197e-01,-3.8079e-03,2.6948e-03,-3.0255e-05,3.2169e-01,4.6650e-03
+25,2.5300e+01,DOWN_FORCE_DETACH,8.4922e-03,2.5771e-02,6.8086e-02,2.7591e+00,-4.0700e-02,3.8230e-02,-2.6704e-05,4.4730e-02,6.7186e-02,3.0965e-01,-3.8514e-03,2.8032e-03,-3.1928e-05,3.1999e-01,4.7636e-03
+26,2.5667e+01,DOWN_FORCE_DETACH,8.8305e-03,2.3763e-02,7.1150e-02,2.7439e+00,-4.0855e-02,3.8100e-02,-2.2406e-05,4.2722e-02,7.0251e-02,2.9445e-01,-4.0069e-03,2.6731e-03,-2.7631e-05,3.0571e-01,4.8168e-03
+27,2.6033e+01,DOWN_FORCE_DETACH,9.1754e-03,2.7214e-02,6.7834e-02,2.7397e+00,-4.0627e-02,3.8327e-02,-1.1335e-05,4.6173e-02,6.6935e-02,2.9033e-01,-3.7785e-03,2.9004e-03,-1.6560e-05,3.0150e-01,4.7634e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..a1b99e6757c77929c950eb2f5e58e2debbd8fa29
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:006aac7e8f22dbed7385a2eccf20d179b9f00442cb29a361026d726634758fb4
+size 10352640
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..318259266d5b14197853c4e402590c800a6b5d53
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..518229efdacd23a276a1f437bbb0ce65065fc83b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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+46027,1791617363862804716,22547655000000,1791617363862246818,UP_FORCE_HOLD,7,0.045,0.04500268027186394,0.6759683358763823,-0.004849018662594813,0.09069492535513796,0.9999999746846034,-1.6341665727697132e-07,-0.00020509631813048828,-3.021682362577066e-06,0.6761,-0.0048,0.09099881730018158,1.0,0.0,0.0,0.0,0.7360811460130092,0.4721803877555036,-0.9168802666723181,0.0270211385660543,-0.04834361928668188,0.00037869441104072013,0.6602409474016119,0.4550988136403948,-1.0451942612954048,0.026026586979613762,-0.04829874344964611,0.0004615655791063276,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2797146359326259,0.6355185430621957,2.3900260269584668,-0.11728677742856299,-1.4531443270536846,0.3783753895268876,0.5152655439204765,0.9168802666723181,-1.8747604830379903,0.9168802666723181,0.558,0,0,-1.0899998122175463e-05,-9.999999025923074e-05
+46044,1791617364004846173,22547797000000,1791617363998246392,UP_FORCE_HOLD,7,0.045,0.04500268027186394,0.6759643271908241,-0.004862493892790492,0.0906891884842361,0.9999999734704129,-9.410324808241733e-06,-0.00021074418518507925,-6.099746113550604e-07,0.6761,-0.0048,0.09099676895054713,1.0,0.0,0.0,0.0,0.7771447301234371,0.5335734195867815,-0.8981891170433822,0.03301654206365375,-0.05197647265636857,0.0003767150863261833,0.7013045315120398,0.5164918454716727,-1.026503111666469,0.032021990477213214,-0.051931596819332806,0.0004595862543917908,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.34081327016717305,0.6443745863700158,2.399847803326903,-0.10043930348028239,-1.4751249978829413,0.38935003568851523,0.5152655439204765,0.8981891170433822,-1.8845822594064265,0.8981891170433822,0.558,0,0,-1.799999673898623e-05,-9.999999025923074e-05
+46063,1791617364162856923,22547955000000,1791617364158247154,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759661163940683,-0.00487082606913201,0.09069321514973097,0.9999999741207922,-1.4388285026078748e-05,-0.00020733557646059774,2.4930489656321845e-06,0.6761,-0.0048,0.09099330480118473,1.0,0.0,0.0,0.0,0.8123772759192812,0.5960054711987073,-0.8762259802793351,0.03738513325543512,-0.05422619884772795,0.0003773804327004812,0.7365370773078839,0.5789238970835985,-1.0045399749024218,0.03639058166899458,-0.05418132301069218,0.0004602516007660887,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.3107816453490634,0.6734132212118056,2.3255550034204844,-0.09347465512658934,-1.427007892029174,0.41007851418820995,0.5152655439204765,0.8762259802793351,-1.8102894595000079,0.8762259802793351,0.558,0,0,-2.5899995199944688e-05,-9.999999025923074e-05
+46082,1791617364321841169,22548114000000,1791617364314246151,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.675965021884785,-0.004876401275756634,0.09069244769107895,0.999999973796334,-1.6673607427764827e-05,-0.00020870545056967735,3.7711372636149387e-06,0.6761,-0.0048,0.09098855865207184,1.0,0.0,0.0,0.0,0.8383250705197155,0.6407394888737917,-0.8492758699174728,0.041021592234487515,-0.056317448065302374,0.0003765557452342223,0.7624848719083182,0.6236579147586829,-0.9775898645405595,0.04002704064804698,-0.05627257222826661,0.0004594269132998298,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.283535837170826,0.7885125971773601,2.3050722272373885,-0.10852889106007094,-1.4080776575106104,0.4888115501802073,0.5152655439204765,0.8492758699174728,-1.789806683316912,0.8492758699174728,0.558,0,0,-3.3849993651162376e-05,-9.999999025923074e-05
+46091,1791617364396809246,22548189000000,1791617364394246527,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759640291407085,-0.004877563648944147,0.09068967016461697,0.9999999733437629,-1.658710306578003e-05,-0.00021084472855760348,4.970567943791367e-06,0.6761,-0.0048,0.09098588115257576,1.0,0.0,0.0,0.0,0.8458439130604153,0.6683496212295955,-0.8361969627947251,0.04216418610513519,-0.056356065687363274,0.0003734881415643111,0.7700037144490179,0.6512680471144867,-0.9645109574178118,0.04116963451869465,-0.05631118985032751,0.0004563593096299186,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2608899967267264,0.8136516695104715,2.2532429304414974,-0.12544714842063537,-1.3702757416343125,0.4995039250386735,0.5152655439204765,0.8361969627947251,-1.7379773865210209,0.8361969627947251,0.558,0,0,-3.759999292060468e-05,-9.999999025923074e-05
+46111,1791617364562828397,22548355000000,1791617364558247002,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759646596373518,-0.004883831455049689,0.09069192991861987,0.9999999735287478,-2.195542703506392e-05,-0.0002094775708578319,4.74073189286632e-06,0.6761,-0.0048,0.09097895480388596,1.0,0.0,0.0,0.0,0.8372884326040195,0.6852099519083592,-0.8140891979250843,0.04364307887780652,-0.05652321637201487,0.0003675155504542846,0.7614482339926222,0.6681283777932504,-0.942403192548171,0.04264852729136598,-0.056478340534979105,0.00045038671851989207,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.17919117831419176,0.8302284409602988,2.208485992273272,-0.11740867838082412,-1.3231826720717612,0.5167051534450838,0.5152655439204765,0.8140891979250843,-1.6932204483527955,0.8140891979250843,0.558,0,0,-4.5899991303636984e-05,-9.999999025923074e-05
+46127,1791617364696861804,22548489000000,1791617364694246997,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.675965598661634,-0.0048880655788473264,0.09069139960101431,0.9999999739537582,-2.433572155959019e-05,-0.0002071127954334099,6.885504121952013e-06,0.6761,-0.0048,0.09097235865513938,1.0,0.0,0.0,0.0,0.8402528558012957,0.6985752805959898,-0.7925064262041953,0.04539656889825398,-0.057306121902282604,0.0003590887088455945,0.7644126571898984,0.681493706480881,-0.920820420827282,0.044402017311813445,-0.05726124606524684,0.000441959876911202,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2419720184715916,0.750210541808872,2.2282401989772,-0.09012076851633931,-1.3566814929319664,0.46723326717882335,0.5152655439204765,0.7925064262041953,-1.7129746550567235,0.7925064262041953,0.558,0,0,-5.2599989998373904e-05,-9.999999025923074e-05
+46139,1791617364796855131,22548589000000,1791617364790246463,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759663629040707,-0.0048878524567943496,0.0906912889478834,0.9999999739312047,-2.564821197145744e-05,-0.00020707977200363795,6.3711648163911974e-06,0.6761,-0.0048,0.09096685115618873,1.0,0.0,0.0,0.0,0.8429425462542958,0.702187116106499,-0.7837234618193916,0.04561297605319124,-0.05723795927954888,0.0009623392857628235,0.7671023476428984,0.6851055419913902,-0.9120374564424782,0.044618424466750704,-0.057193083442513115,0.001045210453828431,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.1630976282369566,0.7397708748885999,2.165762300774718,-0.08528995556219282,-1.3002533564825238,0.45774367848074443,0.5152655439204765,0.7837234618193916,-1.6504967568542415,0.7837234618193916,0.558,0,0,-5.759998902429698e-05,-9.999999025923074e-05
+46151,1791617364896858978,22548689000000,1791617364890246753,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759663566422673,-0.004887833719548406,0.0906920534703351,0.9999999740747542,-2.6198885905637554e-05,-0.00020633104136466864,5.871558701922924e-06,0.6761,-0.0048,0.09096084365733549,1.0,0.0,0.0,0.0,0.845000943104864,0.7050806018721315,-0.7719428118078727,0.046641675275410736,-0.05746614630321119,0.00035386753500251436,0.7691607444934666,0.6879990277570227,-0.9002568064309594,0.0456471236889702,-0.05742127046617542,0.00043673870306812183,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.15185806262220405,0.8105287733131008,2.0362291519803475,-0.10990881880686003,-1.2142269842114122,0.5039622871164986,0.5152655439204765,0.7719428118078727,-1.520963608059871,0.7719428118078727,0.558,0,0,-6.259998805022005e-05,-9.999999025923074e-05
+46163,1791617364996823851,22548789000000,1791617364994237688,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759672668085619,-0.004892994423340073,0.09069303677870134,0.9999999745332138,-2.635479275534023e-05,-0.000203966284156503,8.922790981266639e-06,0.6761,-0.0048,0.09095433615857966,1.0,0.0,0.0,0.0,0.836989875109018,0.7146090782984656,-0.7616137530348751,0.046650882684914886,-0.057482987169628096,0.0003968166825653576,0.7611496764976207,0.6975275041833569,-0.8899277476579618,0.04565633109847435,-0.05743811133259233,0.0004796878506309651,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.15700564061057196,0.7838141993944773,2.114402989848737,-0.102704419843312,-1.2676110756821881,0.4857984828566837,0.5152655439204765,0.7616137530348751,-1.5991374459282603,0.7616137530348751,0.558,0,0,-6.759998707614313e-05,-9.999999025923074e-05
+46175,1791617365096805786,22548889000000,1791617365094246605,UP_FORCE_HOLD,7,0.045,0.044998738914728165,0.6759675928078003,-0.004888130513411264,0.09069131064272047,0.9999999744077023,-2.354459668851904e-05,-0.00020501576120400268,6.453592991822207e-06,0.6761,-0.0048,0.09094732865992124,1.0,0.0,0.0,0.0,0.8354064152160231,0.717878654993583,-0.7415178511324003,0.0473578236686308,-0.05749109219245858,0.001362503855569706,0.7595662166046258,0.7007970808784743,-0.869831845755487,0.04636327208219026,-0.05744621635542281,0.0014453750236353134,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.16863926758673692,0.7283167446245536,2.0910816422546765,-0.0792126859338686,-1.2615822121683016,0.450642004003388,0.5152655439204765,0.7415178511324003,-1.5758160983342,0.7415178511324003,0.558,0,0,-7.25999861020662e-05,-9.999999025923074e-05
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+46242,1791617365654874225,22549447000000,1791617365654247126,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759712365762522,-0.004896103468111215,0.09068848002730703,0.9999999758183322,-2.6990225760994057e-05,-0.00019732888664694155,1.1791418825945955e-05,0.6761,-0.0048,0.09090505644235275,1.0,0.0,0.0,0.0,0.8336581735657459,0.749785233279568,-0.6600939386746255,0.04964974516494533,-0.05658966282844562,0.001338757329921411,0.7578179749543485,0.7327036591644592,-0.7884079332977122,0.04865519357850479,-0.05654478699140985,0.0014216284979870185,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.07875367737446065,0.7856180878723081,1.8736115418599635,-0.0622380246503921,-1.1237783814821236,0.4997129877836415,0.5152655439204765,0.6600939386746255,-1.358345997939487,0.6600939386746255,0.558,0,0,-6.731307781030071e-05,9.999999025923074e-05
+46259,1791617365796779284,22549589000000,1791617365794247455,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759695426744216,-0.004893372082135838,0.09068174631369509,0.9999999753728349,-2.5556330058179664e-05,-0.00019973012419265278,1.2326619951266264e-05,0.6761,-0.0048,0.09089599853520479,1.0,0.0,0.0,0.0,0.8243645983299327,0.7457266340020364,-0.6399637909183375,0.0496447738692557,-0.05654578708560686,0.001322121984711084,0.7485243997185353,0.7286450598869276,-0.7682777855414242,0.04865022228281516,-0.056500911248571095,0.0014049931527766915,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.04821451541338825,0.8197992607324995,1.9164932383906121,-0.05919393710490282,-1.148376622682123,0.5231067350256002,0.5152655439204765,0.6399637909183375,-1.4012276944701356,0.6399637909183375,0.558,0,0,-6.021307919348994e-05,9.999999025923074e-05
+46282,1791617365987773271,22549780000000,1791617365986247088,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759702004132572,-0.004897713770849239,0.09068008976416113,0.999999975475945,-2.911005249564095e-05,-0.00019867181265619487,1.3156347780178373e-05,0.6761,-0.0048,0.09088540508690023,1.0,0.0,0.0,0.0,0.8185715789435524,0.7391660034133133,-0.6098780155157237,0.04968790257691806,-0.056552118018982335,0.0012970609895603092,0.742731380332155,0.7220844292982045,-0.7381920101388104,0.04869335099047752,-0.05650724218194657,0.0013799321576259166,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.013164399838016405,0.7283858678166165,1.8114720646904228,-0.03233606230670048,-1.078117547850823,0.46560002038148796,0.5152655439204765,0.6098780155157237,-1.2962065207699462,0.6098780155157237,0.558,0,0,-5.066308105397687e-05,9.999999025923074e-05
+46302,1791617366154871099,22549947000000,1791617366154237608,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759716507191406,-0.0049001872694873876,0.09067637060846939,0.9999999756982076,-2.9904051230251222e-05,-0.00019727004718953872,1.5385859344119958e-05,0.6761,-0.0048,0.09087763740222757,1.0,0.0,0.0,0.0,0.8247206573596013,0.7523694304133042,-0.5806994633191682,0.05065139166927499,-0.05657749786960007,0.0012858053134037865,0.748880458748204,0.7352878562981954,-0.7090134579422549,0.04965684008283445,-0.0565326220325643,0.001368676481469394,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.015972621844828158,0.7139573285711138,1.8548975793451608,-0.0200731149176962,-1.0976393840894967,0.45867204843852966,0.5152655439204765,0.5806994633191682,-1.3396320354246842,0.5806994633191682,0.558,0,0,-4.2313082680685337e-05,9.999999025923074e-05
+46322,1791617366321877603,22550114000000,1791617366314247238,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.675970267438812,-0.004899779544636116,0.09067311518917044,0.9999999753171462,-2.87739973166981e-05,-0.00019916797909774918,1.7684588488142195e-05,0.6761,-0.0048,0.09087126416728325,1.0,0.0,0.0,0.0,0.8233895304229711,0.7537441000772912,-0.5605867219389081,0.050623720876359996,-0.055618365485186366,0.0012837771565317008,0.7475493318115738,0.7366625259621824,-0.6889007165619948,0.04962916928991946,-0.0555734896481506,0.0013666483245973083,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.015024620825710652,0.8528761032314685,1.870821706236604,-0.0618742562726715,-1.118990966928306,0.5496281895182443,0.5152655439204765,0.5605867219389081,-1.3555561623161274,0.5605867219389081,0.558,0,0,-3.39630843073938e-05,9.999999025923074e-05
+46342,1791617366487855788,22550280000000,1791617366486246657,UP_FORCE_HOLD,7,0.045,0.04499939829111099,0.6759727151808047,-0.0049037610862555404,0.09067382105961232,0.9999999759821615,-2.9504236418482038e-05,-0.00019571988988102243,1.7371396860202226e-05,0.6761,-0.0048,0.0908663110451532,1.0,0.0,0.0,0.0,0.8268919660051857,0.7560666691846524,-0.5428753646733023,0.05064611600300693,-0.056582197548649724,0.0012555829745655707,0.7510517673937883,0.7389850950695436,-0.671189359296389,0.049651564416566395,-0.05653732171161396,0.0013384541426311781,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.07108417608680723,0.7565968212928974,1.6837175075866908,-0.025172029457072538,-1.0190120092311172,0.4854755582972195,0.5152655439204765,0.5428753646733023,-1.1684519636662143,0.5428753646733023,0.558,0,0,-2.56630859243615e-05,9.999999025923074e-05
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+46486,1791617367687790395,22551480000000,1791617367686246638,UP_FORCE_HOLD,7,0.045,0.04500005394220352,0.6759708211529082,-0.004900294418573638,0.09066352108224378,0.9999999753181755,-2.7855727841707572e-05,-0.00019919559807158305,1.875326686307543e-05,0.6761,-0.0048,0.0908712970983343,1.0,0.0,0.0,0.0,0.8127569979304621,0.7553533318890703,-0.489122071375786,0.050609687794427684,-0.0555840451206158,0.0012261729100428917,0.7369167993190647,0.7382717577739615,-0.6174360659988727,0.049615136207987146,-0.055539169283580034,0.0013090440781084991,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.08789603599132294,0.8404067912710896,1.7509359906990187,-0.046604656021165515,-1.0637555555164686,0.5375288116898168,0.5152655439204765,0.489122071375786,-1.2356704467785422,0.489122071375786,0.558,0,0,3.122807368450948e-05,3.2433238662601407e-05
+46502,1791617367821859520,22551614000000,1791617367814247149,UP_FORCE_HOLD,7,0.045,0.04500005394220352,0.6759718863774579,-0.00490193821666437,0.09066585145596927,0.9999999757413794,-2.667638418182565e-05,-0.00019707137674548415,2.028171476497201e-05,0.6761,-0.0048,0.09087571261263556,1.0,0.0,0.0,0.0,0.804731808315229,0.7465105052689248,-0.48898647077911095,0.05060836024749223,-0.05558302321625743,0.001225085765168459,0.7288916097038316,0.729428931153816,-0.6173004654021976,0.049613808661051695,-0.055538147379221664,0.0013079569332340665,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.054475191066851655,0.784127705173189,1.6504929045577996,-0.03818955200089952,-0.9892557507892411,0.4989135415301648,0.5152655439204765,0.48898647077911095,-1.135227360637323,0.48898647077911095,0.558,0,0,3.422447985052837e-05,2.851361211274599e-06
+46522,1791617367987882420,22551780000000,1791617367986246889,UP_FORCE_HOLD,7,0.045,0.04500005394220352,0.6759711733689387,-0.004903566146135789,0.0906665962352064,0.9999999756178034,-3.096292852867254e-05,-0.00019714734604503575,1.9531463771515928e-05,0.6761,-0.0048,0.0908814084722771,1.0,0.0,0.0,0.0,0.8047256556792817,0.7457347001498583,-0.48724534680514653,0.05060786812068042,-0.05558336382664934,0.0012234901334147437,0.7288854570678843,0.7286531260347495,-0.6155593414282332,0.04961331653423988,-0.055538487989613576,0.0013063613014803511,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.03746146678730703,0.7867768972889835,1.6434555493821634,-0.04307027763721472,-0.9793203216726537,0.5004118710748076,0.5152655439204765,0.48724534680514653,-1.128190005461687,0.48724534680514653,0.558,0,0,3.464858229233822e-05,7.361053586752968e-06
+46546,1791617368187826104,22551980000000,1791617368186246950,UP_FORCE_HOLD,7,0.045,0.04500070959329605,0.6759711035798683,-0.004899373673770636,0.09066541088011337,0.9999999754777517,-2.4913986203097922e-05,-0.00019873716766808446,1.9240372519795134e-05,0.6761,-0.0048,0.09088851500004766,1.0,0.0,0.0,0.0,0.815280388747354,0.7607434128687978,-0.48768600706006604,0.050599926919885414,-0.05522955991710243,0.0012330838077190707,0.7394401901359566,0.743661838753689,-0.6160000016831527,0.049605375333444876,-0.055184684080066666,0.0013159549757846781,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.11299360574334866,0.8323004628592202,1.8268574695322493,-0.05479527301326223,-1.1089607196260034,0.5331831909225755,0.5152655439204765,0.48768600706006604,-1.3115919256117727,0.48768600706006604,0.558,0,0,3.628670021491389e-05,-1.1411148938857412e-05
+46570,1791617368387877833,22552180000000,1791617368382246748,UP_FORCE_HOLD,7,0.045,0.04500070959329605,0.675966669876534,-0.004902923084048367,0.09066113146201085,0.9999999739479145,-3.143507723839975e-05,-0.00020553145866860197,1.776766990180419e-05,0.6761,-0.0048,0.09089588959532253,1.0,0.0,0.0,0.0,0.8019576523460156,0.7532009817610951,-0.4791918525659573,0.05058929302826528,-0.05494275478205346,0.001226652768092328,0.7261174537346182,0.7361194076459863,-0.607505847189044,0.04959474144182474,-0.05489787894501769,0.0013095239361579354,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.17433397127636327,0.8280063215576994,1.8104703277806482,-0.060820246063480486,-1.1146493350674112,0.5296649905734192,0.5152655439204765,0.4791918525659573,-1.2952047838601717,0.4791918525659573,0.558,0,0,3.757676924833499e-05,1.8457620895822024e-05
+46582,1791617368487880017,22552280000000,1791617368486246260,UP_FORCE_HOLD,7,0.045,0.04500070959329605,0.6759703620796172,-0.004898642413333679,0.09066244049883301,0.9999999749588255,-2.708937586193635e-05,-0.0002010931772637681,1.8785966856042908e-05,0.6761,-0.0048,0.09089966036037253,1.0,0.0,0.0,0.0,0.796166290495488,0.7460870172065859,-0.4814018733677011,0.05060058577606993,-0.05470726320602735,0.0012315905962279586,0.7203260918840907,0.7290054430914771,-0.6097158679907878,0.04960603418962939,-0.05466238736899158,0.001314461764293566,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.1275464679966933,0.7918756894127509,1.8320013142478546,-0.048628816181938705,-1.113828998983967,0.503045702403776,0.5152655439204765,0.4814018733677011,-1.316735770327378,0.4814018733677011,0.558,0,0,3.73871215638516e-05,9.211532851493578e-06
+46598,1791617368621918935,22552414000000,1791617368618246924,UP_FORCE_HOLD,7,0.045,0.04500070959329605,0.67597164382116,-0.004902339105590875,0.09066671433805147,0.9999999751551978,-3.109843322910113e-05,-0.00019952736733071824,1.8819813753201258e-05,0.6761,-0.0048,0.09090467776180698,1.0,0.0,0.0,0.0,0.8119357792513401,0.7583053560320661,-0.4787537654698314,0.05139950069151593,-0.05552194501401412,0.0012294557941594203,0.7360955806399427,0.7412237819169573,-0.6070677600929181,0.05040494910507539,-0.05547706917697835,0.0013123269622250277,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.22106560358273888,0.7892054403786103,1.915457958037914,-0.05357313238597426,-1.1922571938458044,0.5025566770791342,0.5152655439204765,0.4787537654698314,-1.4001924141174376,0.4787537654698314,0.558,0,0,3.780591464988612e-05,1.8355581971699086e-05
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+46733,1791617369746900238,22553539000000,1791617369746237261,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759661019673834,-0.0049009066589718936,0.09066297974828852,0.9999999732748222,-2.9062411027902476e-05,-0.00020904947559151804,1.8625587808556575e-05,0.6761,-0.0048,0.09094817880850296,1.0,0.0,0.0,0.0,0.7988358919459183,0.738106648519178,-0.47916186861303045,0.050605404134014674,-0.05558432920790219,0.0012163299749916212,0.722995693334521,0.7210250744040692,-0.6074758632361171,0.049610852547574136,-0.05553945337086642,0.0012992011430572287,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.5714744212365759,0.8603352050050607,2.106695438355007,-0.09386997707108206,-1.3828931012724655,0.5404037266399732,0.5152655439204765,0.47916186861303045,-1.5914298944345306,0.47916186861303045,0.558,0,0,3.9850602045073896e-05,-4.358953046354469e-06
+46746,1791617369854917708,22553647000000,1791617369854246966,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759669353052247,-0.004905669259342905,0.09066425388964074,0.9999999731866772,-3.2307779054773974e-05,-0.00020895230755582522,1.909581200594111e-05,0.6761,-0.0048,0.0909524761563506,1.0,0.0,0.0,0.0,0.8046749803011992,0.7460116126752571,-0.47853118474288414,0.05055709347045852,-0.055367615013723503,0.001217518833387974,0.7288347816898019,0.7289300385601483,-0.6068451793659708,0.04956254188401798,-0.05532273917668774,0.0013003900014535814,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.6162039622817597,0.7384131001197436,2.196684648600228,-0.06387366676049291,-1.4516614253802824,0.4595598724467609,0.5152655439204765,0.47853118474288414,-1.6814191046797515,0.47853118474288414,0.558,0,0,3.99023120107084e-05,-1.696003860105451e-06
+46765,1791617370012892892,22553805000000,1791617370006247274,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759652734952806,-0.004902605818690449,0.09066403399751809,0.9999999727492073,-3.2456762875526255e-05,-0.00021113887589348045,1.764604570901683e-05,0.6761,-0.0048,0.09095875573933093,1.0,0.0,0.0,0.0,0.8053336050735805,0.7438696100784494,-0.4795159922127904,0.04994084098244883,-0.05557085814243741,0.0012189289874556279,0.7294934064621832,0.7267880359633406,-0.6078299868358771,0.04894628939600829,-0.05552598230540164,0.0013018001555212353,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.6615969506248293,0.7401388197728448,2.2354118197399266,-0.06874115048356699,-1.482345513938967,0.460174417534719,0.5152655439204765,0.4795159922127904,-1.7201462758194501,0.4795159922127904,0.558,0,0,3.960301488870057e-05,-3.646575708037827e-06
+46782,1791617370154871272,22553947000000,1791617370154246597,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759660364658858,-0.004899487936625059,0.09066446207055592,0.9999999729088629,-2.5049819986942953e-05,-0.00021136191244204098,1.799407165882722e-05,0.6761,-0.0048,0.09096436865503706,1.0,0.0,0.0,0.0,0.8106130513360165,0.7465649234494767,-0.4791307350428009,0.050470786833504436,-0.05555787988735452,0.0012181228243451185,0.7347728527246191,0.7294833493343679,-0.6074447296658876,0.0494762352470639,-0.055513004050318754,0.001300993992410726,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.7118854825015731,0.9249172767245193,2.222096264409679,-0.12467394866578338,-1.4844124584873963,0.5810107849166406,0.5152655439204765,0.4791307350428009,-1.7068307204892026,0.4791307350428009,0.558,0,0,3.9472711859553066e-05,-3.8464021165142165e-07
+46797,1791617370279888648,22554072000000,1791617370278247026,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759663282964483,-0.004903056988614564,0.09066608338664406,0.9999999729011083,-2.9859758003439045e-05,-0.00021078415954039182,1.7862807915009947e-05,0.6761,-0.0048,0.09096925088137844,1.0,0.0,0.0,0.0,0.806388839198053,0.7357527002236717,-0.4858074187924276,0.04981170209289535,-0.055568072610166865,0.0012145570294687556,0.7305486405866557,0.7186711261085629,-0.6141214134155143,0.04881715050645481,-0.0555231967731311,0.001297428197534363,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.7885765371508324,0.8370358264963417,2.297532768980683,-0.10909817391916778,-1.5536451766234918,0.5211529400758396,0.5152655439204765,0.4858074187924276,-1.7822672250602065,0.4858074187924276,0.558,0,0,3.896045350484971e-05,-2.893093839458069e-05
+46813,1791617370412822572,22554205000000,1791617370406247147,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759629260735014,-0.004906274773797371,0.09066267231999013,0.9999999715375572,-3.494928122943094e-05,-0.00021640985461188512,1.7693838065466743e-05,0.6761,-0.0048,0.09097433932868221,1.0,0.0,0.0,0.0,0.804919392747954,0.7411127199151281,-0.48789353184452355,0.05023459848830333,-0.055580597430461794,0.0012225753940876165,0.7290791941365566,0.7240311458000193,-0.6162075264676102,0.04924004690186279,-0.05553572159342603,0.001305446562153224,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.8157083192773126,0.8208501042447558,2.411039501584929,-0.09944259284779579,-1.6304109222475605,0.5125816650156233,0.5152655439204765,0.48789353184452355,-1.8957739576644523,0.48789353184452355,0.558,0,0,3.7911850825063395e-05,-2.8874916639647915e-05
+46829,1791617370546892589,22554339000000,1791617370542247183,UP_FORCE_HOLD,7,0.045,0.04500202462077141,0.6759641219839295,-0.004899285527962105,0.09066663881689892,0.9999999721783321,-3.1546331968347626e-05,-0.00021413056750728852,1.5463774725962206e-05,0.6761,-0.0048,0.09097930685084522,1.0,0.0,0.0,0.0,0.8020460409009389,0.7328729840128226,-0.48957628348417415,0.04959719162944399,-0.05556333297351434,0.0012137302321845735,0.7262058422895415,0.7157914098977138,-0.6178902781072608,0.04860264004300345,-0.05551845713647857,0.001296601400250181,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.8277939358076737,0.7601078385124846,2.307921429142548,-0.08291951763867755,-1.5651725059410941,0.4703968599064334,0.5152655439204765,0.48957628348417415,-1.7926558852220715,0.48957628348417415,0.558,0,0,3.6251367107280585e-05,-2.0601099488561894e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05bc47a984b69062fdb4773c70c0c371a4e6fd0d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..408ed83d33f636ee9d0ef68717ef896b9b81490c
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,1.516666667e+00,UP_FORCE_HOLD,1791617366621822478,1.009465233e-06,-7.775799626e-05,-2.348264136e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.047713720e-06,-7.636070102e-05,-1.671415223e-05,7.015388809e-01,-7.620703494e-05,8.407174585e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302164e-01,-7.460505828e-05,8.295559664e-01
+23,1.600000000e+00,UP_FORCE_HOLD,1791617366790370229,1.718289523e-06,-7.696692274e-05,-2.590645955e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.067388682e-06,-7.636119452e-05,-1.673083596e-05,7.015395898e-01,-7.541596142e-05,8.407150347e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302360e-01,-7.460555178e-05,8.295559497e-01
+24,1.650000000e+00,UP_FORCE_HOLD,1791617366889828217,2.749461470e-06,-7.829123930e-05,-2.438577621e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.078445703e-06,-7.636138612e-05,-1.673990382e-05,7.015406209e-01,-7.674027798e-05,8.407165554e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302471e-01,-7.460574338e-05,8.295559406e-01
+25,1.750000000e+00,UP_FORCE_HOLD,1791617367089814731,2.576732613e-06,-8.206084951e-05,-2.747404026e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.099044205e-06,-7.636166472e-05,-1.675623488e-05,7.015404482e-01,-8.050988819e-05,8.407134671e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302677e-01,-7.460602198e-05,8.295559243e-01
+26,1.800000000e+00,UP_FORCE_HOLD,1791617367187846410,3.837318715e-06,-7.978979392e-05,-2.380849574e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.108638093e-06,-7.636177299e-05,-1.676359944e-05,7.015417088e-01,-7.823883260e-05,8.407171327e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302773e-01,-7.460613025e-05,8.295559169e-01
+27,1.866666667e+00,UP_FORCE_HOLD,1791617367321839826,3.505303620e-06,-7.927386596e-05,-2.767632004e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.120811322e-06,-7.636192495e-05,-1.677266246e-05,7.015413768e-01,-7.772290464e-05,8.407132649e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302895e-01,-7.460628222e-05,8.295559079e-01
+28,1.916666667e+00,UP_FORCE_HOLD,1791617367421839541,2.655043558e-06,-7.957174084e-05,-2.928540976e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.129412779e-06,-7.636200656e-05,-1.677895583e-05,7.015405265e-01,-7.802077952e-05,8.407116558e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017302981e-01,-7.460636382e-05,8.295559016e-01
+29,2.000000000e+00,UP_FORCE_HOLD,1791617367588327688,1.741403500e-06,-7.557406219e-05,-2.834037672e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.142900952e-06,-7.636212542e-05,-1.678855680e-05,7.015396129e-01,-7.402310087e-05,8.407126008e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303116e-01,-7.460648268e-05,8.295558920e-01
+30,2.050000000e+00,UP_FORCE_HOLD,1791617367685838745,9.686835704e-07,-8.165263851e-05,-3.127828921e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.150455202e-06,-7.636216763e-05,-1.679383316e-05,7.015388402e-01,-8.010167719e-05,8.407096629e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303191e-01,-7.460652489e-05,8.295558867e-01
+31,2.116666667e+00,UP_FORCE_HOLD,1791617367821834783,2.788025394e-06,-7.576571879e-05,-2.600909589e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.160132836e-06,-7.636227294e-05,-1.680032213e-05,7.015406595e-01,-7.421475747e-05,8.407149321e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303288e-01,-7.460663021e-05,8.295558802e-01
+32,2.200000000e+00,UP_FORCE_HOLD,1791617367987861224,7.576137342e-07,-8.019404910e-05,-2.878691823e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.171365070e-06,-7.636236613e-05,-1.680767292e-05,7.015386291e-01,-7.864308778e-05,8.407121543e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303400e-01,-7.460672340e-05,8.295558729e-01
+33,2.300000000e+00,UP_FORCE_HOLD,1791617368186790295,5.974627264e-07,-7.631008854e-05,-2.985657609e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.183769061e-06,-7.636246792e-05,-1.681548015e-05,7.015384689e-01,-7.475912722e-05,8.407110846e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303524e-01,-7.460682518e-05,8.295558650e-01
+34,2.416666667e+00,UP_FORCE_HOLD,1791617368387250974,-3.197166434e-06,-7.987296067e-05,-3.380827047e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.196889680e-06,-7.636257378e-05,-1.682336229e-05,7.015346743e-01,-7.832199935e-05,8.407071329e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303655e-01,-7.460693104e-05,8.295558572e-01
+35,2.466666667e+00,UP_FORCE_HOLD,1791617368487595487,-5.367558731e-08,-7.527031630e-05,-3.294265460e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.202102903e-06,-7.636261550e-05,-1.682638077e-05,7.015378178e-01,-7.371935498e-05,8.407079985e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303708e-01,-7.460697277e-05,8.295558541e-01
+36,2.533333333e+00,UP_FORCE_HOLD,1791617368620364523,1.011166269e-06,-7.924423052e-05,-2.840991793e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.208699374e-06,-7.636266604e-05,-1.683010068e-05,7.015388826e-01,-7.769326920e-05,8.407125313e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303774e-01,-7.460702331e-05,8.295558504e-01
+37,2.600000000e+00,UP_FORCE_HOLD,1791617368751867654,4.545467225e-07,-8.008620209e-05,-2.936520502e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.214832283e-06,-7.636269696e-05,-1.683349427e-05,7.015383260e-01,-7.853524077e-05,8.407115760e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303835e-01,-7.460705422e-05,8.295558470e-01
+38,2.700000000e+00,UP_FORCE_HOLD,1791617368917871388,6.747966401e-07,-8.108786258e-05,-2.947232027e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.223500061e-06,-7.636276879e-05,-1.683806232e-05,7.015385463e-01,-7.953690126e-05,8.407114689e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303922e-01,-7.460712606e-05,8.295558425e-01
+39,2.766666667e+00,UP_FORCE_HOLD,1791617369051892477,-3.028781898e-06,-7.808423405e-05,-3.375804528e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.228860221e-06,-7.636281338e-05,-1.684077913e-05,7.015348427e-01,-7.653327273e-05,8.407071831e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017303975e-01,-7.460717065e-05,8.295558397e-01
+40,2.833333333e+00,UP_FORCE_HOLD,1791617369183939650,-2.247429790e-07,-8.059857343e-05,-2.879866249e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.233939188e-06,-7.636286511e-05,-1.684325555e-05,7.015376467e-01,-7.904761211e-05,8.407121425e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304026e-01,-7.460722238e-05,8.295558373e-01
+41,2.900000000e+00,UP_FORCE_HOLD,1791617369317903522,-4.144204141e-06,-7.745423404e-05,-3.415541750e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.238698039e-06,-7.636290534e-05,-1.684551864e-05,7.015337273e-01,-7.590327272e-05,8.407067858e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304074e-01,-7.460726260e-05,8.295558350e-01
+42,2.950000000e+00,UP_FORCE_HOLD,1791617369417878840,-1.889516372e-06,-7.751949750e-05,-3.121812397e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.242087065e-06,-7.636293472e-05,-1.684708521e-05,7.015359820e-01,-7.596853618e-05,8.407097231e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304107e-01,-7.460729198e-05,8.295558334e-01
+43,3.050000000e+00,UP_FORCE_HOLD,1791617369581865821,-5.421293226e-06,-7.954200735e-05,-3.435738532e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.248420093e-06,-7.636298342e-05,-1.684991163e-05,7.015324502e-01,-7.799104603e-05,8.407065838e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304171e-01,-7.460734069e-05,8.295558306e-01
+44,3.133333333e+00,UP_FORCE_HOLD,1791617369750536752,-2.722689781e-06,-8.070120707e-05,-2.953234003e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.252733890e-06,-7.636291562e-05,-1.685200088e-05,7.015351488e-01,-7.915024575e-05,8.407114088e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304214e-01,-7.460727288e-05,8.295558285e-01
+45,3.183333333e+00,UP_FORCE_HOLD,1791617369851967154,-6.247143101e-06,-7.788757750e-05,-3.338069069e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.255698715e-06,-7.636298534e-05,-1.685312243e-05,7.015316243e-01,-7.633661618e-05,8.407075605e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304244e-01,-7.460734261e-05,8.295558274e-01
+46,3.266666667e+00,UP_FORCE_HOLD,1791617370016304770,-5.902279308e-06,-8.251193314e-05,-3.243959786e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.260304540e-06,-7.636308026e-05,-1.685481909e-05,7.015319692e-01,-8.096097182e-05,8.407085016e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304290e-01,-7.460743753e-05,8.295558257e-01
+47,3.350000000e+00,UP_FORCE_HOLD,1791617370151143956,-3.991605982e-06,-7.953714818e-05,-2.861519613e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.264306912e-06,-7.636311871e-05,-1.685633251e-05,7.015338799e-01,-7.798618686e-05,8.407123260e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304330e-01,-7.460747598e-05,8.295558242e-01
+48,3.416666667e+00,UP_FORCE_HOLD,1791617370281891755,-6.082218032e-06,-7.535653576e-05,-3.227794088e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.267341658e-06,-7.636314917e-05,-1.685742935e-05,7.015317893e-01,-7.380557444e-05,8.407086632e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304360e-01,-7.460750643e-05,8.295558231e-01
+49,3.483333333e+00,UP_FORCE_HOLD,1791617370414888789,-5.570933224e-06,-8.149989445e-05,-2.949639950e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.269954633e-06,-7.636312401e-05,-1.685844329e-05,7.015323005e-01,-7.994893313e-05,8.407114448e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304386e-01,-7.460748128e-05,8.295558221e-01
+50,3.550000000e+00,UP_FORCE_HOLD,1791617370549901413,-4.557013409e-06,-7.627723070e-05,-2.521470955e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.272836494e-06,-7.636319666e-05,-1.685932484e-05,7.015333145e-01,-7.472626938e-05,8.407157265e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304415e-01,-7.460755392e-05,8.295558212e-01
+51,3.633333333e+00,UP_FORCE_HOLD,1791617370713934252,-5.721201518e-06,-7.791597741e-05,-2.828466986e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.275947473e-06,-7.636322350e-05,-1.686031917e-05,7.015321503e-01,-7.636501609e-05,8.407126565e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304446e-01,-7.460758077e-05,8.295558202e-01
+52,3.716666667e+00,UP_FORCE_HOLD,1791617370846313033,-8.253591682e-06,-7.848264918e-05,-2.705713556e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.278711069e-06,-7.636321289e-05,-1.686123247e-05,7.015296179e-01,-7.693168785e-05,8.407138841e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304474e-01,-7.460757015e-05,8.295558193e-01
+53,3.816666667e+00,UP_FORCE_HOLD,1791617371046905418,-6.538936623e-06,-7.571336939e-05,-2.330370276e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.281967712e-06,-7.636324803e-05,-1.686216069e-05,7.015313325e-01,-7.416240806e-05,8.407176375e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304506e-01,-7.460760529e-05,8.295558184e-01
+54,3.883333333e+00,UP_FORCE_HOLD,1791617371181927711,-9.306787271e-06,-7.855078212e-05,-2.746669555e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.283824674e-06,-7.636324297e-05,-1.686271528e-05,7.015285647e-01,-7.699982080e-05,8.407134745e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304525e-01,-7.460760023e-05,8.295558178e-01
+55,3.950000000e+00,UP_FORCE_HOLD,1791617371313950137,-1.111383037e-05,-7.640109555e-05,-2.750524631e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.286016837e-06,-7.636332466e-05,-1.686318603e-05,7.015267577e-01,-7.485013422e-05,8.407134359e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304547e-01,-7.460768193e-05,8.295558173e-01
+56,4.000000000e+00,UP_FORCE_HOLD,1791617371396330691,-8.126815129e-06,-8.145629996e-05,-2.356308712e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.287381672e-06,-7.636333941e-05,-1.686352677e-05,7.015297447e-01,-7.990533864e-05,8.407173781e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304560e-01,-7.460769667e-05,8.295558170e-01
+57,4.100000000e+00,UP_FORCE_HOLD,1791617371580205589,-8.395097092e-06,-7.986034263e-05,-2.233417056e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.289901169e-06,-7.636336743e-05,-1.686412118e-05,7.015294764e-01,-7.830938131e-05,8.407186070e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304586e-01,-7.460772470e-05,8.295558164e-01
+58,4.183333333e+00,UP_FORCE_HOLD,1791617371746491188,-9.178541103e-06,-8.085314577e-05,-2.040247627e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.291867348e-06,-7.636338599e-05,-1.686455841e-05,7.015286929e-01,-7.930218445e-05,8.407205387e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304605e-01,-7.460774325e-05,8.295558160e-01
+59,4.250000000e+00,UP_FORCE_HOLD,1791617371878585671,-9.086433821e-06,-7.448197231e-05,-1.858159293e-05,5.957737669e-07,-7.642430377e-05,-1.711366765e-05,1.293336256e-06,-7.636340199e-05,-1.686486447e-05,7.015287850e-01,-7.293101099e-05,8.407223596e-01,7.015384673e-01,-7.487334245e-05,8.407238275e-01,7.017304620e-01,-7.460775925e-05,8.295558157e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..452f3be52e5d6c6bed8400424ecd2f4f89629485
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-1.8452e-02,8.9564e-04,2.4497e+00,-3.6848e-02,3.5461e-02,5.4468e-06,5.0727e-04,-3.8018e-06,2.8801e-04,1.4156e-07,3.3770e-05,2.2256e-07,5.8334e-04,3.3771e-05
+1,5.0000e-02,UP_FORCE_HOLD,1.5207e-05,-1.6946e-02,8.8739e-04,2.4505e+00,-3.6848e-02,3.5561e-02,6.1251e-06,2.0127e-03,-1.2048e-05,1.1373e-03,3.6880e-07,1.3447e-04,9.0085e-07,2.3118e-03,1.3448e-04
+2,1.1667e-01,UP_FORCE_HOLD,3.6119e-05,-5.7426e-03,1.2047e-02,2.4613e+00,-3.7594e-02,3.6315e-02,1.4666e-05,1.3216e-02,1.1148e-02,1.1886e-02,-7.4555e-04,8.8806e-04,9.4422e-06,2.0981e-02,1.1596e-03
+3,1.8333e-01,UP_FORCE_HOLD,5.2024e-05,-6.6696e-03,9.9201e-03,2.4601e+00,-3.7463e-02,3.6264e-02,1.6637e-05,1.2289e-02,9.0207e-03,1.0655e-02,-6.1460e-04,8.3663e-04,1.1413e-05,1.8599e-02,1.0382e-03
+4,2.6667e-01,UP_FORCE_HOLD,6.7530e-05,-4.8818e-03,1.8636e-02,2.4543e+00,-3.8159e-02,3.6435e-02,5.8695e-05,1.4077e-02,1.7737e-02,4.9314e-03,-1.3103e-03,1.0081e-03,5.3470e-05,2.3175e-02,1.6541e-03
+5,3.5000e-01,UP_FORCE_HOLD,8.4377e-05,-3.9458e-03,1.8743e-02,2.4557e+00,-3.8156e-02,3.6495e-02,6.0501e-05,1.5013e-02,1.7843e-02,6.2852e-03,-1.3072e-03,1.0680e-03,5.5277e-05,2.4151e-02,1.6889e-03
+6,4.0000e-01,UP_FORCE_HOLD,1.0145e-04,-3.1621e-03,1.8601e-02,2.4564e+00,-3.8141e-02,3.6546e-02,6.1492e-05,1.5797e-02,1.7701e-02,6.9618e-03,-1.2930e-03,1.1193e-03,5.6268e-05,2.4725e-02,1.7111e-03
+7,4.8333e-01,UP_FORCE_HOLD,1.1607e-04,1.4163e-03,2.9157e-02,2.4598e+00,-3.8833e-02,3.6854e-02,7.2961e-05,2.0375e-02,2.8258e-02,1.0378e-02,-1.9850e-03,1.4269e-03,6.7736e-05,3.6350e-02,2.4456e-03
+8,5.5000e-01,UP_FORCE_HOLD,1.3423e-04,1.5316e-03,2.7043e-02,2.4597e+00,-3.8699e-02,3.6864e-02,7.4902e-05,2.0491e-02,2.6144e-02,1.0254e-02,-1.8510e-03,1.4375e-03,6.9678e-05,3.4763e-02,2.3447e-03
+9,6.0000e-01,UP_FORCE_HOLD,1.5291e-04,2.0049e-03,2.6273e-02,2.4598e+00,-3.8651e-02,3.6898e-02,7.6238e-05,2.0964e-02,2.5373e-02,1.0378e-02,-1.8023e-03,1.4707e-03,7.1014e-05,3.4511e-02,2.3273e-03
+10,6.5000e-01,UP_FORCE_HOLD,1.6629e-04,2.6636e-03,2.5823e-02,2.4600e+00,-3.8622e-02,3.6943e-02,7.7589e-05,2.1623e-02,2.4923e-02,1.0612e-02,-1.7740e-03,1.5163e-03,7.2365e-05,3.4660e-02,2.3348e-03
+11,7.0000e-01,UP_FORCE_HOLD,1.8672e-04,3.4443e-03,2.5566e-02,2.4603e+00,-3.8606e-02,3.6997e-02,7.9029e-05,2.2403e-02,2.4667e-02,1.0922e-02,-1.7578e-03,1.5703e-03,7.3804e-05,3.5066e-02,2.3582e-03
+12,7.5000e-01,UP_FORCE_HOLD,2.0439e-04,4.2092e-03,2.5447e-02,2.4607e+00,-3.8599e-02,3.7050e-02,8.0326e-05,2.3168e-02,2.4547e-02,1.1242e-02,-1.7503e-03,1.6235e-03,7.5102e-05,3.5577e-02,2.3885e-03
+13,8.0000e-01,UP_FORCE_HOLD,2.1898e-04,4.9546e-03,2.5388e-02,2.4610e+00,-3.8595e-02,3.7102e-02,8.1493e-05,2.3914e-02,2.4489e-02,1.1559e-02,-1.7465e-03,1.6754e-03,7.6269e-05,3.6127e-02,2.4214e-03
+14,8.6667e-01,UP_FORCE_HOLD,2.3318e-04,5.9142e-03,2.5349e-02,2.4614e+00,-3.8592e-02,3.7169e-02,8.2865e-05,2.4873e-02,2.4450e-02,1.1970e-02,-1.7438e-03,1.7426e-03,7.7641e-05,3.6875e-02,2.4665e-03
+15,9.6667e-01,UP_FORCE_HOLD,2.5348e-04,7.2748e-03,2.5317e-02,2.4620e+00,-3.8590e-02,3.7265e-02,8.4563e-05,2.6234e-02,2.4418e-02,1.2550e-02,-1.7412e-03,1.8381e-03,7.9339e-05,3.7973e-02,2.5331e-03
+16,1.0333e+00,UP_FORCE_HOLD,2.6714e-04,8.0494e-03,2.5302e-02,2.4623e+00,-3.8588e-02,3.7319e-02,8.5352e-05,2.7008e-02,2.4403e-02,1.2878e-02,-1.7397e-03,1.8926e-03,8.0128e-05,3.8611e-02,2.5719e-03
+17,1.1000e+00,UP_FORCE_HOLD,2.8738e-04,8.8912e-03,2.5286e-02,2.4626e+00,-3.8587e-02,3.7379e-02,8.6102e-05,2.7850e-02,2.4387e-02,1.3234e-02,-1.7381e-03,1.9518e-03,8.0878e-05,3.9313e-02,2.6148e-03
+18,1.2000e+00,UP_FORCE_HOLD,3.0336e-04,1.0081e-02,2.5260e-02,2.4631e+00,-3.8584e-02,3.7463e-02,8.7044e-05,2.9040e-02,2.4361e-02,1.3729e-02,-1.7354e-03,2.0361e-03,8.1820e-05,4.0314e-02,2.6766e-03
+19,1.2833e+00,UP_FORCE_HOLD,3.1872e-04,7.6923e-03,3.1484e-02,2.4795e+00,-3.8997e-02,3.7306e-02,9.0992e-05,2.6651e-02,3.0584e-02,3.0069e-02,-2.1487e-03,1.8788e-03,8.5767e-05,5.0496e-02,2.8556e-03
+20,1.3667e+00,UP_FORCE_HOLD,3.3498e-04,8.5556e-03,3.0931e-02,2.4781e+00,-3.8965e-02,3.7361e-02,9.2357e-05,2.7515e-02,3.0031e-02,2.8703e-02,-2.1169e-03,1.9342e-03,8.7133e-05,4.9827e-02,2.8688e-03
+21,1.4500e+00,UP_FORCE_HOLD,3.5013e-04,9.4267e-03,3.0740e-02,2.4768e+00,-3.8955e-02,3.7418e-02,9.3469e-05,2.8386e-02,2.9841e-02,2.7414e-02,-2.1070e-03,1.9916e-03,8.8245e-05,4.9475e-02,2.9006e-03
+22,1.5167e+00,UP_FORCE_HOLD,3.6815e-04,1.0102e-02,3.0702e-02,2.4759e+00,-3.8954e-02,3.7464e-02,9.4205e-05,2.9061e-02,2.9802e-02,2.6497e-02,-2.1056e-03,2.0369e-03,8.8981e-05,4.9344e-02,2.9310e-03
+23,1.6000e+00,UP_FORCE_HOLD,3.8754e-04,1.0919e-02,3.0702e-02,2.4749e+00,-3.8955e-02,3.7520e-02,9.4951e-05,2.9878e-02,2.9802e-02,2.5485e-02,-2.1064e-03,2.0926e-03,8.9727e-05,4.9299e-02,2.9705e-03
+24,1.6500e+00,UP_FORCE_HOLD,4.0249e-04,1.1394e-02,3.0711e-02,2.4744e+00,-3.8956e-02,3.7552e-02,9.5315e-05,3.0353e-02,2.9812e-02,2.4940e-02,-2.1071e-03,2.1253e-03,9.0091e-05,4.9316e-02,2.9942e-03
+25,1.7500e+00,UP_FORCE_HOLD,4.2267e-04,1.2305e-02,3.0730e-02,2.4734e+00,-3.8957e-02,3.7616e-02,9.5876e-05,3.1264e-02,2.9831e-02,2.3967e-02,-2.1083e-03,2.1887e-03,9.0651e-05,4.9414e-02,3.0404e-03
+26,1.8000e+00,UP_FORCE_HOLD,4.3846e-04,1.2741e-02,3.0737e-02,2.4729e+00,-3.8957e-02,3.7646e-02,9.6081e-05,3.1700e-02,2.9838e-02,2.3531e-02,-2.1086e-03,2.2193e-03,9.0857e-05,4.9486e-02,3.0626e-03
+27,1.8667e+00,UP_FORCE_HOLD,4.5496e-04,1.3302e-02,3.0742e-02,2.4724e+00,-3.8957e-02,3.7686e-02,9.6284e-05,3.2261e-02,2.9842e-02,2.2996e-02,-2.1085e-03,2.2588e-03,9.1060e-05,4.9599e-02,3.0913e-03
+28,1.9167e+00,UP_FORCE_HOLD,4.6843e-04,1.3763e-02,3.0742e-02,2.4720e+00,-3.8957e-02,3.7719e-02,9.6415e-05,3.2722e-02,2.9842e-02,2.2573e-02,-2.1081e-03,2.2916e-03,9.1191e-05,4.9707e-02,3.1151e-03
+29,2.0000e+00,UP_FORCE_HOLD,4.8856e-04,1.4454e-02,3.0735e-02,2.4714e+00,-3.8955e-02,3.7768e-02,9.6525e-05,3.3413e-02,2.9836e-02,2.1978e-02,-2.1068e-03,2.3411e-03,9.1301e-05,4.9896e-02,3.1508e-03
+30,2.0500e+00,UP_FORCE_HOLD,5.0309e-04,1.4837e-02,3.0729e-02,2.4711e+00,-3.8954e-02,3.7796e-02,9.6534e-05,3.3796e-02,2.9830e-02,2.1667e-02,-2.1059e-03,2.3687e-03,9.1310e-05,5.0014e-02,3.1708e-03
+31,2.1167e+00,UP_FORCE_HOLD,5.1895e-04,1.5312e-02,3.0720e-02,2.4707e+00,-3.8953e-02,3.7830e-02,9.6488e-05,3.4271e-02,2.9820e-02,2.1296e-02,-2.1046e-03,2.4029e-03,9.1264e-05,5.0172e-02,3.1956e-03
+32,2.2000e+00,UP_FORCE_HOLD,5.3702e-04,1.5885e-02,3.0704e-02,2.4703e+00,-3.8951e-02,3.7871e-02,9.6344e-05,3.4844e-02,2.9804e-02,2.0867e-02,-2.1027e-03,2.4443e-03,9.1120e-05,5.0377e-02,3.2256e-03
+33,2.3000e+00,UP_FORCE_HOLD,5.5194e-04,1.6519e-02,3.0683e-02,2.4698e+00,-3.8949e-02,3.7917e-02,9.6063e-05,3.5478e-02,2.9783e-02,2.0418e-02,-2.1001e-03,2.4902e-03,9.0838e-05,5.0622e-02,3.2589e-03
+34,2.4167e+00,UP_FORCE_HOLD,5.7032e-04,1.7193e-02,3.0657e-02,2.4694e+00,-3.8946e-02,3.7966e-02,9.5605e-05,3.6152e-02,2.9757e-02,1.9967e-02,-2.0972e-03,2.5392e-03,9.0381e-05,5.0903e-02,3.2945e-03
+35,2.4667e+00,UP_FORCE_HOLD,5.8825e-04,1.7462e-02,3.0645e-02,2.4692e+00,-3.8944e-02,3.7986e-02,9.5372e-05,3.6421e-02,2.9746e-02,1.9794e-02,-2.0959e-03,2.5587e-03,9.0148e-05,5.1021e-02,3.3088e-03
+36,2.5333e+00,UP_FORCE_HOLD,6.0495e-04,1.7800e-02,3.0631e-02,2.4690e+00,-3.8943e-02,3.8010e-02,9.5034e-05,3.6759e-02,2.9731e-02,1.9583e-02,-2.0943e-03,2.5833e-03,8.9810e-05,5.1173e-02,3.3268e-03
+37,2.6000e+00,UP_FORCE_HOLD,6.2201e-04,1.8561e-02,3.0492e-02,2.4687e+00,-3.8930e-02,3.8076e-02,9.2099e-05,3.7520e-02,2.9592e-02,1.9295e-02,-2.0814e-03,2.6487e-03,8.6874e-05,5.1534e-02,3.3698e-03
+38,2.7000e+00,UP_FORCE_HOLD,6.3896e-04,1.8885e-02,3.0507e-02,2.4686e+00,-3.8931e-02,3.8096e-02,9.1811e-05,3.7844e-02,2.9607e-02,1.9139e-02,-2.0824e-03,2.6693e-03,8.6587e-05,5.1721e-02,3.3866e-03
+39,2.7667e+00,UP_FORCE_HOLD,6.5427e-04,1.9091e-02,3.0512e-02,2.4684e+00,-3.8931e-02,3.8110e-02,9.1586e-05,3.8050e-02,2.9613e-02,1.9010e-02,-2.0827e-03,2.6828e-03,8.6362e-05,5.1828e-02,3.3974e-03
+40,2.8333e+00,UP_FORCE_HOLD,6.7382e-04,1.9299e-02,3.0515e-02,2.4683e+00,-3.8931e-02,3.8124e-02,9.1324e-05,3.8258e-02,2.9616e-02,1.8874e-02,-2.0827e-03,2.6966e-03,8.6099e-05,5.1932e-02,3.4084e-03
+41,2.9000e+00,UP_FORCE_HOLD,6.8657e-04,1.9513e-02,3.0516e-02,2.4681e+00,-3.8931e-02,3.8138e-02,9.0995e-05,3.8472e-02,2.9616e-02,1.8733e-02,-2.0825e-03,2.7112e-03,8.5771e-05,5.2040e-02,3.4198e-03
+42,2.9500e+00,UP_FORCE_HOLD,7.0348e-04,1.9665e-02,3.0515e-02,2.4680e+00,-3.8931e-02,3.8148e-02,9.0731e-05,3.8624e-02,2.9615e-02,1.8637e-02,-2.0823e-03,2.7215e-03,8.5506e-05,5.2117e-02,3.4278e-03
+43,3.0500e+00,UP_FORCE_HOLD,7.2263e-04,2.0163e-02,3.0417e-02,2.4678e+00,-3.8922e-02,3.8192e-02,8.5194e-05,3.9122e-02,2.9518e-02,1.8399e-02,-2.0732e-03,2.7649e-03,7.9970e-05,5.2349e-02,3.4567e-03
+44,3.1333e+00,UP_FORCE_HOLD,7.3921e-04,2.0355e-02,3.0433e-02,2.4678e+00,-3.8923e-02,3.8203e-02,8.5093e-05,3.9314e-02,2.9533e-02,1.8353e-02,-2.0744e-03,2.7764e-03,7.9869e-05,5.2485e-02,3.4667e-03
+45,3.1833e+00,UP_FORCE_HOLD,7.5535e-04,2.0470e-02,3.0439e-02,2.4677e+00,-3.8923e-02,3.8211e-02,8.5025e-05,3.9429e-02,2.9540e-02,1.8306e-02,-2.0748e-03,2.7836e-03,7.9801e-05,5.2558e-02,3.4727e-03
+46,3.2667e+00,UP_FORCE_HOLD,7.7214e-04,2.0644e-02,3.0448e-02,2.4676e+00,-3.8924e-02,3.8222e-02,8.4876e-05,3.9603e-02,2.9548e-02,1.8219e-02,-2.0754e-03,2.7946e-03,7.9651e-05,5.2664e-02,3.4819e-03
+47,3.3500e+00,UP_FORCE_HOLD,7.9140e-04,2.0780e-02,3.0453e-02,2.4676e+00,-3.8924e-02,3.8230e-02,8.4718e-05,3.9739e-02,2.9553e-02,1.8145e-02,-2.0757e-03,2.8034e-03,7.9493e-05,5.2743e-02,3.4892e-03
+48,3.4167e+00,UP_FORCE_HOLD,8.0732e-04,2.0923e-02,3.0456e-02,2.4675e+00,-3.8924e-02,3.8240e-02,8.4534e-05,3.9882e-02,2.9556e-02,1.8068e-02,-2.0759e-03,2.8128e-03,7.9310e-05,5.2826e-02,3.4968e-03
+49,3.4833e+00,UP_FORCE_HOLD,8.1988e-04,2.1055e-02,3.0457e-02,2.4674e+00,-3.8924e-02,3.8249e-02,8.4327e-05,4.0014e-02,2.9558e-02,1.8000e-02,-2.0759e-03,2.8216e-03,7.9102e-05,5.2903e-02,3.5039e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..539cc1a64e475d8ecf93ac8e55e38ad12b67a348
--- /dev/null
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+59,3.608333e+01,2822,6.939625e-01,1.985755e-02,8.171322e-01,4.835315e-05,-9.807020e-05,-1.694227e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2823,7.005953e-01,1.983446e-02,8.018744e-01,-1.638415e-04,-7.822518e-05,-1.681834e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2824,6.956617e-01,2.106700e-02,8.040938e-01,-8.629996e-05,-9.068704e-05,-1.677966e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2825,6.995637e-01,1.864254e-02,8.035735e-01,-1.491149e-04,-1.026271e-04,-1.684546e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2826,6.992561e-01,2.111418e-02,8.241790e-01,-3.614029e-05,-8.412153e-05,-1.697108e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2827,6.928322e-01,2.108367e-02,8.111398e-01,5.643053e-05,-1.132331e-04,-1.683719e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2828,6.982813e-01,1.693066e-02,8.093543e-01,-2.790579e-04,-8.052678e-04,-1.701629e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2829,6.949163e-01,1.995718e-02,8.194954e-01,2.872988e-05,-8.048811e-05,-1.696842e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2830,6.938916e-01,1.916213e-02,8.117192e-01,4.361529e-05,-1.234916e-04,-1.685788e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2831,6.968382e-01,1.755638e-02,8.087711e-01,-2.057530e-04,-3.929330e-04,-1.693104e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2832,6.932228e-01,2.111889e-02,8.089597e-01,2.712182e-05,-1.080619e-04,-1.680406e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2833,6.983135e-01,1.859381e-02,8.043250e-01,-1.353964e-04,-1.169466e-04,-1.684113e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2834,6.942200e-01,1.998051e-02,8.075929e-01,-1.827804e-06,-9.932576e-05,-1.679490e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2835,6.969150e-01,1.831685e-02,8.194266e-01,-4.994023e-05,-1.346594e-04,-1.692745e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2836,6.952153e-01,1.894853e-02,8.181923e-01,3.903698e-06,-9.955785e-05,-1.694421e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2837,6.975569e-01,2.008496e-02,8.029774e-01,-1.272835e-04,-7.423026e-05,-1.679386e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2838,6.985842e-01,1.923461e-02,8.032125e-01,-1.351893e-04,-8.024826e-05,-1.680976e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2839,6.926856e-01,2.137160e-02,8.136785e-01,5.737791e-05,-1.061549e-04,-1.688002e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2840,7.004045e-01,2.123672e-02,8.245215e-01,-4.130411e-05,-8.572685e-05,-1.697275e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2841,6.960844e-01,1.892506e-02,8.060074e-01,-7.269456e-05,-1.083967e-04,-1.680276e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2842,6.932393e-01,1.997870e-02,8.124592e-01,7.303217e-05,-1.101096e-04,-1.686491e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2843,6.996147e-01,1.945311e-02,8.024946e-01,-1.519572e-04,-7.874944e-05,-1.681376e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,3.608333e+01,2844,6.996221e-01,2.020588e-02,8.018114e-01,-1.573171e-04,-8.026463e-05,-1.680973e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56c53680a6f3b53f8ec1a3d5247ddfd3547e1108
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+57239,1791617457238913881,22641030000000,1791617457238246485,DOWN_FORCE_DETACH,8,0.0445,0.04453841596841812,0.675952693985049,-0.004868211643494968,0.09067370830834144,0.9999999697038132,-1.0494914614011207e-05,-0.00022782059086632928,4.782487584186163e-06,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,0.6662739667662094,0.4666732997109699,-1.061034327215362,0.02662431404361504,-0.04316078211046937,0.0015891974267776712,0.5904337681548121,0.4495917255958611,-1.1893483218384486,0.0256297624571745,-0.043115906273433605,0.0016720685948432787,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,-0.2875057831011695,0.5171386088098444,2.4389610118747806,-0.09313393456467531,-1.5076546097242352,0.29396211877075573,0.5152655439204765,1.061034327215362,-1.9236954679543041,-1.9236954679543041,0.00136,1,0,-8.500000245589333e-07,-9.999924085868912e-05
+57598,1791617460230904802,22644022000000,1791617460230246935,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6759590022962711,-0.004918636931465405,0.09060817180528409,0.9999999701918252,-3.4146495877913094e-05,-0.00022045972404429546,3.592687233339745e-05,0.6761,-0.0048,0.09077372319337493,1.0,0.0,0.0,0.0,0.790519722581241,0.8032639820286603,-0.3410596612810972,0.05469219110554659,-0.05366886647467209,0.001802307256697142,0.7146795239698437,0.7861824079135515,-0.46937365590418395,0.053697639519106055,-0.05362399063763632,0.0018851784247627494,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.2126685838043834,0.7279420434875132,1.395171337993571,0.059112652457749666,-0.7914263815669969,0.45678974802883354,0.5152655439204765,0.3410596612810972,-0.8799057940730945,-0.8799057940730945,0.24071999999999155,1,0,-0.00015044997093568847,-9.999999025923074e-05
+57853,1791617462355945766,22646147000000,1791617462354246364,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6760851855674228,-0.004933685989444688,0.090423729262749,0.9999999912694697,-1.9182076857408357e-05,-1.1098307690440578e-05,9.172132001038077e-05,0.6761,-0.0048,0.09036642392756913,1.0,0.0,0.0,0.0,0.5212544841699431,0.9115225944427117,0.9069074014408083,0.0630088311767599,-0.03446447159274416,0.0026105870660691408,0.44541428555854584,0.8944410203276029,0.7785934068177216,0.06201427959031936,-0.034419595755708396,0.002693458234134748,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6832333647470306,0.6201086410192662,-0.19336859104823867,0.20642824919346311,0.2699994698282414,0.36366779728618137,0.5152655439204765,0.9069074014408083,0.7086341349687152,0.7086341349687152,0.4107200000000404,1,0,-0.00018594916014327977,9.999999025923074e-05
+58125,1791617464622917642,22648414000000,1791617464618246857,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6761475408159708,-0.004978201356755886,0.09025605118664311,0.9999999824021718,-9.899075609821808e-05,9.28670683617949e-05,9.063695898415217e-05,0.6761,-0.0048,0.09007330270648296,1.0,0.0,0.0,0.0,0.2758488261763362,0.8964868173287525,1.7814475338844993,0.06343954402126882,-0.01885484414357198,0.002123630526954939,0.20000862756493887,0.8794052432136437,1.6531335392614126,0.06244499243482828,-0.01880996830653621,0.0022065016950205464,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9901322924971855,0.49741119531613837,-1.1155989535499533,0.206613920057689,0.9171958834672113,0.274048600771034,0.5152655439204765,1.7814475338844993,1.6308644974704298,1.6308644974704298,0.592080000000032,1,0,-7.259918222560368e-05,9.999999025923074e-05
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+59642,1791617477264117545,22661055000000,1791617477258246564,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6761483960427737,-0.0049788186754226174,0.09013791475503924,0.9999999818806308,-9.943525301283423e-05,9.236751418591434e-05,9.624175503487441e-05,0.6761,-0.0048,0.08995844108205259,1.0,0.0,0.0,0.0,0.2878112131363621,0.8539524568989063,1.711162939087645,0.06341944504288284,-0.020861583683527102,0.002142616847615305,0.21197101452496475,0.8368708827837975,1.5828489444645584,0.0624248934564423,-0.020816707846491332,0.0022254880156809126,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0369526300163814,0.42377216635695003,-1.0447705485642427,0.22096816812845743,0.8853313323570563,0.22313796167733274,0.5152655439204765,1.711162939087645,1.5600360924847192,1.5600360924847192,1.6033600000004773,1,0,-2.2484997276610248e-05,-8.215841481996051e-05
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+60340,1791617483081119743,22666872000000,1791617483078236827,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6761803276119411,-0.0049822996266151625,0.09001438312261247,0.9999999806273088,1.0217760638371295e-05,0.00014525309752589816,9.479125293438636e-05,0.6761,-0.0048,0.08977339008404313,1.0,0.0,0.0,0.0,0.240391876714935,0.8963343851736042,2.0834190388416993,0.06638541057844326,-0.01694809950844732,0.0019413165491497558,0.16455167810353766,0.8792528110584954,1.9551050442186124,0.06539085899200271,-0.01690322367141155,0.0020241877172153633,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.078895348352499,0.3771720244960466,-1.4697074865271313,0.2550473282779084,1.1497848372109807,0.20029548373211759,0.5152655439204765,2.0834190388416993,1.9849730304476079,1.9849730304476079,2.0687200000009427,1,0,-3.9360498148315e-05,-9.080005777673534e-05
+60679,1791617485906250579,22669697000000,1791617485898237096,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6761937184796895,-0.004983389465914441,0.089913205102635,0.9999999770302052,-1.8356122786557277e-05,0.00016809643638271464,9.375017071130187e-05,0.6761,-0.0048,0.08964057665224087,1.0,0.0,0.0,0.0,0.23916977186226182,0.8879451334897125,2.233567846165502,0.06533620166125449,-0.01696122417064212,0.0018083789731565937,0.16332957325086447,0.8708635593746037,2.105253851542415,0.06434165007481395,-0.01691634833360635,0.0018912501412222012,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1481093932487114,0.33426764152924676,-1.7205191795331216,0.2742837790548113,1.3246922590496972,0.180035712948367,0.5152655439204765,2.233567846165502,2.235784723453598,2.235784723453598,2.2947200000011687,1,0,-5.454371971116732e-05,7.47020047788975e-05
+61039,1791617488906276085,22672697000000,1791617488902236987,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6762074099416543,-0.004987180723878871,0.08975734107156365,0.9999999721320454,-4.675727031788992e-05,0.00019116787329755646,9.190960145859002e-05,0.6761,-0.0048,0.08945542543364578,1.0,0.0,0.0,0.0,0.26311720096758023,0.8709284047286374,2.3951280963710504,0.06431090006433803,-0.017989660819487507,0.001653533948774075,0.1872770023561829,0.8538468306135286,2.2668141017479635,0.06331634847789748,-0.017944784982451736,0.0017364051168396824,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1368950540754437,0.33845014935195755,-1.8925225026163666,0.2912814776232342,1.4297110191238112,0.1907773363699637,0.5152655439204765,2.3951280963710504,2.407788046536843,2.407788046536843,2.5347200000014087,1,0,-7.462758283146987e-05,-9.99965485678544e-05
+61362,1791617491599252984,22675389000000,1791617491598236747,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.676227336883507,-0.00499222501987188,0.08957748802331882,0.9999999652943625,-5.428043943763977e-05,0.00022094682669813345,9.534291785525653e-05,0.6761,-0.0048,0.08924440290890483,1.0,0.0,0.0,0.0,0.2831593616353478,0.84053854979463,2.5349221876535326,0.06229574627791391,-0.02000725034109647,0.0014889763068535932,0.20731916302395043,0.8234569756795213,2.4066081930304457,0.061301194691473375,-0.0199623745040607,0.0015718474749192007,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1118090408892987,0.43493267632112287,-2.062223151579284,0.2689605209781637,1.5326715277107275,0.2571969072442346,0.5152655439204765,2.5349221876535326,2.5774886954997607,2.5774886954997607,2.750080000001624,1,0,-8.808134690649195e-05,-9.818064003320188e-05
+61646,1791617493964335509,22677755000000,1791617493962236790,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762494515806152,-0.004995094490796125,0.08937615663887617,0.9999999576154217,-5.80038653928609e-05,0.00025284656295853627,9.442555960076647e-05,0.6761,-0.0048,0.0890108864546522,1.0,0.0,0.0,0.0,0.33884214907031174,0.8201392466779198,2.6835514321873966,0.06030770801742246,-0.023041176547684075,0.00130506421256292,0.2630019504589144,0.803057672562811,2.5552374375643097,0.05931315643098192,-0.022996300710648305,0.0013879353806285275,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.1209131871923834,0.4213928983983213,-2.276860698565722,0.28774276887235944,1.675184086371167,0.25199855879039823,0.5152655439204765,2.6835514321873966,2.7921262424861983,2.7921262424861983,2.9393600000018134,1,0,-0.00010010942721602601,-9.999652081227878e-05
+61929,1791617496323262723,22680114000000,1791617496322236638,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762679774101233,-0.004993745867448176,0.08913201036879621,0.9999999513286991,-4.202866003872127e-05,0.0002754286873559922,0.00010563187902745502,0.6761,-0.0048,0.08874776900131592,1.0,0.0,0.0,0.0,0.39666204169792524,0.7631799588498531,2.802668771942485,0.05625402307752124,-0.027828885167584368,0.0010906751240224665,0.3208218430865279,0.7460983847347443,2.6743547773193983,0.0552594714910807,-0.027784009330548597,0.001173546292088074,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,1.0569402004862236,0.41299022097547666,-2.4548386405737,0.3041749252776189,1.7802456529245416,0.24907246417817794,0.5152655439204765,2.802668771942485,2.9701041844941765,2.9701041844941765,3.128080000002002,1,0,-0.00012445215929140203,-1.947972843291439e-05
+62185,1791617498456363354,22682247000000,1791617498454237052,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762878500576839,-0.004995528972237853,0.0888632583483378,0.9999999414037978,-3.8853955095065436e-05,0.00030804959238655346,0.00011059423283349538,0.6761,-0.0048,0.08844474585030211,1.0,0.0,0.0,0.0,0.4749279757655683,0.7200720228755816,2.941832613991773,0.05320640640499817,-0.033086610542407024,0.0008732176531620668,0.39908777715417093,0.7029904487604728,2.8135186193686863,0.05221185481855763,-0.03304173470537126,0.0009560888212276742,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.9852151173357586,0.4173661330890895,-2.6142783961437366,0.312373280430425,1.8745486739244497,0.2530738088092513,0.5152655439204765,2.941832613991773,3.129543940064213,3.129543940064213,3.298720000002173,1,0,-0.000158203707763234,9.9482945518875e-05
+62400,1791617500248416966,22684039000000,1791617500246237574,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6762997352384867,-0.004992712271194964,0.08857942885258276,0.9999999358963897,-3.9180908702745735e-05,0.00032546633708451097,0.00011039293779398924,0.6761,-0.0048,0.0881455043431102,1.0,0.0,0.0,0.0,0.5467793266588294,0.6826194351210797,3.040257812027287,0.0493900547997596,-0.03709202093885135,0.0006920006039266561,0.4709391280474321,0.6655378610059709,2.9119438174042003,0.04839550321331906,-0.03704714510181558,0.0007748717719922635,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.922478184620509,0.4644270176311269,-2.6335535925805598,0.3242304461363977,1.8860369044805814,0.2844445628198509,0.5152655439204765,3.040257812027287,3.1488191365010363,3.1488191365010363,3.442080000002316,1,0,-0.0001794031724109121,-9.942447839884067e-05
+62608,1791617501981422131,22685772000000,1791617501974237049,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763147632816745,-0.0049971916214076526,0.08826739973878546,0.999999928177786,-3.505966180939634e-05,0.00034684840736578533,0.00011642289183560435,0.6761,-0.0048,0.08781449669871319,1.0,0.0,0.0,0.0,0.574079566949048,0.6219713415419935,3.1601554963199936,0.044342717563366496,-0.0400601747977547,0.0004971622738764777,0.4982393683376507,0.6048897674268847,3.0318415016969067,0.04334816597692596,-0.04001529896071893,0.0005800334419420851,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.8280815375285897,0.33169197982544374,-2.8027679457869894,0.36915791987471247,1.9856703825927529,0.19801402069114948,0.5152655439204765,3.1601554963199936,3.318033489707466,3.318033489707466,3.580720000002455,1,0,-0.00020161604579675154,-8.619355999231904e-05
+62787,1791617503473339372,22687264000000,1791617503470237221,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6763286166574732,-0.004993204034854899,0.08796917591262554,0.9999999209541732,-3.0113135458378426e-05,0.0003672542516532242,0.00011726903021482076,0.6761,-0.0048,0.08749477779421383,1.0,0.0,0.0,0.0,0.6318099089080986,0.5662545915345578,3.259734863126579,0.040831097255767716,-0.04407679095252758,0.0009794853391884805,0.5559697102967013,0.549173017419449,3.131420868503492,0.03983654566932718,-0.044031915115491815,0.0010623565072540879,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.7339992451167484,0.4380010744394099,-2.854948160149483,0.3564040897019383,2.0102211459330492,0.26826163353134075,0.5152655439204765,3.259734863126579,3.3702137040699593,3.3702137040699593,3.700080000002574,1,0,-0.00023003198953572136,-9.997934011097271e-05
+62955,1791617504873471336,22688664000000,1791617504870237124,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6763446866568403,-0.005001917869366953,0.08765011222923808,0.9999999104385646,-3.0190508825729693e-05,0.00039434048448262147,0.00011895311102751884,0.6761,-0.0048,0.08714834268385384,1.0,0.0,0.0,0.0,0.6592138558094605,0.5098140485741233,3.3683727385011517,0.03730781211712437,-0.04604159272624312,0.0008473350638884749,0.5833736571980631,0.49273247445901447,3.240058743878065,0.03631326053068383,-0.045996716889207354,0.0009302062319540823,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6471140027086195,0.4385345847494157,-2.980840556807649,0.3632883916062882,2.080646968492636,0.26871124748687036,0.5152655439204765,3.3683727385011517,3.4961061007281256,3.4961061007281256,3.812080000002686,1,0,-0.0002632559345558131,9.995458213752357e-05
+63107,1791617506139471997,22689930000000,1791617506138236345,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763579046716218,-0.0050117737003769714,0.08731895288810772,0.9999998993148033,-3.6658100772085616e-05,0.0004188394370578554,0.00012666079648767837,0.6761,-0.0048,0.08679659637553616,1.0,0.0,0.0,0.0,0.6726761678363786,0.46272847780064724,3.447490986003673,0.03325004142648116,-0.0469267743365345,0.0010676591045018177,0.5968359692249813,0.44564690368553844,3.319176991380586,0.03225548984004062,-0.04688189849949873,0.001150530272567425,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6443035545263144,0.46157566801545097,-3.0373288837423518,0.37219969074629233,2.1278479027753834,0.2824441756321071,0.5152655439204765,3.447490986003673,3.5525944276628283,3.5525944276628283,3.9133600000027875,1,0,-0.0002930318264806646,4.464008695653711e-05
+63246,1791617507298403313,22691089000000,1791617507294237314,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763704318381488,-0.0050066047842275575,0.08698872905782765,0.9999998932436507,-3.0212347783965504e-05,0.0004352830906412933,0.00012071204079342846,0.6761,-0.0048,0.08644408029112045,1.0,0.0,0.0,0.0,0.7189480387487918,0.4170719250905857,3.536533709154791,0.0303142391711687,-0.0496396267062751,0.0009206378827416833,0.6431078401373944,0.3999903509754769,3.408219714531704,0.029319687584728162,-0.04959475086923933,0.0010035090508072908,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5622650756137076,0.3633689429760189,-3.069946196444478,0.4070841106556118,2.143996574502519,0.2143791426973624,0.5152655439204765,3.536533709154791,3.5852117403649544,3.5852117403649544,4.0060800000028465,1,0,-0.0003153982294460108,-9.999800573557422e-05
+63378,1791617508398475366,22692189000000,1791617508398236443,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763850961374438,-0.005000125199475408,0.08665219505021148,0.9999998811792558,-2.523293434959485e-05,0.0004616162141689869,0.00012392783632025547,0.6761,-0.0048,0.08607943762462365,1.0,0.0,0.0,0.0,0.7480807270647403,0.3881327684045902,3.5863842448434355,0.02823594245281524,-0.05200288933916931,0.0008283030518670477,0.6722405284533429,0.3710511942894814,3.4580702502203486,0.027241390866374702,-0.05195801350213354,0.0009111742199326552,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5546544604977129,0.4252697906630679,-3.128268780293493,0.4121232357523482,2.1867992278131214,0.2624025626688226,0.5152655439204765,3.5863842448434355,3.6435343242139697,3.6435343242139697,4.094080000002446,1,0,-0.0003467650079539127,-4.7117236527621744e-05
+63498,1791617509399499421,22693189000000,1791617509394237514,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763954624953838,-0.0050018343572962864,0.08631515262962298,0.9999998717206956,-2.3529460134307217e-05,0.00048208676417012513,0.00012263838316808287,0.6761,-0.0048,0.0857233887535446,1.0,0.0,0.0,0.0,0.7707446057162403,0.35538360126731466,3.6355160788923446,0.025218655541499865,-0.053982005620004346,0.0007252878248020383,0.6949044071048429,0.33830202715220586,3.5072020842692577,0.024224103955059327,-0.05393712978296858,0.0008081589928676457,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.50552323031332,0.44975819430258623,-3.078341089287892,0.4065566190518895,2.1584435452579567,0.27400482023647854,0.5152655439204765,3.6355160788923446,3.5936066332083687,3.5936066332083687,4.174080000002082,1,0,-0.0003629282951209386,-9.999076153033854e-05
+63613,1791617510356514358,22694147000000,1791617510350238649,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6764035301260303,-0.005002278374164738,0.08596882059305831,0.9999998647061971,-2.7677325899460504e-05,0.0004961032388245761,0.00012306906307146793,0.6761,-0.0048,0.08536456300024833,1.0,0.0,0.0,0.0,0.8084873598652732,0.29906880085896675,3.6948776449067773,0.022069911931176845,-0.05596108006681393,0.0006155508516854925,0.7326471612538759,0.28198722674385795,3.5665636502836904,0.021075360344736307,-0.055916204229778166,0.0006984220197510999,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5021115618487756,0.4134576801515699,-3.2172393749504264,0.42119464725239303,2.2578513868530523,0.25109639666692357,0.5152655439204765,3.6948776449067773,3.732504918870903,3.732504918870903,4.250720000001733,1,0,-0.00038295054840683927,-9.944675224827221e-05
+63721,1791617511256535217,22695047000000,1791617511254237020,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764104317754092,-0.005003179738584031,0.08562915156464564,0.9999998603416884,-3.306538288546602e-05,0.0005053550355050033,0.0001195091488368603,0.6761,-0.0048,0.08501148774311423,1.0,0.0,0.0,0.0,0.8399018738854213,0.25868742447942594,3.713398706393404,0.018162907502875515,-0.05791520318267322,0.0005272744245529336,0.7640616752740239,0.24160585036431717,3.585084711770317,0.017168355916434976,-0.057870327345637455,0.000610145592618541,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.47564804886131573,0.3818333894788388,-3.2839422729547794,0.43500379073059753,2.3024029320678667,0.2327009640365247,0.5152655439204765,3.713398706393404,3.799207816875256,3.799207816875256,4.322720000001405,1,0,-0.0004027191459019238,-6.086598866439914e-05
+63825,1791617512123545462,22695914000000,1791617512118237077,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.676421323750483,-0.005004313694657747,0.08528912892139603,0.9999998478856033,-2.8297607731375773e-05,0.0005287930712465027,0.00012348590180938457,0.6761,-0.0048,0.08465061688322963,1.0,0.0,0.0,0.0,0.8505135921061152,0.21143093382507003,3.7484151569209425,0.01511891873944171,-0.05887587324126291,0.0004495370779206127,0.7746733934947179,0.19434935970996123,3.6201011622978556,0.014124367153001171,-0.05883099740422714,0.0005324082459862202,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.45155555864527513,0.3995350775931412,-3.326294743648126,0.4258653951208124,2.3333882291573667,0.24086888734244533,0.5152655439204765,3.7484151569209425,3.8415602875686026,3.8415602875686026,4.39208000000109,1,0,-0.00042919320477760446,-9.61648358429656e-05
+63921,1791617512923552342,22696714000000,1791617512918237635,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764221468895181,-0.0050046760489036324,0.08494327092013214,0.9999998478754972,-2.5635191202021583e-05,0.0005291860245304084,0.0001224615658344912,0.6761,-0.0048,0.08430192509886227,1.0,0.0,0.0,0.0,0.8725543674410589,0.14968625356266807,3.7604793022894656,0.010068694993715129,-0.06080808180016552,0.0003541897242549298,0.7967141688296615,0.13260467944755927,3.6321653076663787,0.00907414340727459,-0.06076320596312975,0.0004370608923205373,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.43588978816749435,0.4074886905264403,-3.3067417581944016,0.42692211529201546,2.322387971808012,0.24836990051004432,0.5152655439204765,3.7604793022894656,3.822007302114878,3.822007302114878,4.4560800000007985,1,0,-0.0004445392914429177,-9.965262923040114e-05
+64012,1791617513681522853,22697472000000,1791617513674237030,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764300739776632,-0.005002945115861832,0.08460908764386577,0.9999998411208004,-2.608945333737285e-05,0.000541886929147076,0.00012198005959214857,0.6761,-0.0048,0.08395701635602831,1.0,0.0,0.0,0.0,0.8897121649947132,0.09953175405845795,3.7603050121610226,0.007021096260096503,-0.06176455626453499,0.0009085087361884467,0.8138719663833158,0.08245017994334915,3.6319910175379357,0.0060265446736559635,-0.06171968042749922,0.0009913799042540541,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.40678592848689965,0.2823539722785565,-3.3435876445905692,0.46036774530558333,2.3456069421010723,0.16596704813804933,0.5152655439204765,3.7603050121610226,3.8588531885110458,3.8588531885110458,4.5167200000005225,1,0,-0.0004658532411175572,-9.999999025923074e-05
+64105,1791617514456578809,22698247000000,1791617514454237059,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764366627869902,-0.004995860433673187,0.08425285585788572,0.9999998327941384,-2.5278533386757763e-05,0.0005574112631590228,0.0001204501527896252,0.6761,-0.0048,0.08358348821487632,1.0,0.0,0.0,0.0,0.8794448210530054,0.05115550142586192,3.7559834388419677,0.00396011626772385,-0.06170224618142861,0.00033319486609604724,0.803604622441608,0.03407392731075312,3.627669444218881,0.0029655646812833105,-0.061657370344392844,0.0004160660341616547,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.40918406261361345,0.3335131700215363,-3.3755588549415534,0.43312576734543284,2.3706424958239505,0.19572773094629156,0.5152655439204765,3.7559834388419677,3.89082439886203,3.89082439886203,4.57872000000024,1,0,-0.0004995888559747571,-9.999999025923074e-05
+64184,1791617515114526814,22698905000000,1791617515110237190,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764405742674595,-0.0049907163171826205,0.08392444065995146,0.9999998287467646,-2.5145544937688633e-05,0.0005652661190845796,0.0001174360338737361,0.6761,-0.0048,0.0832447277386044,1.0,0.0,0.0,0.0,0.8871333454029934,0.0023616809116380234,3.7456087633004094,0.0009257397722612856,-0.06265210766062998,0.00023161854082639891,0.811293146791596,-0.014719893203470773,3.6172947686773225,-6.881181417925314e-05,-0.0626072318235942,0.0003144897088920064,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4174299283789736,0.21878297804796973,-3.4287282566238835,0.4654886157031252,2.409592779269287,0.1243313428317778,0.5152655439204765,3.7456087633004094,3.94399380054436,3.94399380054436,4.631360000000001,1,0,-0.0005295545509279284,-9.999999025923074e-05
+64260,1791617515748492539,22699539000000,1791617515742236879,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764401671310353,-0.004987303886793791,0.08357805325544644,0.9999998301361246,-2.3090571103420425e-05,0.0005623770382830425,0.00011987276044062,0.6761,-0.0048,0.08290124996492824,1.0,0.0,0.0,0.0,0.879546991168195,-0.05518676700760522,3.765757846526328,-0.002143974809864466,-0.06259844669301108,0.00018064973426487867,0.8037067925567977,-0.07226834112271402,3.637443851903241,-0.003138526396305005,-0.06255357085597531,0.00026352090233048615,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.3965199394850585,0.31447174088315283,-3.4431154054604396,0.43198695755475636,2.420915172731207,0.1844224994817591,0.5152655439204765,3.765757846526328,3.958380949380916,3.958380949380916,4.68207999999977,1,0,-0.0005525356293709357,-9.932540487168068e-05
+64336,1791617516382231135,22700172000000,1791617516378236681,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6764431734812714,-0.004980479884453021,0.08321991549833821,0.9999998275916383,-1.948203458332046e-05,0.0005673813065576816,0.0001181459328476779,0.6761,-0.0048,0.08254306965929797,1.0,0.0,0.0,0.0,0.880371322749951,-0.1170363929915115,3.763582417096667,-0.006231347488316321,-0.06251559054081683,0.00013648520797489668,0.8045311241385537,-0.1341179671066203,3.63526842247358,-0.00722589907475686,-0.062470714703781065,0.00021935637604050413,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.43600760558603274,0.15016279307953814,-3.4046690031642832,0.4687213888597194,2.4131484066721733,0.0756744125797506,0.5152655439204765,3.763582417096667,3.9199345470847597,3.9199345470847597,4.7327199999995395,1,0,-0.0005790612818787607,-9.999534120031512e-05
+64404,1791617516948604088,22700739000000,1791617516946237801,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6764423121389577,-0.004968881945996689,0.08288322254874421,0.9999998293528402,-1.3782515251396068e-05,0.0005648974955065527,0.00011592246040153785,0.6761,-0.0048,0.08220933665925363,1.0,0.0,0.0,0.0,0.8668113318463199,-0.1717665856395104,3.7418749082477496,-0.011359359158839571,-0.06139986283628071,0.00011629367932473098,0.7909711332349225,-0.1888481597546192,3.6135609136246627,-0.01235391074528011,-0.061354986999244944,0.00019916484739033845,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.40448889163413204,0.062060181268132335,-3.35412276246163,0.4771386193047843,2.3773545189576004,0.013668150404110905,0.5152655439204765,3.7418749082477496,3.8693883063821066,3.8693883063821066,4.778079999999333,1,0,-0.0005997499467017261,-9.999999025923074e-05
+64472,1791617517514611829,22701305000000,1791617517510237015,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764348403765879,-0.004960239555833685,0.08251476211427045,0.9999998387273051,-1.2005575524427233e-05,0.0005486910296173152,0.00011305860670080166,0.6761,-0.0048,0.08186288000114962,1.0,0.0,0.0,0.0,0.8499147780533792,-0.25042599008558064,3.7194975045364442,-0.01648077167320607,-0.06028214780639547,8.444476139500297e-05,0.7740745794419819,-0.26750756420068944,3.5911835099133573,-0.017475323259646607,-0.060237271969359706,0.00016731592946061044,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4731531916465717,0.07699107491091131,-3.466601127848368,0.45711938610771735,2.4729838557743298,0.022324862937455586,0.5152655439204765,3.7194975045364442,3.9818666717688447,3.9818666717688447,4.823359999999127,1,0,-0.000624657065499716,-9.999999025923074e-05
+64535,1791617518039568900,22701830000000,1791617518038236804,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764323128591332,-0.004950895194630596,0.08217148091738473,0.9999998408441273,-5.44300130548372e-06,0.0005452868722866618,0.00011129773280196154,0.6761,-0.0048,0.08152909923179304,1.0,0.0,0.0,0.0,0.8337312309614582,-0.3195804097060838,3.6529791498086737,-0.021604221320103274,-0.05914929193149322,-0.0009300936395913584,0.7578910323500608,-0.3366619838211926,3.5246651551855868,-0.022598772906543812,-0.059104416094457456,-0.000847222471525751,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4637816632620187,0.0318722579884577,-3.4228347957357292,0.46039381854555106,2.447003705835453,-0.003260923292259927,0.5152655439204765,3.6529791498086737,3.9381003396562058,3.9381003396562058,4.865359999998936,1,0,-0.0006473485419614386,-9.999999025923074e-05
+64595,1791617518539643195,22702330000000,1791617518534236895,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6764186168181121,-0.004943632669136541,0.08181759902361643,0.9999998521004585,-5.053422212724665e-06,0.0005240552867101858,0.00011217149841040807,0.6761,-0.0048,0.08119918746203235,1.0,0.0,0.0,0.0,0.7932804809205536,-0.3895018773415312,3.568197895415837,-0.02675141597686868,-0.057004302358714225,-0.0008954928809565127,0.7174402823091562,-0.40658345145664,3.43988390079275,-0.02774596756330922,-0.05695942652167846,-0.0008126217128909053,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4890919359478901,-0.0010563417325487015,-3.426952808716663,0.4478384878382989,2.4577923858545785,-0.02923358731478721,0.5152655439204765,3.568197895415837,3.9422183526371395,3.9422183526371395,4.905359999998754,1,0,-0.0006723485370910539,-9.999999025923074e-05
+64651,1791617519006638333,22702797000000,1791617519002237208,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6764100125482749,-0.004935983740287713,0.08147336689062205,0.9999998597025599,-2.0299108664852928e-06,0.0005089728088329473,0.00011393105074497038,0.6761,-0.0048,0.08087976014627528,1.0,0.0,0.0,0.0,0.7740067226106244,-0.4645970115235233,3.4917216441773964,-0.03174288930715312,-0.05587840671649779,-0.0008777980135964019,0.6981665239992271,-0.4816785856386321,3.3634076495543095,-0.03273744089359366,-0.05583353087946202,-0.0007949268455307945,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5042172798005263,-0.0432495909416604,-3.3264930444477985,0.44811828441463336,2.4004393346168484,-0.059156007555833376,0.5152655439204765,3.4917216441773964,3.841758588368275,3.841758588368275,4.942719999998584,1,0,-0.0006956985325421147,-9.999999025923074e-05
+64707,1791617519473559651,22703264000000,1791617519466238280,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763990756439083,-0.0049282004296523525,0.08112397196055432,0.9999998683754651,-3.879139150437788e-06,0.0004923681030473607,0.00011068206933052512,0.6761,-0.0048,0.08054942838264256,1.0,0.0,0.0,0.0,0.7575263030119972,-0.5217178940728043,3.353212291904989,-0.03584646508734132,-0.053965527529061266,-0.0007775685005888173,0.6816861044005998,-0.5387994681879131,3.2248982972819022,-0.03684101667378186,-0.0539206516920255,-0.0006946973325232099,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4768466849461653,-0.16695444841846813,-3.267595146186245,0.4620232924283974,2.355005936834666,-0.1462293758145231,0.5152655439204765,3.353212291904989,3.7828606901067214,3.7828606901067214,4.980079999998414,1,0,-0.0007190485279931755,-9.999999025923074e-05
+64763,1791617519939537951,22703730000000,1791617519938237025,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763846687092894,-0.004913747328887733,0.08076235336751186,0.9999998783218168,9.073330394286414e-07,0.0004724022072245546,0.00010786355976262118,0.6761,-0.0048,0.08020893451965765,1.0,0.0,0.0,0.0,0.7317212210076299,-0.5690612735084658,3.1967202431520816,-0.039844299367765394,-0.05261594193357861,-0.000689096940893789,0.6558810223962326,-0.5861428476235746,3.0684062485289947,-0.04083885095420593,-0.05257106609654284,-0.0006062257728281816,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5343910482264784,-0.1280930119126061,-3.098644657652857,0.43940590361297993,2.257084487816734,-0.12090173404836188,0.5152655439204765,3.1967202431520816,3.6139102015733333,3.6139102015733333,5.017359999998244,1,0,-0.000742348523453977,-9.999999025923074e-05
+64815,1791617520373545327,22704164000000,1791617520370237004,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.67637366417306,-0.00490977011185308,0.08041463714759514,0.999999885515172,3.6601070585043055e-06,0.00045648772852216517,0.00010962693272664612,0.6761,-0.0048,0.0798820572113981,1.0,0.0,0.0,0.0,0.6979620045010188,-0.6077437935559107,3.021974205537732,-0.042135533412254025,-0.05051516182747633,-0.0005414230830524513,0.6221218058896214,-0.6248253676710195,2.893660210914645,-0.043130084998694564,-0.050470285990440567,-0.00045855191498684385,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5349888523195712,-0.2220211245650275,-2.941586803129486,0.45258958675792726,2.148559040532622,-0.1839797473273709,0.5152655439204765,3.021974205537732,3.4568523470499626,3.4568523470499626,5.052079999998086,1,0,-0.0007640485192264831,-9.999999025923074e-05
+64863,1791617520773578027,22704564000000,1791617520770237062,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6763576640735679,-0.0049040513827160945,0.08007688038818314,0.9999998965832794,9.004715333685009e-06,0.0004324098700373382,0.00010590993539934924,0.6761,-0.0048,0.07957244780448872,1.0,0.0,0.0,0.0,0.6846585743397646,-0.6330418940938344,2.8553318019013267,-0.04416951177797506,-0.04941474704513337,-0.0014500195953433808,0.6088183757283673,-0.6501234682089432,2.72701780727824,-0.0451640633644156,-0.049369871208097604,-0.0013671484272777734,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5965731978163712,-0.22428674220231637,-2.7327576847922237,0.4408412870421365,2.0280491284840645,-0.18772042264864114,0.5152655439204765,2.8553318019013267,3.2480232287127,3.2480232287127,5.0840799999979405,1,0,-0.0007840485153301754,-9.999999025923074e-05
+64915,1791617521206619000,22704997000000,1791617521206237397,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6763373123316238,-0.004897725455613408,0.07970333140818439,0.9999999095351888,8.052885680164793e-06,0.00040151887154543355,0.00010531013985021571,0.6761,-0.0048,0.079228278398266,1.0,0.0,0.0,0.0,0.6791107101077386,-0.6902344459189355,2.6216395810211774,-0.04809391382953085,-0.048282395006192316,-0.0012777160890500893,0.6032705114963413,-0.7073160200340443,2.4933255863980905,-0.04908846541597139,-0.04823751916915655,-0.0011948449209844818,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5349915084420417,-0.14967292874863705,-2.523436941471686,0.4147086222913968,1.8744710412137586,-0.1356601771762426,0.5152655439204765,2.6216395810211774,3.0387024853921627,3.0387024853921627,5.118719999997783,1,0,-0.0008056985111124223,-9.999999025923074e-05
+64959,1791617521573661733,22705364000000,1791617521570237491,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.676315833920925,-0.004865039428406703,0.07936790486482785,0.9999999233029992,3.064043175477553e-05,0.00036829352605923573,9.087300344860598e-05,0.6761,-0.0048,0.07892922899534552,1.0,0.0,0.0,0.0,0.765294131858829,-0.5928876231986192,2.4048053204292024,-0.04038901439717134,-0.05499781816191788,-0.0011235770405805072,0.6894539332474316,-0.609969197313728,2.2764913258061155,-0.04138356598361188,-0.05495294232488211,-0.0010407058725148998,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.537699601237868,-0.1313731899486054,-2.4178292995392896,0.4544817597258183,1.7975913781382564,-0.11540695198000901,0.5152655439204765,2.4048053204292024,2.933094843459766,2.933094843459766,5.148079999997649,1,0,-0.00082404850753756,-9.999999025923074e-05
+65003,1791617521939658793,22705730000000,1791617521934236994,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762871693774183,-0.00486444866730907,0.0790138827572767,0.9999999399905141,2.9637793281341628e-05,0.00031905611486502045,9.373702374442295e-05,0.6761,-0.0048,0.07862428749224097,1.0,0.0,0.0,0.0,0.7541233566669693,-0.6490118651986926,2.1654665733410012,-0.04482498454450028,-0.05431037363631907,-0.001994609076545287,0.6782831580555719,-0.6660934393138014,2.0371525787179143,-0.04581953613094082,-0.0542654977992833,-0.0019117379084796797,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.49232245807016783,-0.0705953845746745,-2.010821407638783,0.41872024072140784,1.5234711362361613,-0.07966455111801936,0.5152655439204765,2.1654665733410012,2.5260869515592597,2.5260869515592597,5.177359999997516,1,0,-0.0008423485039724385,-9.999999025923074e-05
+65043,1791617522273650763,22706064000000,1791617522270237271,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6762578146329747,-0.004865595764189246,0.07868587294595347,0.9999999541722421,2.6164992248737126e-05,0.0002709626638967545,9.48314622409055e-05,0.6761,-0.0048,0.07834016254245912,1.0,0.0,0.0,0.0,0.7479454259043069,-0.6619567156730811,1.896310225618825,-0.0458804572400144,-0.05423107917096124,-0.0017924095167207393,0.6721052272929096,-0.6790382897881899,1.7679962309957382,-0.046875008826454935,-0.05418620333392547,-0.001709538348655132,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4797490074761498,-0.1430478665158657,-1.8903449282274383,0.4246177780916872,1.4353418661590733,-0.1311257059251778,0.5152655439204765,1.896310225618825,2.405610472147915,2.405610472147915,5.204079999997394,1,0,-0.0008590485007190215,-9.999999025923074e-05
+65086,1791617522631653407,22706422000000,1791617522630237091,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762336609860375,-0.004871766458692321,0.07833646378134096,0.9999999630461391,2.477851236661581e-05,0.0002336733176112923,0.00010066474394664722,0.6761,-0.0048,0.07802942802982767,1.0,0.0,0.0,0.0,0.7304645111173723,-0.6737076478470226,1.630283465628778,-0.04687005230487324,-0.05313478895990938,-0.002602667041561628,0.654624312505975,-0.6907892219621314,1.5019694710056912,-0.04786460389131378,-0.053089913122873617,-0.0025197958734960208,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.4822913605830702,-0.1388274403841712,-1.5718582005903494,0.41300060434874253,1.2235240583341347,-0.12607223838919282,0.5152655439204765,1.630283465628778,2.087123744510826,2.087123744510826,5.232719999997264,1,0,-0.0008769484972318261,-9.999999025923074e-05
+65130,1791617522998676663,22706789000000,1791617522998236759,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6762021770588903,-0.004875377764060179,0.07796170268366379,0.9999999727172038,1.9082184734221658e-05,0.00018754144547445962,0.0001023353928474596,0.6761,-0.0048,0.07770422988200136,1.0,0.0,0.0,0.0,0.7196959411637383,-0.6706050733360406,1.3699285015741434,-0.045967381330441134,-0.05188799863851069,-0.0023646371489619536,0.6438557425523409,-0.6876866474511494,1.2416145069510567,-0.04696193291688167,-0.051843122801474927,-0.002281765980896346,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5223461241548301,-0.1874710542095529,-1.2309926976429344,0.4310568396814232,1.0010757955504221,-0.1636583520492872,0.5152655439204765,1.3699285015741434,1.746258241563411,1.746258241563411,5.26207999999713,1,0,-0.0008952984936569638,-9.999999025923074e-05
+65170,1791617523331579108,22707122000000,1791617523326237190,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6761730312352093,-0.00487585422168692,0.0776092911322791,0.9999999802549098,1.4847951865382458e-05,0.00013994637315770732,0.00010548741905877573,0.6761,-0.0048,0.07740333158415529,1.0,0.0,0.0,0.0,0.7021973835929314,-0.645631960583738,1.1384435947315614,-0.04486152334046974,-0.05103432036490547,-0.0031713129646713015,0.626357184981534,-0.6627135346988468,1.0101296001084747,-0.04585607492691028,-0.0509894445278697,-0.003088441796605694,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5857599095671286,-0.1283406742529748,-1.039557394715296,0.40415364450542707,0.8844231270881046,-0.12355044174668947,0.5152655439204765,1.1384435947315614,1.5548229386357726,1.5548229386357726,5.288719999997009,1,0,-0.0009119484904132877,-9.999999025923074e-05
+65210,1791617523664683085,22707455000000,1791617523662236827,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6761402002990907,-0.004887545770230542,0.0772645546012526,0.9999999854996975,1.0499855660176621e-05,9.096803412063381e-05,0.00010980910265142368,0.6761,-0.0048,0.07709688883738935,1.0,0.0,0.0,0.0,0.683379363204503,-0.6109182428847201,0.8780078075850294,-0.042735352231985886,-0.04918828648442395,-0.0029206740525599714,0.6075391645931056,-0.6279998169998289,0.7496938129619427,-0.043729903818426424,-0.04914341064738818,-0.002837802884494364,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5819561191127767,-0.173243470997641,-0.7469731691572087,0.42313562895496515,0.6768420567876555,-0.15117932564476058,0.5152655439204765,0.8780078075850294,1.2622387130776853,1.2622387130776853,5.315359999996888,1,0,-0.0009285984871696115,-9.999999025923074e-05
+65250,1791617523998687599,22707789000000,1791617523994246128,DOWN_FORCE_DETACH,8,0.0445,0.044501643627882004,0.6761186726796621,-0.004891474384805308,0.07691672887048358,0.9999999878475623,1.0537304247219248e-05,5.794703496535961e-05,0.00011080995453194448,0.6761,-0.0048,0.07678395639321965,1.0,0.0,0.0,0.0,0.6768271774779864,-0.5544787417058757,0.6789116850620083,-0.03805808811813619,-0.04801911969394636,-0.0026961869322298573,0.600986978866589,-0.5715603158209845,0.5505976904389216,-0.03905263970457673,-0.04797424385691059,-0.00261331576416425,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.5654986630376844,0.000153323161670614,-0.5576958130081201,0.37351378271630187,0.537974139451926,-0.04185704568522826,0.5152655439204765,0.6789116850620083,1.0729613569285967,1.0729613569285967,5.342079999996766,1,0,-0.0009452984839161946,-9.999999025923074e-05
+65290,1791617524331637284,22708122000000,1791617524330237129,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6760908505825028,-0.0048976900898455656,0.07655530589460334,0.9999999890516807,6.331743226147999e-06,1.5274156467850344e-05,0.00011430709464681971,0.6761,-0.0048,0.07646640809861725,1.0,0.0,0.0,0.0,0.650840971603101,-0.5009143392290852,0.4943600227033639,-0.034576843633927365,-0.04607720006852935,-0.0024743857668695904,0.5750007729917036,-0.517995913344194,0.3660460280802772,-0.0355713952203679,-0.04603232423149358,-0.002391514598803983,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6749954851740152,-0.13349051420086205,-0.4802501876622668,0.40474624419227895,0.4963426690803185,-0.12855783879622631,0.5152655439204765,0.4943600227033639,0.9955157315827433,0.9955157315827433,5.368719999996645,1,0,-0.0009619484806725184,-9.999999025923074e-05
+65330,1791617524664678573,22708455000000,1791617524662236943,DOWN_FORCE_DETACH,8,0.0445,0.04450229927897453,0.6760634407390618,-0.004905858080891091,0.07619348211019762,0.9999999882533548,2.4082964557090916e-07,-3.138648952070556e-05,0.00011811428739739692,0.6761,-0.0048,0.076143315355095,1.0,0.0,0.0,0.0,0.6176780148701504,-0.4416862172811831,0.32060819095682047,-0.030512963203824593,-0.04404119422751657,-0.0022558405902126256,0.541837816258753,-0.4587677913962919,0.19229419633373376,-0.03150751479026513,-0.0439963183904808,-0.002172969422147018,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.6806767427054932,-0.007969718565457988,-0.26136798480203266,0.3715407022693045,0.33882879214176886,-0.048002901061793245,0.5152655439204765,0.32060819095682047,0.7766335287225092,0.7766335287225092,5.395359999996524,1,0,-0.0009785984774288421,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f81324812be52a491a198fad4a6e40749429559
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..77b16deb544953e35c5d2e424e45622287d0c193
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,1.331666667e+01,DOWN_FORCE_DETACH,1791617483082716184,2.278967221e-04,-1.178902811e-04,-6.612031389e-04,2.248819087e-04,-1.190208526e-04,-6.534095256e-04,2.300422321e-04,-1.186929990e-04,-6.523255402e-04,7.017657682e-01,-1.163393198e-04,8.400797380e-01,7.017627534e-01,-1.174698913e-04,8.400875317e-01,7.019591537e-01,-1.169757451e-04,8.289203275e-01
+10,1.476666667e+01,DOWN_FORCE_DETACH,1791617485908826433,2.420121600e-04,-1.211189097e-04,-7.614706164e-04,2.419179482e-04,-1.211784786e-04,-7.615158289e-04,2.470531739e-04,-1.208341592e-04,-7.599780871e-04,7.017798836e-01,-1.195679484e-04,8.399794706e-01,7.017797894e-01,-1.196275173e-04,8.399794254e-01,7.019761646e-01,-1.191169053e-04,8.288126749e-01
+11,1.635000000e+01,DOWN_FORCE_DETACH,1791617488904889907,2.557221824e-04,-1.267876199e-04,-9.169860700e-04,2.544217189e-04,-1.266995922e-04,-9.118085911e-04,2.594291200e-04,-1.263685120e-04,-9.100969514e-04,7.017935937e-01,-1.252366586e-04,8.398239551e-01,7.017922932e-01,-1.251486309e-04,8.398291326e-01,7.019885405e-01,-1.246512581e-04,8.286625560e-01
+12,1.771666667e+01,DOWN_FORCE_DETACH,1791617491599049358,2.732295965e-04,-1.284159581e-04,-1.100924343e-03,2.731238598e-04,-1.286486149e-04,-1.100718900e-03,2.778837401e-04,-1.282737575e-04,-1.098277670e-03,7.018111011e-01,-1.268649968e-04,8.396400168e-01,7.018109953e-01,-1.270976535e-04,8.396402223e-01,7.020069952e-01,-1.265565036e-04,8.284743753e-01
+13,1.893333333e+01,DOWN_FORCE_DETACH,1791617493960971431,2.970975793e-04,-1.279419225e-04,-1.300201446e-03,2.940292215e-04,-1.289467719e-04,-1.292899147e-03,2.987235893e-04,-1.286594244e-04,-1.290294182e-03,7.018349691e-01,-1.263909612e-04,8.394407397e-01,7.018319007e-01,-1.273958106e-04,8.394480420e-01,7.020278350e-01,-1.269421705e-04,8.282823588e-01
+14,2.018333333e+01,DOWN_FORCE_DETACH,1791617496323225122,3.138701232e-04,-1.299368057e-04,-1.546401998e-03,3.101122441e-04,-1.348280913e-04,-1.533290845e-03,3.145823470e-04,-1.344686849e-04,-1.530368074e-03,7.018517416e-01,-1.283858444e-04,8.391945392e-01,7.018479837e-01,-1.332771300e-04,8.392076503e-01,7.020436938e-01,-1.327514310e-04,8.280422849e-01
+15,2.128333333e+01,DOWN_FORCE_DETACH,1791617498456003075,3.337427707e-04,-1.317199105e-04,-1.815154018e-03,3.291181465e-04,-1.332523843e-04,-1.800804579e-03,3.331748747e-04,-1.328669586e-04,-1.797347382e-03,7.018716143e-01,-1.301689492e-04,8.389257872e-01,7.018669896e-01,-1.317014229e-04,8.389401366e-01,7.020622863e-01,-1.311497047e-04,8.277753056e-01
+16,2.218333333e+01,DOWN_FORCE_DETACH,1791617500247147174,3.452073997e-04,-1.292707118e-04,-2.098674954e-03,3.449064347e-04,-1.293172372e-04,-2.098810293e-03,3.483036247e-04,-1.288389974e-04,-2.094267090e-03,7.018830789e-01,-1.277197505e-04,8.386422662e-01,7.018827779e-01,-1.277662759e-04,8.386421309e-01,7.020774151e-01,-1.271217435e-04,8.274783859e-01
+17,2.308333333e+01,DOWN_FORCE_DETACH,1791617501977451363,3.603934774e-04,-1.333506024e-04,-2.408104933e-03,3.603517724e-04,-1.332957179e-04,-2.408026226e-03,3.630055301e-04,-1.328192414e-04,-2.403137821e-03,7.018982650e-01,-1.317996411e-04,8.383328363e-01,7.018982233e-01,-1.317447566e-04,8.383329150e-01,7.020921170e-01,-1.311019875e-04,8.271695152e-01
+18,2.386666667e+01,DOWN_FORCE_DETACH,1791617503473026790,3.740692770e-04,-1.317768101e-04,-2.710089411e-03,3.727758525e-04,-1.342175904e-04,-2.705389406e-03,3.746035317e-04,-1.337123580e-04,-2.700264878e-03,7.019119408e-01,-1.302258488e-04,8.380308518e-01,7.019106473e-01,-1.326666291e-04,8.380355518e-01,7.021037150e-01,-1.319951040e-04,8.268723881e-01
+19,2.460000000e+01,DOWN_FORCE_DETACH,1791617504873008208,3.918345655e-04,-1.376702832e-04,-3.026273105e-03,3.899844400e-04,-1.315385740e-04,-3.013046093e-03,3.911869722e-04,-1.310603021e-04,-3.007708712e-03,7.019297060e-01,-1.361193218e-04,8.377146681e-01,7.019278559e-01,-1.299876127e-04,8.377278951e-01,7.021202984e-01,-1.293430482e-04,8.265649443e-01
+20,2.526666667e+01,DOWN_FORCE_DETACH,1791617506137049384,4.067421606e-04,-1.423694038e-04,-3.355001734e-03,4.041948701e-04,-1.404525480e-04,-3.348208036e-03,4.046838169e-04,-1.398830910e-04,-3.342332912e-03,7.019446136e-01,-1.408184425e-04,8.373859395e-01,7.019420664e-01,-1.389015867e-04,8.373927332e-01,7.021337952e-01,-1.381658371e-04,8.262303201e-01
+21,2.585000000e+01,DOWN_FORCE_DETACH,1791617507299386156,4.165830866e-04,-1.430748387e-04,-3.689548808e-03,4.161450515e-04,-1.428832104e-04,-3.680160912e-03,4.158194618e-04,-1.422949571e-04,-3.673822813e-03,7.019544546e-01,-1.415238774e-04,8.370513924e-01,7.019540165e-01,-1.413322491e-04,8.370607803e-01,7.021449309e-01,-1.405777032e-04,8.258988302e-01
+22,2.640000000e+01,DOWN_FORCE_DETACH,1791617508397304677,4.305763472e-04,-1.401433959e-04,-4.025610961e-03,4.304483009e-04,-1.402772656e-04,-4.025578323e-03,4.292446065e-04,-1.396569170e-04,-4.018755134e-03,7.019684478e-01,-1.385924345e-04,8.367153302e-01,7.019683198e-01,-1.387263042e-04,8.367153629e-01,7.021583560e-01,-1.379396631e-04,8.255538979e-01
+23,2.690000000e+01,DOWN_FORCE_DETACH,1791617509397160066,4.409995546e-04,-1.357969069e-04,-4.364060632e-03,4.410482158e-04,-1.365405146e-04,-4.352644135e-03,4.390288685e-04,-1.359571956e-04,-4.345689983e-03,7.019788710e-01,-1.342459456e-04,8.363768806e-01,7.019789197e-01,-1.349895533e-04,8.363882971e-01,7.021681403e-01,-1.342399417e-04,8.252269630e-01
+24,2.741666667e+01,DOWN_FORCE_DETACH,1791617510359502768,4.523500789e-04,-1.374070738e-04,-4.708851087e-03,4.499281918e-04,-1.384870770e-04,-4.699038112e-03,4.470787286e-04,-1.378514711e-04,-4.692318255e-03,7.019902216e-01,-1.358561125e-04,8.360320901e-01,7.019877997e-01,-1.369361156e-04,8.360419031e-01,7.021761902e-01,-1.361342172e-04,8.248803347e-01
+25,2.788333333e+01,DOWN_FORCE_DETACH,1791617511259156778,4.544901111e-04,-1.370411313e-04,-5.051803161e-03,4.558632384e-04,-1.406247520e-04,-5.037751681e-03,4.520578836e-04,-1.399685784e-04,-5.030959448e-03,7.019923616e-01,-1.354901700e-04,8.356891380e-01,7.019937347e-01,-1.390737907e-04,8.357031895e-01,7.021811693e-01,-1.382513245e-04,8.245416936e-01
+26,2.833333333e+01,DOWN_FORCE_DETACH,1791617512121138408,4.632664849e-04,-1.408966811e-04,-5.393864788e-03,4.633399997e-04,-1.410160997e-04,-5.393333620e-03,4.585164925e-04,-1.402375782e-04,-5.386302416e-03,7.020011380e-01,-1.393457198e-04,8.353470764e-01,7.020012115e-01,-1.394651384e-04,8.353476076e-01,7.021876279e-01,-1.385203243e-04,8.241863506e-01
+27,2.876666667e+01,DOWN_FORCE_DETACH,1791617512921130911,4.678178558e-04,-1.394187590e-04,-5.732985008e-03,4.693076184e-04,-1.445262160e-04,-5.715464953e-03,4.634864121e-04,-1.437670780e-04,-5.708863307e-03,7.020056893e-01,-1.378677977e-04,8.350079562e-01,7.020071791e-01,-1.429752547e-04,8.350254762e-01,7.021925978e-01,-1.420498241e-04,8.238637897e-01
+28,2.916666667e+01,DOWN_FORCE_DETACH,1791617513685155280,4.744629182e-04,-1.405604914e-04,-6.071615417e-03,4.715394201e-04,-1.381498788e-04,-6.057648848e-03,4.646694177e-04,-1.373654760e-04,-6.051317650e-03,7.020123344e-01,-1.390095300e-04,8.346693258e-01,7.020094109e-01,-1.365989175e-04,8.346832923e-01,7.021937808e-01,-1.356482221e-04,8.235213353e-01
+29,2.956666667e+01,DOWN_FORCE_DETACH,1791617514453183752,4.836636202e-04,-1.355740484e-04,-6.422154067e-03,4.833191369e-04,-1.354845006e-04,-6.422091502e-03,4.754604219e-04,-1.347982622e-04,-6.415739070e-03,7.020215351e-01,-1.340230871e-04,8.343187871e-01,7.020211906e-01,-1.339335393e-04,8.343188497e-01,7.022045718e-01,-1.330810083e-04,8.231569139e-01
+30,2.990000000e+01,DOWN_FORCE_DETACH,1791617515117174554,4.862494154e-04,-1.313698719e-04,-6.756979922e-03,4.861797891e-04,-1.314721108e-04,-6.756994391e-03,4.772774237e-04,-1.307163866e-04,-6.751014700e-03,7.020241209e-01,-1.298189106e-04,8.339839613e-01,7.020240513e-01,-1.299211494e-04,8.339839468e-01,7.022063888e-01,-1.289991327e-04,8.228216383e-01
+31,3.021666667e+01,DOWN_FORCE_DETACH,1791617515749209889,4.860658950e-04,-1.239894541e-04,-7.100791338e-03,4.860564422e-04,-1.240558496e-04,-7.100734232e-03,4.760046925e-04,-1.233628799e-04,-7.094720623e-03,7.020239374e-01,-1.224384927e-04,8.336401499e-01,7.020239279e-01,-1.225048883e-04,8.336402070e-01,7.022051161e-01,-1.216456260e-04,8.224779324e-01
+32,3.053333333e+01,DOWN_FORCE_DETACH,1791617516381416210,4.886991525e-04,-1.168524699e-04,-7.454876053e-03,4.895104656e-04,-1.147802762e-04,-7.435928381e-03,4.783700229e-04,-1.141920682e-04,-7.431427898e-03,7.020265706e-01,-1.153015085e-04,8.332860651e-01,7.020273819e-01,-1.132293149e-04,8.333050128e-01,7.022074814e-01,-1.124748143e-04,8.221412251e-01
+33,3.081666667e+01,DOWN_FORCE_DETACH,1791617516947204739,4.857543059e-04,-1.086409018e-04,-7.796954730e-03,4.856061687e-04,-1.086940229e-04,-7.796677475e-03,4.731328657e-04,-1.081789499e-04,-7.791824774e-03,7.020236258e-01,-1.070899405e-04,8.329439865e-01,7.020234777e-01,-1.071430616e-04,8.329442637e-01,7.022022443e-01,-1.064616960e-04,8.217808282e-01
+34,3.110000000e+01,DOWN_FORCE_DETACH,1791617517514549451,4.815881148e-04,-9.784137176e-05,-8.160302399e-03,4.808712693e-04,-1.011815046e-04,-8.142042279e-03,4.670844223e-04,-1.006364590e-04,-8.138193108e-03,7.020194596e-01,-9.629041044e-05,8.325806388e-01,7.020187428e-01,-9.963054327e-05,8.325988989e-01,7.021961958e-01,-9.891920509e-05,8.214344599e-01
+35,3.138333333e+01,DOWN_FORCE_DETACH,1791617518043825806,4.732572642e-04,-8.880764527e-05,-8.514026387e-03,4.730356018e-04,-8.871511961e-05,-8.513955897e-03,4.578134474e-04,-8.810057944e-05,-8.509854331e-03,7.020111287e-01,-8.725668394e-05,8.322269148e-01,7.020109071e-01,-8.716415829e-05,8.322269853e-01,7.021869249e-01,-8.638332553e-05,8.210627987e-01
+36,3.163333333e+01,DOWN_FORCE_DETACH,1791617518541853536,4.649082243e-04,-7.649286580e-05,-8.865465187e-03,4.648996310e-04,-7.626684395e-05,-8.865174669e-03,4.481510497e-04,-7.573570525e-05,-8.861757784e-03,7.020027797e-01,-7.494190448e-05,8.318754760e-01,7.020027711e-01,-7.471588263e-05,8.318757665e-01,7.021772625e-01,-7.401845134e-05,8.207108952e-01
+37,3.188333333e+01,DOWN_FORCE_DETACH,1791617519009194749,4.596919037e-04,-7.318461004e-05,-9.199747355e-03,4.551354532e-04,-7.140322827e-05,-9.181631485e-03,4.369914400e-04,-7.107133705e-05,-9.179079552e-03,7.019975634e-01,-7.163364872e-05,8.315411938e-01,7.019930069e-01,-6.985226695e-05,8.315593097e-01,7.021661029e-01,-6.935408314e-05,8.203935734e-01
+38,3.213333333e+01,DOWN_FORCE_DETACH,1791617519473145175,4.444062259e-04,-6.313197175e-05,-9.553582212e-03,4.442439618e-04,-6.307706400e-05,-9.553788424e-03,4.244870128e-04,-6.271873729e-05,-9.551604716e-03,7.019822777e-01,-6.158101042e-05,8.311873590e-01,7.019821154e-01,-6.152610268e-05,8.311871528e-01,7.021535984e-01,-6.100148338e-05,8.200210483e-01
+39,3.238333333e+01,DOWN_FORCE_DETACH,1791617519939293788,4.305614223e-04,-4.993826715e-05,-9.916058999e-03,4.304464206e-04,-4.979093589e-05,-9.915877114e-03,4.089296809e-04,-4.935894028e-05,-9.913785749e-03,7.019684329e-01,-4.838730583e-05,8.308248822e-01,7.019683179e-01,-4.823997457e-05,8.308250641e-01,7.021380411e-01,-4.764168637e-05,8.196588672e-01
+40,3.260000000e+01,DOWN_FORCE_DETACH,1791617520373156179,4.203772730e-04,-4.448088370e-05,-1.026322598e-02,4.202263097e-04,-4.449635230e-05,-1.026345731e-02,3.970826917e-04,-4.416942599e-05,-1.026214818e-02,7.019582488e-01,-4.292992238e-05,8.304777152e-01,7.019580978e-01,-4.294539098e-05,8.304774839e-01,7.021261941e-01,-4.245217208e-05,8.193105048e-01
+41,3.281666667e+01,DOWN_FORCE_DETACH,1791617520771466358,4.045028581e-04,-3.986013934e-05,-1.059848931e-02,4.041619009e-04,-3.970257565e-05,-1.059835772e-02,3.793368534e-04,-3.952469666e-05,-1.059744442e-02,7.019423743e-01,-3.830917802e-05,8.301424519e-01,7.019420334e-01,-3.815161433e-05,8.301425835e-01,7.021084483e-01,-3.780744275e-05,8.189752086e-01
+42,3.305000000e+01,DOWN_FORCE_DETACH,1791617521203241637,3.841942202e-04,-3.569769015e-05,-1.097151011e-02,3.840123442e-04,-3.578880291e-05,-1.097113787e-02,3.571348608e-04,-3.557666419e-05,-1.097073578e-02,7.019220657e-01,-3.414672883e-05,8.297694311e-01,7.019218838e-01,-3.423784159e-05,8.297698033e-01,7.020862463e-01,-3.385941029e-05,8.186019172e-01
+43,3.323333333e+01,DOWN_FORCE_DETACH,1791617521569268934,3.630460873e-04,-4.122132882e-06,-1.130600695e-02,3.627601161e-04,-4.315717560e-06,-1.130611243e-02,3.340777772e-04,-4.064149396e-06,-1.130616278e-02,7.019009176e-01,-2.571171561e-06,8.294349342e-01,7.019006316e-01,-2.764756239e-06,8.294348288e-01,7.020631892e-01,-2.346895488e-06,8.182664902e-01
+44,3.343333333e+01,DOWN_FORCE_DETACH,1791617521937441640,3.344743470e-04,-4.705074181e-06,-1.165877056e-02,3.343202703e-04,-4.686815126e-06,-1.165852556e-02,3.035271564e-04,-4.436616054e-06,-1.165889468e-02,7.018723458e-01,-3.154112860e-06,8.290821706e-01,7.018721918e-01,-3.135853805e-06,8.290824156e-01,7.020326386e-01,-2.719362145e-06,8.179137583e-01
+45,3.360000000e+01,DOWN_FORCE_DETACH,1791617522269322056,3.055016790e-04,-4.280475657e-06,-1.198737246e-02,3.051792718e-04,-4.246635577e-06,-1.198750207e-02,2.724129989e-04,-4.144853189e-06,-1.198808571e-02,7.018433732e-01,-2.729514335e-06,8.287535687e-01,7.018430508e-01,-2.695674256e-06,8.287534391e-01,7.020015244e-01,-2.427599281e-06,8.175845673e-01
+46,3.380000000e+01,DOWN_FORCE_DETACH,1791617522633589027,2.764916883e-04,-4.907319734e-06,-1.234702014e-02,2.762505311e-04,-5.179846831e-06,-1.234682543e-02,2.414258744e-04,-5.070218265e-06,-1.234744112e-02,7.018143632e-01,-3.356358413e-06,8.283939210e-01,7.018141220e-01,-3.628885510e-06,8.283941158e-01,7.019705373e-01,-3.352964356e-06,8.172252119e-01
+47,3.398333333e+01,DOWN_FORCE_DETACH,1791617523001320175,2.489215610e-04,-1.045989876e-05,-1.271752775e-02,2.487891635e-04,-1.040296615e-05,-1.271729094e-02,2.120169065e-04,-1.032158737e-05,-1.271796606e-02,7.017867930e-01,-8.908937438e-06,8.280234134e-01,7.017866606e-01,-8.852004828e-06,8.280236503e-01,7.019411283e-01,-8.604333459e-06,8.168546869e-01
+48,3.415000000e+01,DOWN_FORCE_DETACH,1791617523333635176,2.197810684e-04,-1.195898342e-05,-1.306868512e-02,2.195517320e-04,-1.212419397e-05,-1.306885576e-02,1.807052979e-04,-1.203353852e-05,-1.306953338e-02,7.017576525e-01,-1.040802210e-05,8.276722561e-01,7.017574232e-01,-1.057323265e-05,8.276720854e-01,7.019098167e-01,-1.031628461e-05,8.165031196e-01
+49,3.431666667e+01,DOWN_FORCE_DETACH,1791617523665604742,1.901346977e-04,-2.209045255e-05,-1.340900685e-02,1.898868069e-04,-2.198573074e-05,-1.340873167e-02,1.490766845e-04,-2.198159026e-05,-1.340947470e-02,7.017280062e-01,-2.053949123e-05,8.273319343e-01,7.017277583e-01,-2.043476942e-05,8.273322095e-01,7.018781881e-01,-2.026433636e-05,8.161631783e-01
+50,3.448333333e+01,DOWN_FORCE_DETACH,1791617523999353782,1.646537627e-04,-2.760439783e-05,-1.376199157e-02,1.644286642e-04,-2.772717126e-05,-1.376182500e-02,1.217697745e-04,-2.773779607e-05,-1.376260988e-02,7.017025252e-01,-2.605343651e-05,8.269789496e-01,7.017023001e-01,-2.617620994e-05,8.269791162e-01,7.018508812e-01,-2.602054216e-05,8.158100431e-01
+51,3.465000000e+01,DOWN_FORCE_DETACH,1791617524334200849,1.357434529e-04,-3.698681112e-05,-1.412975819e-02,1.356065589e-04,-3.680083610e-05,-1.412959567e-02,9.086861391e-05,-3.686019387e-05,-1.413038454e-02,7.016736149e-01,-3.543584979e-05,8.266111830e-01,7.016734780e-01,-3.524987478e-05,8.266113455e-01,7.018199800e-01,-3.514293996e-05,8.154422685e-01
+52,3.481666667e+01,DOWN_FORCE_DETACH,1791617524663381799,1.095292402e-04,-4.201320803e-05,-1.448434675e-02,1.093201400e-04,-4.206043916e-05,-1.448411562e-02,6.262241093e-05,-4.217193513e-05,-1.448491944e-02,7.016474007e-01,-4.046224670e-05,8.262565944e-01,7.016471916e-01,-4.050947784e-05,8.262568256e-01,7.017917338e-01,-4.045468122e-05,8.150877336e-01
+53,3.496666667e+01,DOWN_FORCE_DETACH,1791617524962755700,9.105337445e-05,-4.735419954e-05,-1.480614665e-02,9.073122001e-05,-4.691587276e-05,-1.480616710e-02,4.256749103e-05,-4.704676302e-05,-1.480703641e-02,7.016289249e-01,-4.580323822e-05,8.259347945e-01,7.016286027e-01,-4.536491144e-05,8.259347741e-01,7.017716789e-01,-4.532950912e-05,8.147656166e-01
+54,3.513333333e+01,DOWN_FORCE_DETACH,1791617525297405499,6.524366963e-05,-5.202850704e-05,-1.517776132e-02,6.506146364e-05,-5.186495970e-05,-1.517737437e-02,1.492394409e-05,-5.205286203e-05,-1.517822845e-02,7.016031152e-01,-5.047754572e-05,8.255631799e-01,7.016029329e-01,-5.031399838e-05,8.255635668e-01,7.017440354e-01,-5.033560812e-05,8.143944245e-01
+55,3.528333333e+01,DOWN_FORCE_DETACH,1791617525595472642,4.623716130e-05,-5.056805511e-05,-1.552146722e-02,4.621370278e-05,-5.054079940e-05,-1.552148274e-02,-5.525597660e-06,-5.071695242e-05,-1.552236879e-02,7.015841086e-01,-4.901709379e-05,8.252194740e-01,7.015840852e-01,-4.898983808e-05,8.252194585e-01,7.017235858e-01,-4.899969851e-05,8.140502842e-01
+56,3.545000000e+01,DOWN_FORCE_DETACH,1791617525927412889,2.357964187e-05,-6.105974964e-05,-1.589358039e-02,2.335932508e-05,-6.097695730e-05,-1.589326840e-02,-3.025777164e-05,-6.119897690e-05,-1.589417705e-02,7.015614511e-01,-5.950878831e-05,8.248473608e-01,7.015612308e-01,-5.942599598e-05,8.248476728e-01,7.016988537e-01,-5.948172300e-05,8.136784759e-01
+57,3.560000000e+01,DOWN_FORCE_DETACH,1791617526225383515,1.475095123e-05,-5.905087562e-05,-1.622413589e-02,1.463866125e-05,-5.903654667e-05,-1.622398075e-02,-4.025347338e-05,-5.925142506e-05,-1.622488281e-02,7.015526224e-01,-5.749991430e-05,8.245168053e-01,7.015525101e-01,-5.748558535e-05,8.245169604e-01,7.016888580e-01,-5.753417115e-05,8.133477702e-01
+58,3.576666667e+01,DOWN_FORCE_DETACH,1791617526525373730,-7.365629582e-06,-6.639623534e-05,-1.657509721e-02,-7.517695036e-06,-6.634030645e-05,-1.657488879e-02,-6.412630976e-05,-6.660513906e-05,-1.657585166e-02,7.015305059e-01,-6.484527402e-05,8.241658440e-01,7.015303538e-01,-6.478934513e-05,8.241660524e-01,7.016649851e-01,-6.488788516e-05,8.129968013e-01
+59,3.608333333e+01,DOWN_SETTLE,1791617527125439878,-4.807651063e-05,-4.935795038e-05,-1.691213794e-02,-4.681955579e-05,-5.551785390e-05,-1.690659278e-02,-1.056060112e-04,-5.571133493e-05,-1.690753733e-02,7.014897950e-01,-4.780698906e-05,8.238288032e-01,7.014910519e-01,-5.396689258e-05,8.238343484e-01,7.016235054e-01,-5.399408102e-05,8.126651157e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4217e143e8a96bc62f42af75c0785caf26e04a9f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-2.3647e-02,-5.2666e-04,2.4476e+00,-3.6749e-02,3.5092e-02,4.5690e-06,5.8337e-04,-7.8825e-06,3.0518e-04,4.9919e-07,3.8810e-05,1.7340e-07,6.5842e-04,3.8814e-05
+1,1.5167e+00,DOWN_FORCE_DETACH,3.5321e-04,1.2105e-02,2.3693e-02,2.5042e+00,-3.8445e-02,3.7585e-02,7.4769e-05,3.6335e-02,2.4211e-02,5.6897e-02,-1.6956e-03,2.5315e-03,7.0374e-05,7.1720e-02,3.0477e-03
+2,2.6500e+00,DOWN_FORCE_DETACH,7.1028e-04,-3.1993e-02,3.1620e-02,2.5724e+00,-3.8919e-02,3.4496e-02,1.0023e-04,-7.7628e-03,3.2139e-02,1.2507e-01,-2.1693e-03,-5.5794e-04,9.5833e-05,1.2937e-01,2.2419e-03
+3,3.8333e+00,DOWN_FORCE_DETACH,1.0643e-03,-2.5197e-02,5.0945e-02,2.5579e+00,-4.0216e-02,3.4890e-02,1.5198e-04,-9.6660e-04,5.1464e-02,1.1067e-01,-3.4668e-03,-1.6373e-04,1.4758e-04,1.2205e-01,3.4738e-03
+4,5.6000e+00,DOWN_FORCE_DETACH,1.4206e-03,1.5646e-02,5.2281e-02,2.4857e+00,-4.0429e-02,3.7835e-02,1.1364e-04,3.9877e-02,5.2799e-02,3.8411e-02,-3.6795e-03,2.7816e-03,1.0924e-04,7.6507e-02,4.6139e-03
+5,7.0500e+00,DOWN_FORCE_DETACH,1.7723e-03,2.7481e-02,5.1261e-02,2.4693e+00,-4.0426e-02,3.8716e-02,4.1614e-05,5.1711e-02,5.1780e-02,2.2028e-02,-3.6760e-03,3.6627e-03,3.7218e-05,7.6423e-02,5.1894e-03
+6,8.6167e+00,DOWN_FORCE_DETACH,2.1301e-03,3.4888e-02,5.2289e-02,2.4803e+00,-4.0522e-02,3.9216e-02,2.1828e-05,5.9118e-02,5.2808e-02,3.3061e-02,-3.7728e-03,4.1630e-03,1.7433e-05,8.5887e-02,5.6182e-03
+7,1.0333e+01,DOWN_FORCE_DETACH,2.4838e-03,2.8062e-02,5.1082e-02,2.4789e+00,-4.0434e-02,3.8756e-02,1.3384e-05,5.2292e-02,5.1601e-02,3.1574e-02,-3.6848e-03,3.7026e-03,8.9883e-06,7.9963e-02,5.2238e-03
+8,1.1817e+01,DOWN_FORCE_DETACH,2.8382e-03,1.9077e-02,5.3076e-02,2.4855e+00,-4.0553e-02,3.8117e-02,1.3843e-05,4.3308e-02,5.3595e-02,3.8237e-02,-3.8034e-03,3.0632e-03,9.4473e-06,7.8804e-02,4.8835e-03
+9,1.3317e+01,DOWN_FORCE_DETACH,3.1924e-03,1.7243e-02,5.4493e-02,2.5020e+00,-4.0610e-02,3.7973e-02,1.1410e-05,4.1474e-02,5.5012e-02,5.4708e-02,-3.8601e-03,2.9198e-03,7.0143e-06,8.7973e-02,4.8400e-03
+10,1.4767e+01,DOWN_FORCE_DETACH,3.5504e-03,1.7518e-02,5.5704e-02,2.5034e+00,-4.0637e-02,3.7978e-02,-1.3126e-05,4.1748e-02,5.6223e-02,5.6117e-02,-3.8870e-03,2.9245e-03,-1.7522e-05,8.9739e-02,4.8644e-03
+11,1.6350e+01,DOWN_FORCE_DETACH,3.9045e-03,1.5247e-02,5.6682e-02,2.5248e+00,-4.0592e-02,3.7795e-02,-5.6146e-05,3.9477e-02,5.7201e-02,7.7525e-02,-3.8424e-03,2.7414e-03,-6.0541e-05,1.0412e-01,4.7204e-03
+12,1.7717e+01,DOWN_FORCE_DETACH,4.2587e-03,1.1155e-02,5.6328e-02,2.5472e+00,-4.0556e-02,3.7492e-02,-5.5849e-05,3.5385e-02,5.6847e-02,9.9951e-02,-3.8064e-03,2.4386e-03,-6.0245e-05,1.2031e-01,4.5210e-03
+13,1.8933e+01,DOWN_FORCE_DETACH,4.6112e-03,1.2305e-02,5.6198e-02,2.5743e+00,-4.0550e-02,3.7537e-02,-1.2604e-05,3.6536e-02,5.6717e-02,1.2705e-01,-3.8006e-03,2.4834e-03,-1.6999e-05,1.4385e-01,4.5401e-03
+14,2.0183e+01,DOWN_FORCE_DETACH,4.9682e-03,1.8822e-02,5.8497e-02,2.5917e+00,-4.0665e-02,3.7960e-02,1.9092e-05,4.3052e-02,5.9016e-02,1.4445e-01,-3.9157e-03,2.9063e-03,1.4696e-05,1.6187e-01,4.8764e-03
+15,2.1283e+01,DOWN_FORCE_DETACH,5.3237e-03,2.1250e-02,6.0293e-02,2.6183e+00,-4.0755e-02,3.8119e-02,1.9918e-05,4.5480e-02,6.0812e-02,1.7103e-01,-4.0056e-03,3.0655e-03,1.5522e-05,1.8713e-01,5.0441e-03
+16,2.2183e+01,DOWN_FORCE_DETACH,5.6759e-03,1.9269e-02,6.0847e-02,2.6494e+00,-4.0709e-02,3.7947e-02,1.8071e-05,4.3499e-02,6.1365e-02,2.0210e-01,-3.9593e-03,2.8931e-03,1.3676e-05,2.1564e-01,4.9037e-03
+17,2.3083e+01,DOWN_FORCE_DETACH,6.0359e-03,1.6995e-02,6.4924e-02,2.6742e+00,-4.0906e-02,3.7764e-02,2.0048e-05,4.1226e-02,6.5443e-02,2.2689e-01,-4.1566e-03,2.7102e-03,1.5652e-05,2.3971e-01,4.9621e-03
+18,2.3867e+01,DOWN_FORCE_DETACH,6.3863e-03,1.1597e-02,6.2787e-02,2.6848e+00,-4.0674e-02,3.7379e-02,2.5612e-05,3.5827e-02,6.3305e-02,2.3751e-01,-3.9243e-03,2.3254e-03,2.1216e-05,2.4840e-01,4.5616e-03
+19,2.4600e+01,DOWN_FORCE_DETACH,6.7406e-03,1.1978e-02,6.1635e-02,2.7023e+00,-4.0589e-02,3.7378e-02,2.7468e-05,3.6209e-02,6.2153e-02,2.5505e-01,-3.8392e-03,2.3247e-03,2.3072e-05,2.6500e-01,4.4882e-03
+20,2.5267e+01,DOWN_FORCE_DETACH,7.0963e-03,1.6555e-02,6.4829e-02,2.7230e+00,-4.0780e-02,3.7671e-02,2.0573e-05,4.0785e-02,6.5348e-02,2.7569e-01,-4.0301e-03,2.6173e-03,1.6178e-05,2.8625e-01,4.8055e-03
+21,2.5850e+01,DOWN_FORCE_DETACH,7.4495e-03,1.6224e-02,6.7153e-02,2.7483e+00,-4.0865e-02,3.7618e-02,9.8100e-06,4.0454e-02,6.7671e-02,3.0103e-01,-4.1152e-03,2.5641e-03,5.4144e-06,3.1119e-01,4.8487e-03
+22,2.6400e+01,DOWN_FORCE_DETACH,7.8032e-03,1.3548e-02,6.7289e-02,2.7632e+00,-4.0792e-02,3.7416e-02,8.8528e-06,3.7779e-02,6.7807e-02,3.1595e-01,-4.0422e-03,2.3630e-03,4.4573e-06,3.2534e-01,4.6822e-03
+23,2.6900e+01,DOWN_FORCE_DETACH,8.1576e-03,1.1997e-02,6.6883e-02,2.7776e+00,-4.0730e-02,3.7291e-02,1.2956e-05,3.6228e-02,6.7402e-02,3.3028e-01,-3.9809e-03,2.2376e-03,8.5605e-06,3.3903e-01,4.5667e-03
+24,2.7417e+01,DOWN_FORCE_DETACH,8.5191e-03,2.0490e-02,6.6944e-02,2.7791e+00,-4.0702e-02,3.7851e-02,1.6155e-05,4.4720e-02,6.7463e-02,3.3181e-01,-3.9526e-03,2.7974e-03,1.1759e-05,3.4154e-01,4.8424e-03
+25,2.7883e+01,DOWN_FORCE_DETACH,8.8765e-03,2.3501e-02,6.7420e-02,2.7735e+00,-4.0719e-02,3.8055e-02,1.2921e-05,4.7731e-02,6.7939e-02,3.2618e-01,-3.9699e-03,3.0014e-03,8.5257e-06,3.3658e-01,4.9768e-03
+26,2.8333e+01,DOWN_FORCE_DETACH,9.2308e-03,2.2546e-02,7.2828e-02,2.7752e+00,-4.1007e-02,3.7982e-02,1.5588e-05,4.6776e-02,7.3347e-02,3.2790e-01,-4.2570e-03,2.9286e-03,1.1192e-05,3.3925e-01,5.1671e-03
+27,2.8767e+01,DOWN_FORCE_DETACH,9.5859e-03,2.4231e-02,7.0451e-02,2.7700e+00,-4.0846e-02,3.8089e-02,2.5800e-05,4.8461e-02,7.0970e-02,3.2274e-01,-4.0966e-03,3.0352e-03,2.1404e-05,3.3399e-01,5.0985e-03
+28,2.9167e+01,DOWN_FORCE_DETACH,9.9377e-03,2.7839e-02,7.2406e-02,2.7695e+00,-4.0941e-02,3.8339e-02,3.0977e-05,5.2069e-02,7.2925e-02,3.2227e-01,-4.1909e-03,3.2853e-03,2.6582e-05,3.3450e-01,5.3252e-03
+29,2.9567e+01,DOWN_FORCE_DETACH,1.0297e-02,3.0146e-02,6.5100e-02,2.7498e+00,-4.0501e-02,3.8498e-02,2.2532e-05,5.4377e-02,6.5619e-02,3.0250e-01,-3.7511e-03,3.4446e-03,1.8137e-05,3.1427e-01,5.0928e-03
+30,2.9900e+01,DOWN_FORCE_DETACH,1.0640e-02,2.9206e-02,6.6979e-02,2.7397e+00,-4.0596e-02,3.8446e-02,1.5229e-05,5.3437e-02,6.7497e-02,2.9247e-01,-3.8463e-03,3.3928e-03,1.0834e-05,3.0488e-01,5.1289e-03
+31,3.0217e+01,DOWN_FORCE_DETACH,1.0993e-02,3.1003e-02,6.3171e-02,2.7375e+00,-4.0338e-02,3.8567e-02,1.5267e-05,5.5233e-02,6.3690e-02,2.9022e-01,-3.5882e-03,3.5133e-03,1.0872e-05,3.0221e-01,5.0218e-03
+32,3.0533e+01,DOWN_FORCE_DETACH,1.1355e-02,3.2427e-02,5.4384e-02,2.7041e+00,-3.9833e-02,3.8682e-02,1.2807e-05,5.6657e-02,5.4902e-02,2.5683e-01,-3.0833e-03,3.6289e-03,8.4111e-06,2.6867e-01,4.7619e-03
+33,3.0817e+01,DOWN_FORCE_DETACH,1.1703e-02,3.4901e-02,4.8989e-02,2.6903e+00,-3.9546e-02,3.8852e-02,-3.6115e-06,5.9131e-02,4.9508e-02,2.4299e-01,-2.7966e-03,3.7987e-03,-8.0070e-06,2.5493e-01,4.7171e-03
+34,3.1100e+01,DOWN_FORCE_DETACH,1.2070e-02,3.3797e-02,4.9308e-02,2.6546e+00,-3.9632e-02,3.8810e-02,-1.8151e-05,5.8027e-02,4.9827e-02,2.0733e-01,-2.8823e-03,3.7561e-03,-2.2547e-05,2.2099e-01,4.7346e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..0ce03173a48c7621e2e83546bbfb2902efc3edd2
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 9799680
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f91cc532bad9f043c6b462277287342d89757b10
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/fem_node.csv
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8cff9a34cceb21aacbcaea779f2284c466ee1e86
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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+56103,1791617447787803570,22631579000000,1791617447786236729,UP_FORCE_HOLD,8,0.0445,0.044500987976789474,0.6759613038039386,-0.004917886211947042,0.09065678906312039,0.9999999724008324,-3.5640979659846576e-05,-0.00021149673917728992,2.529918815536951e-05,0.6761,-0.0048,0.09085289766160115,1.0,0.0,0.0,0.0,0.8400746434301071,0.8225648402545294,-0.5978216126424808,0.054745085455330245,-0.05665432874572668,0.001347509649848134,0.7642344448187097,0.8054832661394206,-0.7261356072655675,0.053750533868889706,-0.05660945290869091,0.0014303808179137415,-0.07584019861139735,-0.017081574115108796,-0.1283139946230867,-0.0009945515864405387,4.487583703576913e-05,8.287116806560746e-05,1,0.060210848024238116,0.7845378084373127,1.735874942804615,-0.009042217324698688,-1.024640527774297,0.5064621703611718,0.5152655439204765,0.5978216126424808,-1.2206093988841384,0.5978216126424808,0.558,0,0,-6.504095723528091e-05,9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c86af92855e023d017b222f02678aeb17b4ec4b0
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21670ecb9471eb02e4018cc96301fa7a42fe9668
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+16,1.233333333e+00,UP_FORCE_HOLD,1791617447523478488,1.399075265e-06,-5.223697403e-05,-1.916256177e-05,-1.687507966e-06,-6.062228986e-05,-1.336809400e-05,-1.208867039e-06,-6.047200965e-05,-1.300058364e-05,7.015392706e-01,-5.068601270e-05,8.407217786e-01,7.015361840e-01,-5.907132854e-05,8.407275731e-01,7.017279026e-01,-5.875475574e-05,8.295596524e-01
+17,1.316666667e+00,UP_FORCE_HOLD,1791617447689597926,3.281057884e-06,-5.566731196e-05,-2.013503806e-05,-1.687507966e-06,-6.062228986e-05,-1.336809400e-05,-1.181056797e-06,-6.047387934e-05,-1.301094263e-05,7.015411525e-01,-5.411635064e-05,8.407208061e-01,7.015361840e-01,-5.907132854e-05,8.407275731e-01,7.017279304e-01,-5.875662543e-05,8.295596421e-01
+18,1.366666667e+00,UP_FORCE_HOLD,1791617447787484074,3.186589756e-06,-6.151458314e-05,-2.223572364e-05,-1.687507966e-06,-6.062228986e-05,-1.336809400e-05,-1.165357741e-06,-6.047438704e-05,-1.301632773e-05,7.015410581e-01,-5.996362182e-05,8.407187055e-01,7.015361840e-01,-5.907132854e-05,8.407275731e-01,7.017279461e-01,-5.875713313e-05,8.295596367e-01
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+51,3.566666667e+00,UP_FORCE_HOLD,1791617452111642178,-3.048886597e-06,-1.016792899e-04,-4.424251717e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.176686032e-06,-9.973302120e-05,-4.930526007e-05,7.015348226e-01,-1.001283285e-04,8.406966987e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017342881e-01,-9.801576730e-05,8.295233477e-01
+52,3.633333333e+00,UP_FORCE_HOLD,1791617452247761511,-3.469545425e-06,-1.015143613e-04,-4.133221449e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.180383444e-06,-9.973300213e-05,-4.931238957e-05,7.015344019e-01,-9.996340002e-05,8.406996090e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017342918e-01,-9.801574822e-05,8.295233406e-01
+53,3.683333333e+00,UP_FORCE_HOLD,1791617452350920215,-2.423615200e-06,-1.021887848e-04,-3.947850103e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.183062098e-06,-9.973304498e-05,-4.931736707e-05,7.015354479e-01,-1.006378235e-04,8.407014627e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017342945e-01,-9.801579107e-05,8.295233356e-01
+54,3.733333333e+00,UP_FORCE_HOLD,1791617452460017880,-4.033455903e-06,-1.021243420e-04,-3.820631698e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.185373532e-06,-9.973303815e-05,-4.932214741e-05,7.015338380e-01,-1.005733806e-04,8.407027349e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017342968e-01,-9.801578425e-05,8.295233309e-01
+55,3.816666667e+00,UP_FORCE_HOLD,1791617452612297525,-2.979603004e-06,-9.699755674e-05,-3.707541006e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.189582592e-06,-9.973307857e-05,-4.932940624e-05,7.015348919e-01,-9.544659542e-05,8.407038658e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017343010e-01,-9.801582466e-05,8.295233236e-01
+56,3.933333333e+00,UP_FORCE_HOLD,1791617452811603076,-5.656607825e-06,-1.005417060e-04,-3.703322144e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.194692007e-06,-9.973310825e-05,-4.933860618e-05,7.015322149e-01,-9.899074471e-05,8.407039080e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017343061e-01,-9.801585434e-05,8.295233144e-01
+57,4.033333333e+00,UP_FORCE_HOLD,1791617453011592469,-4.511736673e-06,-1.016405813e-04,-3.510074541e-05,4.328851898e-06,-9.991768922e-05,-4.971978113e-05,5.198669403e-06,-9.973313312e-05,-4.934560779e-05,7.015333597e-01,-1.000896200e-04,8.407058404e-01,7.015422003e-01,-9.836672790e-05,8.406912214e-01,7.017343101e-01,-9.801587921e-05,8.295233074e-01
+58,4.083333333e+00,UP_FORCE_HOLD,1791617453111600971,-3.693278354e-06,-1.030171938e-04,-3.122568310e-05,-3.727200118e-06,-1.028383217e-04,-3.132862846e-05,-2.877668208e-06,-1.026070735e-04,-3.140754682e-05,7.015341782e-01,-1.014662325e-04,8.407097155e-01,7.015341443e-01,-1.012873604e-04,8.407096126e-01,7.017262338e-01,-1.008898196e-04,8.295412455e-01
+59,4.183333333e+00,UP_SETTLE,1791617453293674011,-5.584044155e-06,-1.009102924e-04,-3.610319170e-05,-3.727200118e-06,-1.028383217e-04,-3.132862846e-05,-2.899268125e-06,-1.026116440e-04,-3.134423211e-05,7.015322874e-01,-9.935933109e-05,8.407048380e-01,7.015341443e-01,-1.012873604e-04,8.407096126e-01,7.017262122e-01,-1.008943901e-04,8.295413088e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..03ddc310cf57c1fc49af251cecbeed7bf43dd65f
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/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,-2.3647e-02,-5.2666e-04,2.4476e+00,-3.6749e-02,3.5092e-02,4.5690e-06,5.8337e-04,-7.8825e-06,3.0518e-04,4.9919e-07,3.8810e-05,1.7340e-07,6.5842e-04,3.8814e-05
+1,5.0000e-02,UP_FORCE_HOLD,1.4485e-05,-2.1916e-02,-5.4718e-04,2.4485e+00,-3.6748e-02,3.5208e-02,5.1027e-06,2.3140e-03,-2.8406e-05,1.2045e-03,1.7658e-06,1.5448e-04,7.0711e-07,2.6088e-03,1.5449e-04
+2,1.3333e-01,UP_FORCE_HOLD,3.5272e-05,-1.8416e-02,2.2779e-03,2.4497e+00,-3.6934e-02,3.5444e-02,7.0296e-06,5.8140e-03,2.7967e-03,2.4359e-03,-1.8465e-04,3.9057e-04,2.6340e-06,6.8962e-03,4.3203e-04
+3,2.1667e-01,UP_FORCE_HOLD,5.0851e-05,-1.4980e-02,5.5402e-03,2.4507e+00,-3.7156e-02,3.5679e-02,1.0138e-05,9.2504e-03,6.0590e-03,3.3746e-03,-4.0597e-04,6.2573e-04,5.7428e-06,1.1561e-02,7.4591e-04
+4,2.8333e-01,UP_FORCE_HOLD,6.9684e-05,-1.2682e-02,6.5072e-03,2.4516e+00,-3.7225e-02,3.5838e-02,1.2414e-05,1.1548e-02,7.0260e-03,4.3035e-03,-4.7582e-04,7.8505e-04,8.0185e-06,1.4186e-02,9.1802e-04
+5,3.3333e-01,UP_FORCE_HOLD,8.5045e-05,-1.1097e-02,6.8836e-03,2.4523e+00,-3.7255e-02,3.5949e-02,1.4027e-05,1.3134e-02,7.4024e-03,5.0316e-03,-5.0489e-04,8.9575e-04,9.6310e-06,1.5894e-02,1.0283e-03
+6,4.3333e-01,UP_FORCE_HOLD,1.0212e-04,-1.4183e-03,1.9097e-02,2.4615e+00,-3.8176e-02,3.6686e-02,5.1646e-05,2.2812e-02,1.9616e-02,1.4209e-02,-1.4263e-03,1.6329e-03,4.7251e-05,3.3273e-02,2.1686e-03
+7,5.5000e-01,UP_FORCE_HOLD,1.1993e-04,6.5493e-04,1.8992e-02,2.4609e+00,-3.8160e-02,3.6818e-02,5.4613e-05,2.4885e-02,1.9511e-02,1.3639e-02,-1.4100e-03,1.7645e-03,5.0217e-05,3.4438e-02,2.2592e-03
+8,6.1667e-01,UP_FORCE_HOLD,1.3751e-04,1.8052e-03,1.8817e-02,2.4610e+00,-3.8144e-02,3.6893e-02,5.6106e-05,2.6035e-02,1.9336e-02,1.3758e-02,-1.3941e-03,1.8395e-03,5.1710e-05,3.5228e-02,2.3087e-03
+9,7.1667e-01,UP_FORCE_HOLD,1.5629e-04,3.4885e-03,1.8584e-02,2.4614e+00,-3.8123e-02,3.7005e-02,5.8097e-05,2.7719e-02,1.9102e-02,1.4150e-02,-1.3733e-03,1.9512e-03,5.3701e-05,3.6516e-02,2.3866e-03
+10,8.0000e-01,UP_FORCE_HOLD,1.7209e-04,4.8526e-03,1.8430e-02,2.4618e+00,-3.8109e-02,3.7097e-02,5.9557e-05,2.9083e-02,1.8949e-02,1.4550e-02,-1.3593e-03,2.0432e-03,5.5162e-05,3.7637e-02,2.4546e-03
+11,9.0000e-01,UP_FORCE_HOLD,1.8950e-04,6.4346e-03,1.8277e-02,2.4623e+00,-3.8095e-02,3.7205e-02,6.1112e-05,3.0665e-02,1.8796e-02,1.5055e-02,-1.3451e-03,2.1512e-03,5.6717e-05,3.8990e-02,2.5377e-03
+12,9.8333e-01,UP_FORCE_HOLD,2.0688e-04,7.7038e-03,1.8177e-02,2.4627e+00,-3.8085e-02,3.7292e-02,6.2262e-05,3.1934e-02,1.8696e-02,1.5462e-02,-1.3355e-03,2.2386e-03,5.7866e-05,4.0105e-02,2.6074e-03
+13,1.0667e+00,UP_FORCE_HOLD,2.2496e-04,8.9219e-03,1.8094e-02,2.4631e+00,-3.8077e-02,3.7377e-02,6.3290e-05,3.3152e-02,1.8613e-02,1.5851e-02,-1.3274e-03,2.3232e-03,5.8895e-05,4.1192e-02,2.6763e-03
+14,1.1000e+00,UP_FORCE_HOLD,2.4110e-04,9.0498e-03,1.9491e-02,2.4646e+00,-3.8167e-02,3.7386e-02,6.4094e-05,3.3280e-02,2.0010e-02,1.7330e-02,-1.4177e-03,2.3330e-03,5.9698e-05,4.2524e-02,2.7307e-03
+15,1.1333e+00,UP_FORCE_HOLD,2.5727e-04,6.9712e-03,2.7139e-02,2.4752e+00,-3.8676e-02,3.7252e-02,6.9656e-05,3.1201e-02,2.7658e-02,2.7952e-02,-1.9263e-03,2.1985e-03,6.5261e-05,5.0198e-02,2.9237e-03
+16,1.2333e+00,UP_FORCE_HOLD,2.7626e-04,8.3393e-03,2.5784e-02,2.4736e+00,-3.8594e-02,3.7342e-02,7.2091e-05,3.2570e-02,2.6303e-02,2.6346e-02,-1.8444e-03,2.2887e-03,6.7695e-05,4.9464e-02,2.9402e-03
+17,1.3167e+00,UP_FORCE_HOLD,2.9366e-04,9.4632e-03,2.5426e-02,2.4727e+00,-3.8574e-02,3.7418e-02,7.3833e-05,3.3693e-02,2.5945e-02,2.5458e-02,-1.8240e-03,2.3642e-03,6.9438e-05,4.9563e-02,2.9869e-03
+18,1.3667e+00,UP_FORCE_HOLD,3.0772e-04,1.0121e-02,2.5349e-02,2.4723e+00,-3.8570e-02,3.7462e-02,7.4771e-05,3.4351e-02,2.5867e-02,2.5042e-02,-1.8201e-03,2.4089e-03,7.0376e-05,4.9762e-02,3.0200e-03
+19,1.4333e+00,UP_FORCE_HOLD,3.2829e-04,1.0973e-02,2.5317e-02,2.4719e+00,-3.8569e-02,3.7521e-02,7.5904e-05,3.5203e-02,2.5836e-02,2.4578e-02,-1.8190e-03,2.4673e-03,7.1509e-05,5.0109e-02,3.0662e-03
+20,1.5000e+00,UP_FORCE_HOLD,3.4522e-04,1.0055e-02,2.5006e-02,2.4921e+00,-3.8547e-02,3.7458e-02,7.8406e-05,3.4285e-02,2.5525e-02,4.4796e-02,-1.7977e-03,2.4048e-03,7.4010e-05,6.1917e-02,3.0034e-03
+21,1.5500e+00,UP_FORCE_HOLD,3.6030e-04,1.0402e-02,2.5012e-02,2.4913e+00,-3.8547e-02,3.7480e-02,7.9054e-05,3.4632e-02,2.5531e-02,4.3982e-02,-1.7975e-03,2.4270e-03,7.4658e-05,6.1527e-02,3.0210e-03
+22,1.6167e+00,UP_FORCE_HOLD,3.7943e-04,1.1036e-02,2.5035e-02,2.4898e+00,-3.8548e-02,3.7522e-02,7.9797e-05,3.5266e-02,2.5554e-02,4.2481e-02,-1.7979e-03,2.4688e-03,7.5401e-05,6.0839e-02,3.0550e-03
+23,1.7000e+00,UP_FORCE_HOLD,3.9763e-04,1.1932e-02,2.5060e-02,2.4877e+00,-3.8548e-02,3.7582e-02,8.0618e-05,3.6162e-02,2.5579e-02,4.0466e-02,-1.7982e-03,2.5290e-03,7.6222e-05,5.9996e-02,3.1041e-03
+24,1.7833e+00,UP_FORCE_HOLD,4.1297e-04,1.2849e-02,2.5077e-02,2.4858e+00,-3.8547e-02,3.7645e-02,8.1340e-05,3.7079e-02,2.5595e-02,3.8530e-02,-1.7977e-03,2.5917e-03,7.6944e-05,5.9284e-02,3.1551e-03
+25,1.8667e+00,UP_FORCE_HOLD,4.3127e-04,1.3749e-02,2.5084e-02,2.4840e+00,-3.8546e-02,3.7708e-02,8.1971e-05,3.7979e-02,2.5603e-02,3.6749e-02,-1.7965e-03,2.6541e-03,7.7576e-05,5.8723e-02,3.2059e-03
+26,1.9167e+00,UP_FORCE_HOLD,4.4609e-04,1.4784e-02,2.7648e-02,2.5022e+00,-3.8711e-02,3.7775e-02,8.3940e-05,3.9015e-02,2.8167e-02,5.4936e-02,-1.9616e-03,2.7211e-03,7.9545e-05,7.3031e-02,3.3553e-03
+27,1.9333e+00,UP_FORCE_HOLD,4.8004e-04,1.4812e-02,2.7560e-02,2.5019e+00,-3.8706e-02,3.7777e-02,8.4149e-05,3.9042e-02,2.8078e-02,5.4670e-02,-1.9560e-03,2.7232e-03,7.9753e-05,7.2811e-02,3.3538e-03
+28,1.9333e+00,UP_FORCE_HOLD,4.8004e-04,1.4812e-02,2.7560e-02,2.5019e+00,-3.8706e-02,3.7777e-02,8.4149e-05,3.9042e-02,2.8078e-02,5.4670e-02,-1.9560e-03,2.7232e-03,7.9753e-05,7.2811e-02,3.3538e-03
+29,1.9667e+00,UP_FORCE_HOLD,5.0415e-04,1.3650e-02,4.9588e-02,2.4940e+00,-4.0175e-02,3.7704e-02,9.5128e-05,3.7880e-02,5.0107e-02,4.6707e-02,-3.4254e-03,2.6504e-03,9.0732e-05,7.8276e-02,4.3320e-03
+30,2.0000e+00,UP_FORCE_HOLD,5.1721e-04,1.3979e-02,4.6924e-02,2.4943e+00,-4.0009e-02,3.7725e-02,9.6450e-05,3.8210e-02,4.7443e-02,4.6979e-02,-3.2598e-03,2.6720e-03,9.2055e-05,7.6928e-02,4.2160e-03
+31,2.0667e+00,UP_FORCE_HOLD,5.3578e-04,1.4609e-02,4.3970e-02,2.4937e+00,-3.9828e-02,3.7767e-02,9.8915e-05,3.8839e-02,4.4489e-02,4.6395e-02,-3.0783e-03,2.7140e-03,9.4519e-05,7.5102e-02,4.1050e-03
+32,2.1333e+00,UP_FORCE_HOLD,5.5524e-04,1.5220e-02,4.2705e-02,2.4923e+00,-3.9753e-02,3.7809e-02,1.0123e-04,3.9450e-02,4.3224e-02,4.5003e-02,-3.0029e-03,2.7558e-03,9.6835e-05,7.3823e-02,4.0769e-03
+33,2.1667e+00,UP_FORCE_HOLD,5.7113e-04,1.5519e-02,4.2409e-02,2.4914e+00,-3.9736e-02,3.7830e-02,1.0234e-04,3.9749e-02,4.2928e-02,4.4169e-02,-2.9862e-03,2.7766e-03,9.7946e-05,7.3306e-02,4.0788e-03
+34,2.2333e+00,UP_FORCE_HOLD,5.8653e-04,1.6084e-02,4.2170e-02,2.4897e+00,-3.9724e-02,3.7870e-02,1.0427e-04,4.0314e-02,4.2689e-02,4.2472e-02,-2.9743e-03,2.8163e-03,9.9875e-05,7.2467e-02,4.0973e-03
+35,2.3333e+00,UP_FORCE_HOLD,6.0166e-04,1.6934e-02,4.2145e-02,2.4871e+00,-3.9726e-02,3.7930e-02,1.0692e-04,4.1164e-02,4.2663e-02,3.9857e-02,-2.9761e-03,2.8769e-03,1.0252e-04,7.1437e-02,4.1406e-03
+36,2.3833e+00,UP_FORCE_HOLD,6.2320e-04,1.7299e-02,4.2175e-02,2.4860e+00,-3.9729e-02,3.7957e-02,1.0789e-04,4.1530e-02,4.2693e-02,3.8764e-02,-2.9789e-03,2.9032e-03,1.0350e-04,7.1064e-02,4.1609e-03
+37,2.4833e+00,UP_FORCE_HOLD,6.3788e-04,1.8082e-02,4.2249e-02,2.4837e+00,-3.9734e-02,3.8013e-02,1.0976e-04,4.2312e-02,4.2768e-02,3.6473e-02,-2.9848e-03,2.9600e-03,1.0536e-04,7.0354e-02,4.2049e-03
+38,2.5667e+00,UP_FORCE_HOLD,6.5426e-04,1.8697e-02,4.2296e-02,2.4820e+00,-3.9738e-02,3.8059e-02,1.1106e-04,4.2928e-02,4.2815e-02,3.4764e-02,-2.9880e-03,3.0051e-03,1.0667e-04,6.9889e-02,4.2391e-03
+39,2.6167e+00,UP_FORCE_HOLD,6.7633e-04,1.9044e-02,4.2316e-02,2.4811e+00,-3.9739e-02,3.8084e-02,1.1170e-04,4.3275e-02,4.2835e-02,3.3834e-02,-2.9892e-03,3.0306e-03,1.0731e-04,6.9658e-02,4.2581e-03
+40,2.6833e+00,UP_FORCE_HOLD,6.9206e-04,1.9470e-02,4.2332e-02,2.4800e+00,-3.9740e-02,3.8115e-02,1.1238e-04,4.3700e-02,4.2851e-02,3.2724e-02,-2.9900e-03,3.0620e-03,1.0798e-04,6.9403e-02,4.2810e-03
+41,2.7500e+00,UP_FORCE_HOLD,7.0720e-04,1.9868e-02,4.2342e-02,2.4790e+00,-3.9740e-02,3.8145e-02,1.1289e-04,4.4098e-02,4.2860e-02,3.1704e-02,-2.9901e-03,3.0913e-03,1.0849e-04,6.9187e-02,4.3022e-03
+42,2.8333e+00,UP_FORCE_HOLD,7.2346e-04,2.0346e-02,4.2346e-02,2.4778e+00,-3.9739e-02,3.8180e-02,1.1335e-04,4.4576e-02,4.2864e-02,3.0500e-02,-2.9898e-03,3.1265e-03,1.0895e-04,6.8954e-02,4.3273e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..589c0a6c8cb3b8bf17bc3fd80b3674aadca42196
--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..30d7bd57ecbd40c649acf280e2d0340ddfde0650
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
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+2916,1791619463671148711,24647518000000,1791619463665024436,DOWN_FORCE_DETACH,9,0.0442,0.04420023411512375,0.675981376242424,-0.004955211581559085,0.09067061914955254,0.999999971740885,-1.108865161619291e-05,-0.00016994447445372918,0.00013768446151584502,0.6761,-0.0048,0.09074174063183389,1.0,0.0,0.0,0.0,0.6580899930874287,0.6818655171726339,-0.06851618398522014,0.049634161967965384,-0.04753444266219455,0.0026974793211003434,0.6171458713691763,0.7450874579923314,-0.19754656644844862,0.04865734723154849,-0.047509626440680804,0.002097159914332892,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.147407533792433,0.5317407350760703,0.2412707849776199,0.37937576247041377,0.04965836785218357,0.31875010290824174,0.6137136141712698,0.06851618398522014,0.3724428291936499,0.3724428291936499,0.2647199999999957,1,0,-0.00011041379171097964,9.999999025923074e-05
+3285,1791619466746240748,24650593000000,1791619466741033677,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6760196926568051,-0.004955235776479038,0.09059632176391356,0.9999999810395891,-9.44857826297497e-06,-0.00011063633278201264,0.00013051441317641857,0.6761,-0.0048,0.09061878800304278,1.0,0.0,0.0,0.0,0.5816117167895377,0.7318348870051664,0.3151071472738868,0.053104438467835455,-0.04166468360653939,0.00351691067942214,0.5406675950712854,0.795056827824864,0.1860767648106583,0.05212762373141856,-0.04163986738502564,0.002916591272654688,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.2019073999520993,0.6138984130093915,-0.12988731167575035,0.33439843188624513,0.30375805960910035,0.3709346373285223,0.6137136141712698,0.3151071472738868,0.7436009258470202,0.7436009258470202,0.5107200000000636,1,0,-4.761238778239196e-08,4.809332099231511e-07
+3706,1791619470254212887,24654101000000,1791619470249024471,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6760255325122136,-0.004948543014048246,0.0905756737271818,0.9999999826040995,-5.83512233933388e-06,-0.00010034153317933339,0.00012701257117755162,0.6761,-0.0048,0.09057847646603902,1.0,0.0,0.0,0.0,0.5486491179015236,0.7351821365923636,0.40422506066487607,0.05385855618556749,-0.03962856576945675,0.0028935806754643127,0.5077049961832713,0.7984040774120612,0.27519467820164756,0.052881741449150595,-0.039603749547943004,0.0022932612686968608,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.2777791754351033,0.5547673327130918,-0.10279132672247622,0.34220608781158746,0.30185273342775776,0.32381781309745883,0.6137136141712698,0.40422506066487607,0.7165049408937461,0.7165049408937461,0.7913599999999548,1,0,-2.4178276265855676e-05,-7.672367882539106e-05
+4125,1791619473746174198,24657593000000,1791619473745023826,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6760443264022719,-0.004953072283998846,0.09053499492903129,0.9999999850958028,-9.440959018741894e-06,-6.896695411441297e-05,0.00012808468376979856,0.6761,-0.0048,0.09049880279469746,1.0,0.0,0.0,0.0,0.5001423094997229,0.7736946175794547,0.6672928103839193,0.05699550524002209,-0.036708517039972466,0.00337571810801777,0.45919818778147053,0.8369165583991522,0.5382624279206908,0.056018690503605195,-0.03668370081845872,0.002775398701250318,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.3335540142068247,0.5875528623441304,-0.4130203243921325,0.33419807814427716,0.5063156283868063,0.3488604527293295,0.6137136141712698,0.6672928103839193,1.0267339385634022,1.0267339385634022,1.0707199999999446,1,0,-2.5923440783401e-05,-9.358998349326163e-05
+4553,1791619477313161313,24661160000000,1791619477313024055,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6760628338628581,-0.00494806427897116,0.09048729051783774,0.9999999868520719,-9.450272016643167e-06,-3.7411410392227374e-05,0.00012747470017743622,0.6761,-0.0048,0.09041736117479934,1.0,0.0,0.0,0.0,0.46816485222452103,0.8428184038111598,0.9413014201722213,0.06300417807525631,-0.034853529971001225,0.0032510402175988835,0.42722073050626863,0.9060403446308574,0.8122710377089928,0.06202736333883942,-0.034828713749487476,0.0026507208108314316,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.394798544623222,0.5962534053650503,-0.70454376684096,0.32842797826705333,0.7066865008714437,0.3514280981953678,0.6137136141712698,0.9413014201722213,1.3182573810122298,1.3182573810122298,1.35608000000023,1,0,-2.0085165596010708e-05,-2.535544971061228e-05
+4972,1791619480804148015,24664651000000,1791619480797024273,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6760826256354981,-0.004947301616282182,0.09043960339207135,0.9999999874564507,-3.4423799584102166e-06,-6.128580243642467e-06,0.00012837660787408313,0.6761,-0.0048,0.09033142654320693,1.0,0.0,0.0,0.0,0.41777361063998353,0.8936262678413895,1.2127726414569278,0.06692150857465237,-0.030936679173961413,0.0031343729931573765,0.3768294889217311,0.9568482086610871,1.0837422589936994,0.06594469383823548,-0.030911862952447664,0.002534053586389925,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.4503595265065814,0.6554123031621601,-0.8620175938950744,0.3005962675029445,0.8155917038173808,0.3869576150103901,0.6137136141712698,1.2127726414569278,1.4757312080663443,1.4757312080663443,1.6353600000005093,1,0,-2.7731242159571796e-05,-9.998865210659175e-05
+5387,1791619484263118137,24668110000000,1791619484261024985,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6761054300821945,-0.004949881073901392,0.09038275878266375,0.9999999871058177,7.800807771836612e-06,2.9975294451472777e-05,0.00012756119337241828,0.6761,-0.0048,0.09023533082608062,1.0,0.0,0.0,0.0,0.3425307106599663,0.9331060471340534,1.4843515301902055,0.07017898439667969,-0.02700526951196784,0.0030128335391539987,0.3015865889417139,0.996327987953751,1.355321147726977,0.0692021696602628,-0.026980453290454093,0.002412514132386547,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.5781792914276291,0.5949508479742002,-1.3390025662305103,0.3177211885856771,1.1434091476366401,0.34873847525324314,0.6137136141712698,1.4843515301902055,1.95271618040178,1.95271618040178,1.912080000000786,1,0,-3.244717930864371e-05,9.98878716115314e-05
+5834,1791619487988058417,24671835000000,1791619487985024447,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.676128586245589,-0.0049681691715287085,0.0903067776736352,0.99999998455659,-1.1336133951461986e-05,6.779323347433361e-05,0.00013268479157499513,0.6761,-0.0048,0.0901147883094315,1.0,0.0,0.0,0.0,0.2450512793294099,0.9376972039899135,1.765574477851824,0.07162564243375368,-0.020003168281892164,0.002897256401381088,0.20410715761115752,1.000919144809611,1.6365440953885957,0.07064882769733678,-0.019978352060378415,0.0022969369946136365,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.666789924992526,0.5328158386264962,-1.500767124537411,0.3120331594880476,1.2640652115898139,0.29835286508106956,0.6137136141712698,1.765574477851824,2.114480738708681,2.114480738708681,2.210080000001084,1,0,-3.887554455714171e-05,-9.99999347480795e-05
+6257,1791619491512986752,24675360000000,1791619491513024192,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6761496593748838,-0.004973551440179938,0.09020248976631895,0.9999999814912952,-1.7517045923528498e-05,0.00010051618963973164,0.00013434999991895324,0.6761,-0.0048,0.08997027801266617,1.0,0.0,0.0,0.0,0.19576526024001206,0.9581606233410359,2.0173117793665107,0.07455592327733654,-0.017074964723095786,0.002772615165788534,0.1548211385217597,1.0213825641607335,1.8882813969032821,0.07357910854091965,-0.017050148501582037,0.0021722957590210824,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.7334395374723206,0.5679182339465083,-1.8182394157929513,0.3062103575768068,1.4795131433359594,0.3250931138258064,0.6137136141712698,2.0173117793665107,2.4319530299642214,2.4319530299642214,2.492080000001366,1,0,-5.185769111059249e-05,3.7940556372491934e-05
+6608,1791619494438075971,24678285000000,1791619494437035696,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6761727623448718,-0.00498157164503916,0.09009247917473,0.9999999764251645,-1.498375941620112e-05,0.00013584733469123935,0.00014111528488463144,0.6761,-0.0048,0.08982101621322063,1.0,0.0,0.0,0.0,0.1847912932955209,0.9941460559613887,2.2187075190648406,0.07651593400690214,-0.016113327420406883,0.0026443504476700175,0.1438471715772685,1.0573679967810863,2.0896771366016123,0.07553911927048525,-0.016088511198893134,0.0020440310409025656,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.7155986960551344,0.49475866700380267,-1.9583532143788591,0.32967587776076707,1.5643737902950994,0.27803782896710405,0.6137136141712698,2.2187075190648406,2.572066828550129,2.572066828550129,2.7260800000016,1,0,-6.089949008555718e-05,-9.999999025923074e-05
+6959,1791619497363020884,24681210000000,1791619497361024092,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6761959499693598,-0.004982511004693164,0.08992772694814613,0.9999999710367128,-1.0212625306343956e-05,0.00017246872306981827,0.00013971284840987212,0.6761,-0.0048,0.0896178151144076,1.0,0.0,0.0,0.0,0.18395611324364247,0.9752797535748577,2.433150645333665,0.07609597547550596,-0.015173054620161303,0.0024826476726567594,0.14301199152539007,1.0385016943945553,2.3041202628704367,0.07511916073908907,-0.015148238398647552,0.0018823282658893075,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.7469680968075525,0.5692971272921507,-2.1567198442190585,0.31577285972387636,1.6989468550626006,0.3283268016385631,0.6137136141712698,2.433150645333665,2.770433458390328,2.770433458390328,2.960080000001834,1,0,-7.41564281467585e-05,-9.930236774391971e-05
+7271,1791619499962998401,24683810000000,1791619499957024868,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6762172174851052,-0.004991282829875059,0.08974952684007444,0.9999999646323882,-1.3010607566304991e-05,0.00020431089816785503,0.00014235823843482083,0.6761,-0.0048,0.08940593409093418,1.0,0.0,0.0,0.0,0.21299525718978618,0.9565702891762667,2.6087988680860787,0.07444421205571335,-0.017201495014179478,0.0022938405121892625,0.17205113547153378,1.0197922299959643,2.4797684856228503,0.07346739731929645,-0.01717667879266573,0.001693521105421811,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.7277489636373082,0.562302597738488,-2.5028196040427972,0.3180007773670507,1.9239669420908725,0.32037406420562586,0.6137136141712698,2.6087988680860787,3.116533218214067,3.116533218214067,3.168080000002042,1,0,-8.666987561381655e-05,9.999275993178287e-05
+7586,1791619502587925954,24686435000000,1791619502581024137,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6762346962325203,-0.004995360147916434,0.08952490599432553,0.9999999592907319,-3.1826498066076355e-05,0.00023446706725793493,0.00012989868174673712,0.6761,-0.0048,0.08915132353722267,1.0,0.0,0.0,0.0,0.26120176127654077,0.9160480199716956,2.7680555161834635,0.07143159065873245,-0.020217635443502073,0.0020893235096621013,0.22025763955828837,0.9792699607913932,2.639025133720235,0.07045477592231555,-0.020192819221988324,0.0014890041028946496,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.6509512439366887,0.5553878853806166,-2.7233041854190674,0.32288480934472996,2.051872484101485,0.3139839411838624,0.6137136141712698,2.7680555161834635,3.3370177995903374,3.3370177995903374,3.378080000002252,1,0,-0.0001072789900566099,9.166075817657599e-05
+7909,1791619505278975855,24689126000000,1791619505273024473,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6762545958326985,-0.005005989983795751,0.08922829754309286,0.9999999515824131,-3.728292394165485e-05,0.0002611655481740795,0.00013667690324198776,0.6761,-0.0048,0.08883401703780615,1.0,0.0,0.0,0.0,0.32886555123872646,0.8622093406339774,2.928500955716764,0.06641528522803339,-0.02456177982041445,0.0018424361379805543,0.28792142952047406,0.9254312814536749,2.7994705732535357,0.0654384704916165,-0.024536963598900702,0.0012421167312131026,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.5455831464411045,0.7261824660533452,-2.8422325281199585,0.27806831637142926,2.110122482893393,0.4253554792087632,0.6137136141712698,2.928500955716764,3.4559461422912285,3.4559461422912285,3.5933600000024675,1,0,-0.00012793825917148537,9.980907353235863e-05
+8205,1791619507745938481,24691593000000,1791619507745024754,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6762801019750976,-0.005011934628675962,0.08890239348815808,0.9999999417054657,-2.9726066204844303e-05,0.0002986753787428082,0.00013394517065329342,0.6761,-0.0048,0.08847488564176073,1.0,0.0,0.0,0.0,0.3879223751736947,0.7995544846917322,3.090860605361345,0.06242321476039107,-0.029233001384110807,0.0026198287060049015,0.3469782534554423,0.8627764255114297,2.961830222898117,0.061446400023974175,-0.02920818516259706,0.0020195092992374496,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.4606866455855794,0.5446046512862572,-2.989190699479605,0.33544535884707144,2.188807339885254,0.30200578889434426,0.6137136141712698,3.090860605361345,3.6029043136508747,3.6029043136508747,3.790720000002665,1,0,-0.00015770932713444675,7.532099043449123e-05
+8464,1791619509903946323,24693751000000,1791619509897024067,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6762981421277902,-0.005020873721026564,0.08855937625333488,0.9999999331518886,-2.925013066420132e-05,0.0003244461908421626,0.00013790642450646286,0.6761,-0.0048,0.08810295680179496,1.0,0.0,0.0,0.0,0.446535457635242,0.7397609802838142,3.206241527610235,0.057397650971807324,-0.03321878159702726,0.002419508282334344,0.4055913359169896,0.8029829211035118,3.0772111451470066,0.05642083623539043,-0.03319396537551351,0.0018191888755668927,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.322212486427369,0.6208720190063327,-3.1073010971453265,0.3236495074172359,2.2375463895074525,0.35257392994366754,0.6137136141712698,3.206241527610235,3.721014711316596,3.721014711316596,3.9633600000028375,1,0,-0.00018804352765540796,-5.891619488469855e-05
+8696,1791619511837942256,24695685000000,1791619511837024611,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6763129400680931,-0.005024641268404161,0.08819504335603918,0.9999999261696253,-3.1295578230210205e-05,0.00034522347876773355,0.00013764063705107212,0.6761,-0.0048,0.08772020110345784,1.0,0.0,0.0,0.0,0.5053352625599137,0.6706791543829548,3.3423214421853875,0.05237371895148942,-0.03720402725131656,0.002196251440450449,0.4643911408416613,0.7339010952026523,3.213291059722159,0.05139690421507253,-0.03717921102980281,0.0015959320336829971,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.1885050683156786,0.7112237838429315,-3.234181698603507,0.29645967418647223,2.295554186519056,0.40746834227124323,0.6137136141712698,3.3423214421853875,3.847895312774777,3.847895312774777,4.118080000002337,1,0,-0.00021402358352157292,-2.1456224853281494e-05
+8907,1791619513595887461,24697443000000,1791619513589024756,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6763288396779844,-0.00503022668941643,0.08781801217782972,0.9999999174240918,-2.7272296715177834e-05,0.00036910786637788743,0.00014003670562454757,0.6761,-0.0048,0.08731580609511247,1.0,0.0,0.0,0.0,0.5539106681003558,0.6255476991233764,3.436613559674023,0.04940091859014101,-0.04121166297504102,0.0020285852850686825,0.5129665463821035,0.6887696399430739,3.3075831772107946,0.048424103853724115,-0.041186846753527274,0.0014282658783012305,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0996744511861964,0.6368441997845707,-3.2881745398840523,0.31549113143744256,2.320898410232293,0.3525924410873382,0.6137136141712698,3.436613559674023,3.901888154055322,3.901888154055322,4.258720000001697,1,0,-0.0002521234198041552,-9.999999025923074e-05
+9091,1791619515128954341,24698976000000,1791619515129024913,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.676351279572535,-0.005028651559952763,0.0874429687008736,0.9999999022348725,-3.31752631112852e-05,0.0004084771752207224,0.00013790906126668774,0.6761,-0.0048,0.0869022971277324,1.0,0.0,0.0,0.0,0.5795922009082835,0.6016112601382101,3.563669915785727,0.04634323556036331,-0.04221986494351141,0.0018830581214478496,0.5386480791900311,0.6648332009579077,3.4346395333224984,0.045366420823946416,-0.04219504872199766,0.0012827387146803978,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0728387704851066,0.5076630075105787,-3.3525335634433153,0.36673325291419734,2.37198416321552,0.27031394791929253,0.6137136141712698,3.563669915785727,3.9662471776145853,3.9662471776145853,4.381360000001139,1,0,-0.0002903014440739079,-9.999999025923074e-05
+9263,1791619516562902471,24700410000000,1791619516561024342,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6763609673594028,-0.005033165569806638,0.08702554638135503,0.9999998954632703,-4.2139387655791566e-05,0.0004253984674582295,0.00013332939982981765,0.6761,-0.0048,0.08646737932984748,1.0,0.0,0.0,0.0,0.6121933454677352,0.5477480061449509,3.6729656040095393,0.04434811976103548,-0.04521491143888612,0.002021375036088879,0.5712492237494828,0.6109699469646485,3.543935221546311,0.04337130502461859,-0.04519009521737237,0.0014210556293214273,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9555970333596311,0.5957546949292478,-3.4030921810247805,0.34226521525661513,2.39019797324396,0.322984410685051,0.6137136141712698,3.6729656040095393,4.01680579519605,4.01680579519605,4.4960800000006165,1,0,-0.0003172665650017211,-9.965051980665435e-05
+9414,1791619517820938154,24701668000000,1791619517821024255,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6763782970034788,-0.005031017607054079,0.08663764997802773,0.9999998838603598,-3.1672191521676005e-05,0.00045276898890618696,0.0001331136597705676,0.6761,-0.0048,0.08604672520053283,1.0,0.0,0.0,0.0,0.6416104359477068,0.5228797456367015,3.761824103076389,0.04129612787268264,-0.04620474092527866,0.0026321268110884094,0.6006663142294545,0.586101686456399,3.6327937206131606,0.04031931313626575,-0.04617992470376491,0.0020318074043209574,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8691957969757553,0.6377744781459971,-3.5301341318671087,0.3408145054337195,2.461011854855952,0.3539046721308637,0.6137136141712698,3.761824103076389,4.143847746038379,4.143847746038379,4.5967200000001585,1,0,-0.0003527995998773,-3.141937684881242e-05
+9550,1791619518953914731,24702801000000,1791619518953024488,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.676393851990133,-0.005036742666697631,0.08624633291562459,0.9999998702923552,-3.194184314839071e-05,0.0004805408061481338,0.00013754413697991775,0.6761,-0.0048,0.08563324664571248,1.0,0.0,0.0,0.0,0.6620682328817468,0.47969957205917885,3.870198171295452,0.0382665806353211,-0.04816637655704664,0.00248860861749885,0.6211241111634944,0.5429215128788765,3.7411677888322235,0.03728976589890421,-0.04814156033553289,0.0018882892107313983,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8481193599061564,0.6549678051775947,-3.576279173333278,0.3420368417865194,2.5008374053342464,0.3667154554751727,0.6137136141712698,3.870198171295452,4.189992787504548,4.189992787504548,4.687359999999746,1,0,-0.00037645637334801494,-9.999999025923074e-05
+9682,1791619520053831613,24703901000000,1791619520049024200,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764025209109797,-0.0050362899041953525,0.08583275291867114,0.9999998642314786,-3.6318782673450234e-05,0.0004931674742785585,0.0001358185452164995,0.6761,-0.0048,0.08520634027657988,1.0,0.0,0.0,0.0,0.6924901627727712,0.42204009072928605,3.9212167047473634,0.034244884260948696,-0.05079725685316448,0.0023569052155565204,0.6515460410545189,0.4852620315489837,3.792186322284135,0.033268069524531804,-0.050772440631650734,0.0017565858087890687,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7260130432291901,0.5844291072259336,-3.6604116521438677,0.35767078696981186,2.539791592770262,0.31726977302409387,0.6137136141712698,3.9212167047473634,4.274125266315138,4.274125266315138,4.7753599999993455,1,0,-0.0004004482010711047,-5.450362386480033e-06
+9806,1791619521087935991,24704935000000,1791619521085024060,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.67641231370706,-0.005039421893598164,0.08542001441417234,0.9999998534616584,-3.856524405987574e-05,0.0005143384601873754,0.00013597130746627177,0.6761,-0.0048,0.08477351453895038,1.0,0.0,0.0,0.0,0.7115166786963607,0.36083079328515,3.968496939416062,0.03018622611849729,-0.05211230144765301,0.0022535527056170143,0.6705725569781084,0.4240527341048476,3.8394665569528335,0.029209411382080396,-0.05208748522613926,0.0016532332988495623,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7566297831774778,0.6407512800010446,-3.6270905802941082,0.3378959966929981,2.5379508691362016,0.35083654287050214,0.6137136141712698,3.968496939416062,4.240804194465378,4.240804194465378,4.858079999998969,1,0,-0.0004365012392329711,-9.98711766327986e-05
+9921,1791619522045878519,24705893000000,1791619522045024484,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6764230423785264,-0.005031978449874014,0.08500805158987791,0.9999998455437596,-3.6609494083951976e-05,0.000530994670433988,0.0001306128869557336,0.6761,-0.0048,0.08434114071877374,1.0,0.0,0.0,0.0,0.7251575785295286,0.30969994762366687,3.97215358728827,0.02612669730738777,-0.05305024015146526,0.0021904358968885774,0.6842134568112762,0.3729218884433645,3.8431232048250417,0.025149882570970877,-0.053025423929951514,0.001590116490121126,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6771795485753658,0.6059973378968762,-3.693056975680837,0.34280720811485255,2.5690314392713614,0.32793760957216017,0.6137136141712698,3.97215358728827,4.306770589852107,4.306770589852107,4.93471999999862,1,0,-0.00046820694018653706,-9.999980984798924e-05
+10029,1791619522945874378,24706793000000,1791619522945023789,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6764325339641196,-0.005029173260053757,0.08458998538824541,0.9999998370435504,-3.8340416391665385e-05,0.0005470722189487576,0.00012883220314362172,0.6761,-0.0048,0.08390756598446193,1.0,0.0,0.0,0.0,0.7285070415020655,0.2246996672510727,3.999752901382637,0.02024417898840793,-0.053952341313079154,0.0020870282602686845,0.6875629197838131,0.28792160807077033,3.8707225189194086,0.019267364251991038,-0.053927525091565405,0.0014867088535012326,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.683526019959776,0.48467114643583964,-3.7013456521871486,0.36797291735595306,2.5862272101198247,0.24884701835374823,0.6137136141712698,3.999752901382637,4.315059266358419,4.315059266358419,5.0067199999982925,1,0,-0.0004928524458505931,-9.97120400400064e-05
+10129,1791619523778908400,24707626000000,1791619523773024154,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764429437346462,-0.005018510910875344,0.08418448113626772,0.9999998269665485,-2.9888474802143405e-05,0.0005657819351651757,0.00012848042030932444,0.6761,-0.0048,0.08348347324315276,1.0,0.0,0.0,0.0,0.7140866589852212,0.15363478480954196,4.0514376436863575,0.015489743692422465,-0.05285413275464523,0.001997166914772255,0.6731425372669688,0.21685672562923958,3.922407261223129,0.014512928956005573,-0.052829316533131485,0.0013968475080048033,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6018714925793708,0.5099215219858493,-3.7548677216071202,0.3418602745204537,2.6117300290028904,0.2682430446091598,0.6137136141712698,4.0514376436863575,4.36858133577839,4.36858133577839,5.073359999997989,1,0,-0.0005225099267938946,-9.939000597392606e-05
+10225,1791619524578834000,24708426000000,1791619524577024159,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764500845281557,-0.005011307147456874,0.08376500172271935,0.9999998203201008,-3.239637826715308e-05,0.0005789039165858602,0.00012092708801454044,0.6761,-0.0048,0.08305679230162692,1.0,0.0,0.0,0.0,0.692926260144904,0.0611969318055967,4.097687657328469,0.009089148460356716,-0.0517257814706572,0.0008814947579174417,0.6519821384266516,0.1244188726252943,3.96865727486524,0.008112333723939824,-0.05170096524914345,0.00028117535114999004,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5961925274975574,0.37991529849896066,-3.7498821355643064,0.37342219728455195,2.6156693378935527,0.18314467066557055,0.6137136141712698,4.097687657328469,4.363595749735576,4.363595749735576,5.137359999997698,1,0,-0.0005414971003772903,-9.999999025923074e-05
+10321,1791619525378871965,24709226000000,1791619525377024413,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764572882501206,-0.004992662774709251,0.08334077229233047,0.9999998150891309,-2.893015657283626e-05,0.0005897583038586324,0.00011230653306372114,0.6761,-0.0048,0.08262179390060988,1.0,0.0,0.0,0.0,0.6725436477924724,-0.027411980287294163,4.115385543100624,0.0019102070620588387,-0.05057432619918009,0.0007973326695903836,0.6315995260742201,0.03580996053240344,3.9863551606373955,0.0009333923256419463,-0.05054950997766634,0.00019701326282293177,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6534354736749185,0.3461425012471695,-3.8948812599798477,0.3539177453682599,2.73542453057664,0.16108297904082935,0.6137136141712698,4.115385543100624,4.508594874151117,4.508594874151117,5.201359999997407,1,0,-0.000548857257334014,-5.40893266971472e-05
+10408,1791619526103860223,24709951000000,1791619526101024174,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6764628798358704,-0.004985317253271278,0.08294446509088814,0.9999998118042297,-2.8779447512578e-05,0.0005959688485518056,0.00010875313545684022,0.6761,-0.0048,0.08222138610957198,1.0,0.0,0.0,0.0,0.6554257008017382,-0.12187648510212541,4.128526440346975,-0.0025831270884890904,-0.049478153251708366,0.0007527764318641821,0.6144815790834859,-0.058654544282427806,3.999496057883746,-0.003559941824905983,-0.04945333703019462,0.00015245702509673046,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5939408950604621,0.3475333394089107,-3.94527978369155,0.33021374048511637,2.7601630593756665,0.15727304714258505,0.6137136141712698,4.128526440346975,4.55899339786282,4.55899339786282,5.259359999997143,1,0,-0.00056012429020292,-1.706984894324923e-06
+10496,1791619526837826154,24710685000000,1791619526837024066,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.676461662822093,-0.004958954784587668,0.08251053457618049,0.9999998169283008,-1.2617678353361936e-05,0.0005888120265253383,0.00010357326535081399,0.6761,-0.0048,0.08180695026914303,1.0,0.0,0.0,0.0,0.6413100757580483,-0.22374253106607367,4.142905385557916,-0.010727781873343617,-0.04830641002036074,-0.0003637945028167784,0.600365954039796,-0.16052059024637605,4.013875003094688,-0.011704596609760509,-0.04828159379884699,-0.0009641139095842302,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.649526461673107,0.21311985580446544,-3.961116854898311,0.3435872849354424,2.799243635357923,0.0665761201115501,0.6137136141712698,4.142905385557916,4.574830469069581,4.574830469069581,5.3180799999968755,1,0,-0.0005703687772460039,-9.46080811178362e-05
+10576,1791619527503861894,24711351000000,1791619527501024342,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6764583452732289,-0.004939143678296363,0.08210981118907319,0.9999998223538678,-7.987365218693592e-06,0.0005812599242578481,9.385201027619646e-05,0.6761,-0.0048,0.08141993397643368,1.0,0.0,0.0,0.0,0.6379751069317645,-0.31595388826874826,4.080569249291358,-0.017911448674106427,-0.048153836152833356,-0.0003952235761796499,0.5970309852135122,-0.25273194744905064,3.951538866828129,-0.01888826341052332,-0.04812901993131961,-0.0009955429829471016,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5563547931193575,0.17324307947139506,-3.958890814773631,0.32605302918873974,2.7830675103748073,0.038478783785131435,0.6137136141712698,4.080569249291358,4.572604428944901,4.572604428944901,5.371359999996633,1,0,-0.0005942130082939575,-9.999999025923074e-05
+10656,1791619528170882657,24712018000000,1791619528169024736,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.67644996896289,-0.004924728940724213,0.08168368268891527,0.9999998303120513,4.009809011165087e-06,0.0005681449873118108,8.952054429183636e-05,0.6761,-0.0048,0.08101301389195988,1.0,0.0,0.0,0.0,0.6212813581103817,-0.4349007750638317,4.007092107989247,-0.025082109289184445,-0.047027470053590946,-0.0004030935204025331,0.5803372363921293,-0.37167883424413406,3.878061725526018,-0.026058924025601338,-0.0470026538320772,-0.0010034129271699849,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5493948357337339,0.12588750374981178,-3.950685124914022,0.31277125602788075,2.785990357488641,0.008931426025185749,0.6137136141712698,4.007092107989247,4.564398739085291,4.564398739085291,5.42471999999639,1,0,-0.0006264290258559388,-9.999999025923074e-05
+10732,1791619528803856783,24712651000000,1791619528801025614,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6764409415505649,-0.004910116160438277,0.08125880466472732,0.9999998387095034,1.0398327851220126e-05,0.0005537116486270111,8.555183699992776e-05,0.6761,-0.0048,0.08060648292054766,1.0,0.0,0.0,0.0,0.6085272334150347,-0.5182976161610703,3.884618839290211,-0.031051504172586515,-0.047207855067068746,-0.0003753167200690918,0.5675831116967823,-0.4550756753413727,3.7555884568269824,-0.03202831890900341,-0.047183038845555,-0.0009756361268365435,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5399188153964266,0.09903895185127834,-3.7948046729679223,0.3003827351306509,2.6903808708018713,-0.008932470025960745,0.6137136141712698,3.884618839290211,4.408518287139192,4.408518287139192,5.47535999999616,1,0,-0.0006580790196900318,-9.999999025923074e-05
+10804,1791619529403816341,24713251000000,1791619529401024324,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764349428285618,-0.004888555948920681,0.08084431587275277,0.9999998436027879,1.558696602638158e-05,0.0005461944052122089,7.527271965720241e-05,0.6761,-0.0048,0.0802026505104899,1.0,0.0,0.0,0.0,0.5998178124082904,-0.6022413771123842,3.7168821036683415,-0.037313667409293254,-0.04567101308644092,-0.0002932383140578198,0.558873690690038,-0.5390194362926867,3.587851721205113,-0.038290482145710146,-0.04564619686492717,-0.0008935577208252716,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5105384890230535,0.01754310981236628,-3.597038146264011,0.2955701142994068,2.558649423047752,-0.06682891237167796,0.6137136141712698,3.7168821036683415,4.210751760435281,4.210751760435281,5.523359999995941,1,0,-0.0006880790138455703,-9.999999025923074e-05
+10871,1791619529962870501,24713810000000,1791619529961024102,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764267500153531,-0.004870655304410827,0.08043039032237576,0.9999998503358066,2.5437381587722328e-05,0.0005337154990091341,7.260808954262202e-05,0.6761,-0.0048,0.07981021629327485,1.0,0.0,0.0,0.0,0.5665077833459814,-0.696285151057558,3.518092901604784,-0.04345630933884886,-0.04361728744160387,-0.0001759482114075153,0.525563661627729,-0.6330632102378604,3.3890625191415555,-0.04443312407526575,-0.04359247122009012,-0.000776267618174967,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.4626830626020697,-0.13441080028531308,-3.5126741792555785,0.3161017891896348,2.4910592477058424,-0.1650976570075428,0.6137136141712698,3.518092901604784,4.126387793426848,4.126387793426848,5.568079999995738,1,0,-0.0007160290084004803,-9.999999025923074e-05
+10935,1791619530495882454,24714343000000,1791619530493024213,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6764075612548434,-0.0048483614844612565,0.08000712584416403,0.9999998651863459,4.301471555902127e-05,0.00050390926866552,7.276907288081256e-05,0.6761,-0.0048,0.07942148393318361,1.0,0.0,0.0,0.0,0.5412132746870081,-0.7896648541078264,3.2735167129682683,-0.05058989524738903,-0.042060264186921784,-4.302920290749309e-05,0.5002691529687557,-0.7264429132881288,3.14448633050504,-0.05156670998380592,-0.042035447965408035,-0.0006433486096749448,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.41567958858557086,-0.10418065863594649,-3.206417147689514,0.27652375469965645,2.282323635632414,-0.15028892954988443,0.6137136141712698,3.2735167129682683,3.820130761860784,3.820130761860784,5.610719999995544,1,0,-0.0007426790032086502,-9.999999025923074e-05
+10995,1791619530995872781,24714843000000,1791619530993024269,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6763883085506898,-0.004839092503436196,0.07959988362636655,0.9999998803490561,4.2096358885269455e-05,0.0004735185228009642,6.894086844993633e-05,0.6761,-0.0048,0.07904390693279932,1.0,0.0,0.0,0.0,0.5196942786584997,-0.8765749561238576,3.000309627647402,-0.05602926879192041,-0.04112712657672383,0.00012646758054106694,0.4787501569402473,-0.81335301530416,2.8712792451841738,-0.057006083528337304,-0.04110231035521008,-0.0004738518262263848,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.34548080664298686,-0.2511701073442407,-2.9725510573918923,0.288968129448168,2.111036552967326,-0.2495949146410586,0.6137136141712698,3.000309627647402,3.5862646715631623,3.5862646715631623,5.650719999995362,1,0,-0.0007676789983382656,-9.999999025923074e-05
+11051,1791619531462849321,24715310000000,1791619531461024322,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6763635074607062,-0.004832273705496326,0.07919067524415094,0.9999998979765522,4.81995303462371e-05,0.00043368879160920104,7.127823655114098e-05,0.6761,-0.0048,0.0786799602916398,1.0,0.0,0.0,0.0,0.5281076352918826,-0.916381447790799,2.749313557282048,-0.05993297096375024,-0.041887434489890525,-0.0007524293012974672,0.4871635135736303,-0.8531595069711014,2.6202831748188196,-0.060909785700167134,-0.041862618268376776,-0.001352748708064919,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3397697212013996,-0.2779149675680168,-2.7364297462432536,0.2881443115605063,1.961489380337792,-0.26620729249774255,0.6137136141712698,2.749313557282048,3.350143360414523,3.350143360414523,5.688079999995192,1,0,-0.0007910289937893264,-9.999999025923074e-05
+11107,1791619531928862301,24715776000000,1791619531925024720,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6763305626704389,-0.004822513545378742,0.07876435009460142,0.9999999195602643,4.6385711421476245e-05,0.00038209491597428446,6.46078188391386e-05,0.6761,-0.0048,0.07830592353159388,1.0,0.0,0.0,0.0,0.5351974318480042,-0.9935524236146767,2.398939296960446,-0.0645699416833305,-0.04241348750192822,-0.0005348137119380613,0.4942533101297518,-0.9303304827949791,2.2699089144972175,-0.06554675641974739,-0.04238867128041447,-0.001135133118705513,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.21223234047643705,-0.2318484209254516,-2.363418131341579,0.2559004865556332,1.6887555623541428,-0.23879032480909912,0.6137136141712698,2.398939296960446,2.9771317455128488,2.9771317455128488,5.725359999995022,1,0,-0.0008143289892501279,-9.999999025923074e-05
+11159,1791619532362824883,24716210000000,1791619532357024373,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6762917405755638,-0.004820414513500559,0.07834677897480469,0.999999941058252,4.3478043718000614e-05,0.00032112692977790785,6.567733078139877e-05,0.6761,-0.0048,0.0779478067011788,1.0,0.0,0.0,0.0,0.555478852931006,-1.02486112398385,2.033375027330343,-0.06727677445094112,-0.043691583609396324,-0.0013224326506331597,0.5145347312127536,-0.9616391831641525,1.9043446448671144,-0.06825358918735801,-0.043666767387882575,-0.0019227520574006114,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.19953863921917767,-0.24562869629328077,-2.0081646121831334,0.24412905423061754,1.452235495313921,-0.24881389285269417,0.6137136141712698,2.033375027330343,2.6218782263544034,2.6218782263544034,5.760079999994864,1,0,-0.000836028985022634,-9.999999025923074e-05
+11211,1791619532795864200,24716643000000,1791619532793024003,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6762564222410438,-0.004831598052661447,0.07791619407683603,0.9999999570546418,4.32896012504037e-05,0.0002639830017548088,7.597739286148321e-05,0.6761,-0.0048,0.07758112975157926,1.0,0.0,0.0,0.0,0.5892686888096719,-1.0191617908463482,1.6536787017542522,-0.06754055144717216,-0.044537066841663316,-0.002053404562951053,0.5483245670914195,-0.9559398500266506,1.5246483192910238,-0.06851736618358906,-0.04451225062014957,-0.0026537239697185045,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.14897573344463888,-0.3017392217570949,-1.680438745604453,0.2578656649895544,1.2224829694295443,-0.2871872273833105,0.6137136141712698,1.6536787017542522,2.2941523597757225,2.2941523597757225,5.794719999994706,1,0,-0.000857678980804881,-9.999999025923074e-05
+11259,1791619533195755125,24717043000000,1791619533193024153,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6762138933009981,-0.004838759163712502,0.0775058469129874,0.9999999710886041,4.641936998586458e-05,0.00020014018889730485,8.399287127560123e-05,0.6761,-0.0048,0.07723406816003851,1.0,0.0,0.0,0.0,0.6114846037989623,-0.9936274069765688,1.2441593529385273,-0.0643473122771887,-0.04661008631630145,-0.0027369238526591825,0.57054048208071,-0.9304054661568713,1.115128970475299,-0.0653241270136056,-0.046585270094787704,-0.003337243259426634,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.14863334418642904,-0.11866185435111723,-1.240947511357572,0.21025793772695345,0.9234428438822003,-0.1677175008562941,0.6137136141712698,1.2441593529385273,1.8546611255288419,1.8546611255288419,5.826719999994561,1,0,-0.0008776789769085733,-9.999999025923074e-05
+11306,1791619533587856465,24717435000000,1791619533585024343,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6761736739370668,-0.004854197362400513,0.07709586527409013,0.999999981856419,3.208408064949118e-05,0.00013783057798683436,8.776884269015483e-05,0.6761,-0.0048,0.07688618620184066,1.0,0.0,0.0,0.0,0.6392575367961473,-0.9022197386180739,0.9072176391619101,-0.05810691742585981,-0.04825467381775763,-0.002424885086012481,0.5983134150778949,-0.8389977977983764,0.7781872566986816,-0.0590837321622767,-0.04822985759624388,-0.003025204492779933,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.166354598579751,-0.01622969653181002,-0.7766876838668838,0.19232088068829542,0.6125899492412983,-0.10099179614383443,0.6137136141712698,0.9072176391619101,1.3904012980381535,1.3904012980381535,5.858079999994418,1,0,-0.0008972789730901917,-9.999999025923074e-05
+11354,1791619533987824796,24717835000000,1791619533981024328,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6761318131329241,-0.004875000963670512,0.07666267060881587,0.9999999877735976,2.6252530664150543e-05,7.200108050903382e-05,0.00010011152830032005,0.6761,-0.0048,0.0765232846133858,1.0,0.0,0.0,0.0,0.6626670807312929,-0.8072860569091455,0.5839343698990462,-0.05211184963894497,-0.04872579458014458,-0.003127424627294686,0.6217229590130405,-0.7440641160894479,0.4549039874358177,-0.05308866437536186,-0.04870097835863083,-0.003727744034062138,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.20652950485891433,0.046942660072016626,-0.48998314192220027,0.1874401204735254,0.41935529435768354,-0.05975823191564391,0.6137136141712698,0.5839343698990462,1.10369675609347,1.10369675609347,5.890079999994272,1,0,-0.000917278969193884,-9.999999025923074e-05
+11402,1791619534387750059,24718235000000,1791619534385024418,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6760942470851321,-0.004888086779700349,0.07624214431339425,0.9999999900148845,1.4599825468386896e-05,1.348593724765649e-05,0.00010496699509968066,0.6761,-0.0048,0.07615238302648945,1.0,0.0,0.0,0.0,0.6635827968024399,-0.7025161417724018,0.32796855350921256,-0.04457134172505324,-0.04844803771542802,-0.0028306437024098125,0.6226386750841876,-0.6392942009527043,0.19893817104598407,-0.04554815646147013,-0.04842322149391427,-0.003430963109177264,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.27408344345718055,0.07886032745189195,-0.314657082356116,0.1959731101526802,0.2998790337716511,-0.03596149364595447,0.6137136141712698,0.32796855350921256,0.9283706965273858,0.9283706965273858,5.922079999994127,1,0,-0.0009372789652975763,-9.999999025923074e-05
+11450,1791619534787840724,24718635000000,1791619534785024231,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6760643274274232,-0.004904959137967901,0.07581879710771348,0.9999999891286411,-3.444794577347032e-08,-3.508741163700281e-05,0.00010933642884956529,0.6761,-0.0048,0.07577348144115163,1.0,0.0,0.0,0.0,0.628840002617028,-0.581077294632737,0.12928475452826754,-0.03657922633389402,-0.04646162183116122,-0.002551616010900418,0.5878958808987756,-0.5178553538130395,0.0002543720650390515,-0.037556041070310915,-0.04643680560964747,-0.0031519354176678697,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.29061707218150684,0.0308032040566751,0.05978962423085121,0.22218335915414342,0.03531200821050228,-0.06747403451452243,0.6137136141712698,0.12928475452826754,0.5539239899404186,0.5539239899404186,5.954079999993981,1,0,-0.0009572789614012686,-9.999999025923074e-05
+11494,1791619535153821818,24719001000000,1791619535153024520,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6760352173256592,-0.004916649108176365,0.07541553110453958,0.9999999854274874,9.71963551083258e-07,-8.33150094231501e-05,0.00011681418625877835,0.6761,-0.0048,0.07541977759193297,1.0,0.0,0.0,0.0,0.569414299124471,-0.5291777030993937,0.02145021184650947,-0.03255710513976422,-0.04095556618758476,-0.0023346787691129155,0.5284701774062186,-0.46595576227969615,-0.10758017061671901,-0.03353391987618111,-0.04093074996607101,-0.002934998175880367,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3625350629325554,0.08556031633522726,0.1715062973084902,0.21441904005791232,-0.03833722163033296,-0.03139800948517049,0.6137136141712698,0.02145021184650947,0.4422073168627796,0.4422073168627796,5.983359999993848,1,0,-0.000975578957836147,-9.999999025923074e-05
+11538,1791619535520819836,24719368000000,1791619535517024704,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6760085451300769,-0.004924605015457254,0.0750142081452699,0.9999999807643356,-7.917509924449785e-06,-0.00012571300645476574,0.00011852318710004476,0.6761,-0.0048,0.07505838206506488,1.0,0.0,0.0,0.0,0.4940748296513737,-0.4604021782618151,-0.11026661696045123,-0.028526630603661066,-0.035919104062880805,-0.002116837354721867,0.4531307079331213,-0.3971802374421175,-0.2392969994236797,-0.02950344534007796,-0.035894287841367056,-0.0027171567614893187,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.4192656419823984,0.15465341117873005,0.31387591360730327,0.1880810742532589,-0.1373708910920204,0.010268373612731377,0.6137136141712698,0.11026661696045123,0.2998377005639665,0.2998377005639665,6.012719999993714,1,0,-0.0009939289542612846,-9.999999025923074e-05
+11586,1791619535920742887,24719768000000,1791619535917024279,DOWN_FORCE_DETACH,9,0.0442,0.044202204793691635,0.6759834536023358,-0.004933487912779774,0.07457465041325079,0.9999999745339654,-1.3158593691196793e-05,-0.0001652818376711363,0.00012199876500992142,0.6761,-0.0048,0.07465682048414157,1.0,0.0,0.0,0.0,0.42559837851600785,-0.38025566390495646,-0.2082945973578235,-0.02259180963573753,-0.03134005110904931,-0.0018935085558412768,0.38465425679775544,-0.31703372308525885,-0.337324979821052,-0.02356862437215442,-0.03131523488753556,-0.0024938279626087285,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5080685143860998,0.07041846987634898,0.31476370013973337,0.21200777261471243,-0.13732733487944745,-0.04413036773717379,0.6137136141712698,0.2082945973578235,0.2989499140315364,0.2989499140315364,6.044719999993569,1,0,-0.001013928950364977,-9.999999025923074e-05
+11630,1791619536287808924,24720135000000,1791619536281024706,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6759615024854027,-0.004939766070604194,0.07416376821238893,0.9999999683827625,-2.1054694525694973e-05,-0.00020085831964721277,0.0001178557328811802,0.6761,-0.0048,0.0742813505100154,1.0,0.0,0.0,0.0,0.3463075714470325,-0.32203490342805335,-0.2709269775853482,-0.019176792258789835,-0.02511292283259967,-0.0017248635115009604,0.3053634497287801,-0.25881296260835573,-0.3999573600485767,-0.020153606995206727,-0.02508810661108592,-0.002325182918268412,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.49307794086556006,0.1159791319778365,0.5049976301114293,0.1965634426547955,-0.2823907127473152,-0.017793681692734875,0.6137136141712698,0.2709269775853482,0.10871598405984051,0.10871598405984051,6.074079999993435,1,0,-0.0010322789467901146,-9.999999025923074e-05
+11678,1791619536687834572,24720535000000,1791619536681024385,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6759437617073037,-0.004940217690592227,0.07373274132269701,0.999999962026061,-2.4587734223725506e-05,-0.00022915971509697777,0.00011946551523049326,0.6761,-0.0048,0.07386444893208056,1.0,0.0,0.0,0.0,0.28687757808238123,-0.26145169131453266,-0.3578107689344979,-0.014272384929413308,-0.020892552583778305,-0.0015421397560020512,0.24593345636412883,-0.19822975049483507,-0.4868411513977264,-0.0152491996658302,-0.020867736362264556,-0.002142459162769503,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6310797640055177,0.15560122418906538,0.43925957576703967,0.180038848063642,-0.22512216975505545,0.006300725030499471,0.6137136141712698,0.3578107689344979,0.17445403840423013,0.17445403840423013,6.106079999993289,1,0,-0.001052278942893807,-9.999999025923074e-05
+11722,1791619537053837863,24720901000000,1791619537053024193,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.675934719093446,-0.00494542318904743,0.07334171380091571,0.9999999591810613,-2.9505190036847095e-05,-0.0002412729567296982,0.00011831121747221138,0.6761,-0.0048,0.07347597508963563,1.0,0.0,0.0,0.0,0.22879910891962213,-0.20854788302520816,-0.3968113702726179,-0.009410966317414478,-0.018177916670867614,-0.0014123538623478941,0.18785498720136973,-0.14532594220551057,-0.5258417527358464,-0.01038778105383137,-0.018153100449353865,-0.002012673269115346,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6890576612110448,0.16114729862362157,0.5720256304745907,0.18548037974643625,-0.31342102154277496,0.011433753012847603,0.6137136141712698,0.3968113702726179,0.04168798369667914,0.04168798369667914,6.135359999993156,1,0,-0.0010705789393286853,-9.999999025923074e-05
+11769,1791619537445802787,24721293000000,1791619537445024414,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6759259085104917,-0.0049393876951696865,0.07291265570436847,0.999999955877934,-3.002309957439912e-05,-0.00025619012108067456,0.00011468317208245739,0.6761,-0.0048,0.0730524763461691,1.0,0.0,0.0,0.0,0.1976419381112277,-0.15532634856208646,-0.4160479773273257,-0.006687885798783292,-0.01491235021012479,-0.0013226358181109778,0.15669781639297534,-0.09210440774238886,-0.5450783597905542,-0.0076647005352001845,-0.01488753398861104,-0.0019229552248784295,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7893343590072694,0.15236811012228224,0.5405596711658537,0.17903979563695638,-0.28032017152904753,-1.6689030071792565e-07,0.6137136141712698,0.4160479773273257,0.07315394300541611,0.07315394300541611,6.166719999993013,1,0,-0.0010901789355103038,-9.999999025923074e-05
+11817,1791619537845797509,24721693000000,1791619537845024266,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6759280655777948,-0.004942729998862642,0.07248278587624424,0.9999999573549336,-2.587698513520934e-05,-0.0002494842180348891,0.00011756275758149661,0.6761,-0.0048,0.07261241477274619,1.0,0.0,0.0,0.0,0.1307320804415405,-0.1063368209616059,-0.4156091066225651,-0.0037270882104495275,-0.010016592880459672,-0.001218820447208087,0.08978795872328812,-0.0431148801419083,-0.5446394890857936,-0.00470390294686642,-0.009991776658945921,-0.0018191398539755387,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8716819210631024,0.20778267099578815,0.6495126300118255,0.1559270222334596,-0.3446084523708146,0.0329985892675074,0.6137136141712698,0.4156091066225651,-0.03579901584055567,-0.03579901584055567,6.198719999992868,1,0,-0.001110178931613996,-9.999999025923074e-05
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+11909,1791619538612732108,24722460000000,1791619538609023860,DOWN_FORCE_DETACH,9,0.0442,0.04420154541730881,0.6759344510876099,-0.00493794869048328,0.0716398660016806,0.9999999614881419,-3.0855021229610214e-05,-0.000236083563172405,0.0001085315534834688,0.6761,-0.0048,0.07174621948506718,1.0,0.0,0.0,0.0,0.048898771566442595,-0.10065624012961899,-0.3746516663976166,-0.0028543026993677906,-0.004894041124978936,-0.0011606787741985012,0.007954649848190205,-0.03743429930992139,-0.5036820488608451,-0.0038311174357846833,-0.0048692249034651865,-0.0017609981809659529,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9326511565809628,0.2196312691158456,0.41731259664211645,0.13437724110861224,-0.1946890751513511,0.035749184333162945,0.6137136141712698,0.3746516663976166,0.19640101752915334,0.19640101752915334,6.2600799999925885,1,0,-0.001148528924142826,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..538ce7c374e03f62dcd4e6a2c976143d34d1144d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..280f097af772dc49b999e9cdbcc3ae1302da73ec
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
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+20,2.901666667e+01,DOWN_FORCE_DETACH,1791619516560751299,4.234327683e-04,-1.332964643e-04,-3.743864058e-03,4.243579900e-04,-1.317653499e-04,-3.732663695e-03,4.241875570e-04,-1.311925940e-04,-3.725487490e-03,7.019613042e-01,-1.317455030e-04,8.369970771e-01,7.019622295e-01,-1.302143886e-04,8.370082775e-01,7.021532376e-01,-1.294737306e-04,8.258471355e-01
+21,2.968333333e+01,DOWN_FORCE_DETACH,1791619517824735909,4.395654386e-04,-1.355345192e-04,-4.138394628e-03,4.383723935e-04,-1.351439793e-04,-4.128178189e-03,4.371359900e-04,-1.344960710e-04,-4.120704939e-03,7.019774369e-01,-1.339835578e-04,8.366025466e-01,7.019762439e-01,-1.335930180e-04,8.366127630e-01,7.021661860e-01,-1.327772076e-04,8.254519180e-01
+22,3.028333333e+01,DOWN_FORCE_DETACH,1791619518956723278,4.527785937e-04,-1.353811162e-04,-4.532121938e-03,4.513324949e-04,-1.368791824e-04,-4.520297098e-03,4.491215570e-04,-1.361276501e-04,-4.512446959e-03,7.019906501e-01,-1.338301549e-04,8.362088192e-01,7.019892040e-01,-1.353282210e-04,8.362206441e-01,7.021781716e-01,-1.344087867e-04,8.250601760e-01
+23,3.086666667e+01,DOWN_FORCE_DETACH,1791619520052767092,4.632282768e-04,-1.337803044e-04,-4.941405172e-03,4.629635369e-04,-1.336856707e-04,-4.941523514e-03,4.598106924e-04,-1.329745701e-04,-4.933501680e-03,7.020010998e-01,-1.322293431e-04,8.357995360e-01,7.020008350e-01,-1.321347093e-04,8.357994177e-01,7.021888607e-01,-1.312557067e-04,8.246391213e-01
+24,3.138333333e+01,DOWN_FORCE_DETACH,1791619521085295390,4.747931791e-04,-1.362377268e-04,-5.349858131e-03,4.712549886e-04,-1.367154388e-04,-5.341950789e-03,4.669104306e-04,-1.359001304e-04,-5.333786705e-03,7.020126647e-01,-1.346867654e-04,8.353910831e-01,7.020091265e-01,-1.351644775e-04,8.353989904e-01,7.021959605e-01,-1.341812670e-04,8.242388363e-01
+25,3.186666667e+01,DOWN_FORCE_DETACH,1791619522048775622,4.836005058e-04,-1.331047076e-04,-5.769652412e-03,4.834078464e-04,-1.329502093e-04,-5.769848976e-03,4.778648183e-04,-1.320964341e-04,-5.761421342e-03,7.020214720e-01,-1.315537463e-04,8.349712888e-01,7.020212793e-01,-1.313992480e-04,8.349710922e-01,7.022069149e-01,-1.303775707e-04,8.238112016e-01
+26,3.231666667e+01,DOWN_FORCE_DETACH,1791619522948734902,4.899893033e-04,-1.279229558e-04,-6.191146335e-03,4.919803905e-04,-1.284175052e-04,-6.173489019e-03,4.853343579e-04,-1.276457818e-04,-6.166272895e-03,7.020278608e-01,-1.263719945e-04,8.345497949e-01,7.020298519e-01,-1.268665439e-04,8.345674522e-01,7.022143844e-01,-1.259269184e-04,8.234063501e-01
+27,3.275000000e+01,DOWN_FORCE_DETACH,1791619523776792474,5.023357819e-04,-1.198254448e-04,-6.591527686e-03,5.022300782e-04,-1.200472223e-04,-6.591431972e-03,4.944748944e-04,-1.192881825e-04,-6.584209673e-03,7.020402073e-01,-1.182744835e-04,8.341494135e-01,7.020401016e-01,-1.184962609e-04,8.341495092e-01,7.022235249e-01,-1.175693191e-04,8.229884133e-01
+28,3.316666667e+01,DOWN_FORCE_DETACH,1791619524576868912,5.091384870e-04,-1.095850080e-04,-7.011739251e-03,5.089781556e-04,-1.097537430e-04,-7.011595417e-03,5.000087616e-04,-1.090937812e-04,-7.004605873e-03,7.020470100e-01,-1.080340467e-04,8.337292019e-01,7.020468496e-01,-1.082027816e-04,8.337293458e-01,7.022290588e-01,-1.073749178e-04,8.225680171e-01
+29,3.358333333e+01,DOWN_FORCE_DETACH,1791619525376819318,5.177036174e-04,-9.752766129e-05,-7.434231982e-03,5.162042800e-04,-9.811994015e-05,-7.416128628e-03,5.060403509e-04,-9.748031193e-05,-7.409991759e-03,7.020555751e-01,-9.597669997e-05,8.333067092e-01,7.020540758e-01,-9.656897883e-05,8.333248126e-01,7.022350904e-01,-9.576144853e-05,8.221626312e-01
+30,3.396666667e+01,DOWN_FORCE_DETACH,1791619526106784778,5.199249202e-04,-7.904931328e-05,-7.835378321e-03,5.197565116e-04,-7.886641476e-05,-7.835347918e-03,5.082692223e-04,-7.841431657e-05,-7.829379141e-03,7.020577964e-01,-7.749835196e-05,8.329055629e-01,7.020576280e-01,-7.731545343e-05,8.329055933e-01,7.022373193e-01,-7.669545316e-05,8.217432438e-01
+31,3.435000000e+01,DOWN_FORCE_DETACH,1791619526836825283,5.210305196e-04,-6.217886713e-05,-8.264463193e-03,5.207086928e-04,-5.971312424e-05,-8.247181014e-03,5.078838818e-04,-5.926463891e-05,-8.242065477e-03,7.020589020e-01,-6.062790581e-05,8.324764780e-01,7.020585802e-01,-5.816216292e-05,8.324937602e-01,7.022369339e-01,-5.754577550e-05,8.213305575e-01
+32,3.471666667e+01,DOWN_FORCE_DETACH,1791619527505941251,5.166841410e-04,-3.503090345e-05,-8.667799532e-03,5.189193397e-04,-3.789195560e-05,-8.653596948e-03,5.046292752e-04,-3.756299642e-05,-8.649028232e-03,7.020545556e-01,-3.347994212e-05,8.320731417e-01,7.020567908e-01,-3.634099428e-05,8.320873442e-01,7.022336793e-01,-3.584413301e-05,8.209235947e-01
+33,3.506666667e+01,DOWN_FORCE_DETACH,1791619528168960310,5.086266502e-04,-2.515365864e-05,-9.091890506e-03,5.085694503e-04,-2.491932137e-05,-9.091951399e-03,4.925297937e-04,-2.467281441e-05,-9.087987467e-03,7.020464981e-01,-2.360269732e-05,8.316490507e-01,7.020464409e-01,-2.336836004e-05,8.316489898e-01,7.022215798e-01,-2.295395101e-05,8.204846355e-01
+34,3.538333333e+01,DOWN_FORCE_DETACH,1791619528800786665,5.021445066e-04,-6.850785727e-06,-9.513928683e-03,5.019759487e-04,-7.012712459e-06,-9.514064915e-03,4.842105296e-04,-6.897995359e-06,-9.510729060e-03,7.020400160e-01,-5.299824406e-06,8.312270125e-01,7.020398474e-01,-5.461751138e-06,8.312268763e-01,7.022132606e-01,-5.179131951e-06,8.200618939e-01
+35,3.568333333e+01,DOWN_FORCE_DETACH,1791619529400791788,4.959450244e-04,1.442099646e-05,-9.930114224e-03,4.959037189e-04,1.427580751e-05,-9.930029910e-03,4.764802413e-04,1.447839918e-05,-9.926941465e-03,7.020338165e-01,1.597195778e-05,8.308108270e-01,7.020337752e-01,1.582676883e-05,8.308109113e-01,7.022055303e-01,1.619726258e-05,8.196456815e-01
+36,3.596666667e+01,DOWN_FORCE_DETACH,1791619529966814973,4.855762882e-04,2.956571231e-05,-1.035140151e-02,4.854463529e-04,2.973864409e-05,-1.035125939e-02,4.642217623e-04,2.977202056e-05,-1.034927092e-02,7.020234478e-01,3.111667363e-05,8.303895397e-01,7.020233178e-01,3.128960542e-05,8.303896818e-01,7.021932718e-01,3.149088396e-05,8.192233520e-01
+37,3.623333333e+01,DOWN_FORCE_DETACH,1791619530499165327,4.694921998e-04,5.271461421e-05,-1.076789420e-02,4.692222736e-04,5.275812312e-05,-1.076785756e-02,4.459750997e-04,5.266354055e-05,-1.076644456e-02,7.020073637e-01,5.426557553e-05,8.299730470e-01,7.020070938e-01,5.430908444e-05,8.299730836e-01,7.021750251e-01,5.438240396e-05,8.188061784e-01
+38,3.648333333e+01,DOWN_FORCE_DETACH,1791619530996816474,4.486816429e-04,6.205715008e-05,-1.117560719e-02,4.486108508e-04,6.205875430e-05,-1.117528756e-02,4.232142588e-04,6.203187594e-05,-1.117451957e-02,7.019865531e-01,6.360811140e-05,8.295653340e-01,7.019864823e-01,6.360971562e-05,8.295656536e-01,7.021522643e-01,6.375073934e-05,8.183981034e-01
+39,3.671666667e+01,DOWN_FORCE_DETACH,1791619531460820089,4.233627249e-04,7.182257385e-05,-1.158217511e-02,4.231803116e-04,7.186595460e-05,-1.158195682e-02,3.956202887e-04,7.201998092e-05,-1.158159067e-02,7.019612342e-01,7.337353517e-05,8.291587661e-01,7.019610518e-01,7.341691592e-05,8.291589844e-01,7.021246703e-01,7.373884433e-05,8.179910323e-01
+40,3.695000000e+01,DOWN_FORCE_DETACH,1791619531928849006,3.909357626e-04,7.863610813e-05,-1.201114072e-02,3.908514341e-04,7.841263678e-05,-1.201107141e-02,3.607282557e-04,7.853460801e-05,-1.201129956e-02,7.019288072e-01,8.018706945e-05,8.287298005e-01,7.019287229e-01,7.996359810e-05,8.287298698e-01,7.020897783e-01,8.025347141e-05,8.175613234e-01
+41,3.718333333e+01,DOWN_FORCE_DETACH,1791619532360782325,3.567242909e-04,7.924281596e-05,-1.242117047e-02,3.567344119e-04,7.907693306e-05,-1.242116495e-02,3.241952065e-04,7.960137850e-05,-1.242169856e-02,7.018945958e-01,8.079377728e-05,8.283197707e-01,7.018946059e-01,8.062789438e-05,8.283197762e-01,7.020532453e-01,8.132024191e-05,8.171509244e-01
+42,3.741666667e+01,DOWN_FORCE_DETACH,1791619532792815351,3.171971858e-04,7.571939533e-05,-1.285450819e-02,3.170794542e-04,7.575143081e-05,-1.285423246e-02,2.819165300e-04,7.638515778e-05,-1.285488253e-02,7.018550687e-01,7.727035665e-05,8.278864330e-01,7.018549509e-01,7.730239213e-05,8.278867087e-01,7.020109666e-01,7.810402119e-05,8.167177404e-01
+43,3.761666667e+01,DOWN_FORCE_DETACH,1791619533192787689,2.781381992e-04,5.982716614e-05,-1.326139540e-02,2.780491596e-04,5.968219298e-05,-1.326099449e-02,2.404271829e-04,6.022362338e-05,-1.326167988e-02,7.018160097e-01,6.137812746e-05,8.274795458e-01,7.018159206e-01,6.123315430e-05,8.274799467e-01,7.019694772e-01,6.194248679e-05,8.163109431e-01
+44,3.783333333e+01,DOWN_FORCE_DETACH,1791619533590782617,2.349482057e-04,4.330392826e-05,-1.368211580e-02,2.347897149e-04,4.351798191e-05,-1.368207746e-02,1.945548225e-04,4.394727691e-05,-1.368275805e-02,7.017728197e-01,4.485488958e-05,8.270588254e-01,7.017726612e-01,4.506894323e-05,8.270588637e-01,7.019236049e-01,4.566614032e-05,8.158898649e-01
+45,3.805000000e+01,DOWN_FORCE_DETACH,1791619533989627644,1.917171119e-04,2.601506097e-05,-1.411314585e-02,1.914809841e-04,2.612714290e-05,-1.411275399e-02,1.485249991e-04,2.644155530e-05,-1.411346434e-02,7.017295886e-01,2.756602229e-05,8.266277953e-01,7.017293525e-01,2.767810422e-05,8.266281872e-01,7.018775750e-01,2.816041871e-05,8.154591586e-01
+46,3.825000000e+01,DOWN_FORCE_DETACH,1791619534388787990,1.546201773e-04,1.306287381e-05,-1.453334650e-02,1.542384568e-04,1.302474519e-05,-1.453332360e-02,1.088116619e-04,1.325685476e-05,-1.453413479e-02,7.016924917e-01,1.461383513e-05,8.262075947e-01,7.016921099e-01,1.457570651e-05,8.262076176e-01,7.018378617e-01,1.497571817e-05,8.150384882e-01
+47,3.846666667e+01,DOWN_FORCE_DETACH,1791619534788797581,1.237548162e-04,-5.580204545e-06,-1.495803919e-02,1.236501851e-04,-5.671069921e-06,-1.495833670e-02,7.601931749e-05,-5.536818384e-06,-1.495911336e-02,7.016616263e-01,-4.029243223e-06,8.257829020e-01,7.016615217e-01,-4.120108600e-06,8.257826045e-01,7.018050694e-01,-3.817954976e-06,8.146135096e-01
+48,3.865000000e+01,DOWN_FORCE_DETACH,1791619535152811851,9.546037916e-05,-1.100492304e-05,-1.535887195e-02,9.519632648e-05,-1.103910768e-05,-1.535888894e-02,4.548388069e-05,-1.094508155e-05,-1.535967198e-02,7.016333319e-01,-9.453961716e-06,8.253820692e-01,7.016330678e-01,-9.488146358e-06,8.253820522e-01,7.017745339e-01,-9.226218142e-06,8.142129510e-01
+49,3.885000000e+01,DOWN_FORCE_DETACH,1791619535520806290,6.661195931e-05,-2.360943097e-05,-1.576193348e-02,6.629651038e-05,-2.350063502e-05,-1.576152556e-02,1.448301143e-05,-2.350086366e-05,-1.576237474e-02,7.016044834e-01,-2.205846964e-05,8.249790077e-01,7.016041680e-01,-2.194967369e-05,8.249794156e-01,7.017435331e-01,-2.178200025e-05,8.138102482e-01
+50,3.906666667e+01,DOWN_FORCE_DETACH,1791619535919056158,4.096972475e-05,-3.623338364e-05,-1.620127523e-02,4.068527301e-05,-3.626839961e-05,-1.620135238e-02,-1.323679921e-05,-3.635394269e-05,-1.620223995e-02,7.015788412e-01,-3.468242232e-05,8.245396660e-01,7.015785568e-01,-3.471743829e-05,8.245395888e-01,7.017158132e-01,-3.463507928e-05,8.133703830e-01
+51,3.925000000e+01,DOWN_FORCE_DETACH,1791619536284793368,2.203508753e-05,-3.841008671e-05,-1.660695457e-02,2.181997722e-05,-3.812135381e-05,-1.660692764e-02,-3.396836993e-05,-3.822734757e-05,-1.660781191e-02,7.015599066e-01,-3.685912539e-05,8.241339866e-01,7.015596915e-01,-3.657039248e-05,8.241340136e-01,7.016950817e-01,-3.650848417e-05,8.129648111e-01
+52,3.946666667e+01,DOWN_FORCE_DETACH,1791619536685087244,4.866199519e-06,-3.934724485e-05,-1.703922992e-02,4.594942912e-06,-3.923685308e-05,-1.703926444e-02,-5.296863163e-05,-3.935632029e-05,-1.704017462e-02,7.015427377e-01,-3.779628353e-05,8.237017113e-01,7.015424664e-01,-3.768589176e-05,8.237016767e-01,7.016760814e-01,-3.763745688e-05,8.125324483e-01
+53,3.965000000e+01,DOWN_FORCE_DETACH,1791619537052795474,-5.881168361e-06,-4.292831062e-05,-1.743350489e-02,-6.075280177e-06,-4.302736639e-05,-1.743317722e-02,-6.516222511e-05,-4.317038233e-05,-1.743413171e-02,7.015319903e-01,-4.137734930e-05,8.233074363e-01,7.015317962e-01,-4.147640507e-05,8.233077640e-01,7.016638878e-01,-4.145151892e-05,8.121384913e-01
+54,3.985000000e+01,DOWN_FORCE_DETACH,1791619537448855092,-1.498774907e-05,-4.183515294e-05,-1.786704037e-02,-1.529615442e-05,-4.181189899e-05,-1.786679298e-02,-7.591228039e-05,-4.193156463e-05,-1.786769940e-02,7.015228837e-01,-4.028419162e-05,8.228739008e-01,7.015225753e-01,-4.026093767e-05,8.228741482e-01,7.016531378e-01,-4.021270122e-05,8.117049236e-01
+55,4.005000000e+01,DOWN_FORCE_DETACH,1791619537849367808,-1.110416849e-05,-3.544841715e-05,-1.829590389e-02,-1.134060011e-05,-3.528210617e-05,-1.829577159e-02,-7.307861403e-05,-3.536051944e-05,-1.829671109e-02,7.015267673e-01,-3.389745583e-05,8.224450373e-01,7.015265309e-01,-3.373114485e-05,8.224451696e-01,7.016559714e-01,-3.364165603e-05,8.112759119e-01
+56,4.023333333e+01,DOWN_FORCE_DETACH,1791619538215198838,-9.299066492e-06,-3.314840970e-05,-1.869721845e-02,-9.612935468e-06,-3.307612732e-05,-1.869720930e-02,-7.251517269e-05,-3.315014425e-05,-1.869818231e-02,7.015285724e-01,-3.159744838e-05,8.220437227e-01,7.015282585e-01,-3.152516599e-05,8.220437319e-01,7.016565349e-01,-3.143128085e-05,8.108744407e-01
+57,4.043333333e+01,DOWN_FORCE_DETACH,1791619538614815969,-5.805412351e-06,-3.172236086e-05,-1.913978403e-02,-6.049464462e-06,-3.180818731e-05,-1.913942179e-02,-7.013682220e-05,-3.186249513e-05,-1.914036776e-02,7.015320661e-01,-3.017139954e-05,8.216011572e-01,7.015318220e-01,-3.025722599e-05,8.216015194e-01,7.016589132e-01,-3.014363172e-05,8.104322552e-01
+58,4.061666667e+01,DOWN_FORCE_DETACH,1791619538980806125,1.497128227e-06,-2.979415774e-05,-1.954599529e-02,1.103449425e-06,-2.973443023e-05,-1.954578771e-02,-6.392967824e-05,-2.977719235e-05,-1.954674852e-02,7.015393686e-01,-2.824319641e-05,8.211949459e-01,7.015389749e-01,-2.818346891e-05,8.211951535e-01,7.016651204e-01,-2.805832894e-05,8.100258744e-01
+59,4.096666667e+01,DOWN_SETTLE,1791619539679119817,-2.108944188e-06,-1.457352159e-05,-1.995959451e-02,9.279657969e-07,-2.162959866e-05,-1.994209901e-02,-6.524871572e-05,-2.163646401e-05,-1.994309458e-02,7.015357625e-01,-1.302256027e-05,8.207813467e-01,7.015387994e-01,-2.007863734e-05,8.207988422e-01,7.016638013e-01,-1.991760061e-05,8.096295284e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0a0b36b4dc8ca308c62d389fa2df67df22ca3b82
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/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,-2.9328e-02,-8.3893e-04,2.4454e+00,-3.6724e-02,3.4688e-02,3.8715e-06,6.4666e-04,-7.5332e-06,3.1757e-04,5.6624e-07,4.3113e-05,1.3469e-07,7.2047e-04,4.3117e-05
+1,1.6833e+00,DOWN_FORCE_DETACH,4.2247e-04,-2.9626e-03,2.4334e-02,2.5248e+00,-3.8464e-02,3.6536e-02,8.2660e-05,2.7012e-02,2.5165e-02,7.9725e-02,-1.7396e-03,1.8904e-03,7.8923e-05,8.7857e-02,2.5702e-03
+2,3.2667e+00,DOWN_FORCE_DETACH,8.4324e-04,7.1208e-03,2.7338e-02,2.4977e+00,-3.8608e-02,3.7218e-02,1.2376e-04,3.7095e-02,2.8169e-02,5.2641e-02,-1.8838e-03,2.5724e-03,1.2003e-04,7.0290e-02,3.1907e-03
+3,5.1167e+00,DOWN_FORCE_DETACH,1.2712e-03,2.5166e-02,2.4468e-02,2.4654e+00,-3.8429e-02,3.8554e-02,1.4174e-04,5.5141e-02,2.5299e-02,2.0318e-02,-1.7050e-03,3.9089e-03,1.3800e-04,6.3979e-02,4.2668e-03
+4,6.8667e+00,DOWN_FORCE_DETACH,1.6903e-03,1.8056e-02,2.4261e-02,2.4813e+00,-3.8441e-02,3.8071e-02,1.2629e-04,4.8031e-02,2.5092e-02,3.6236e-02,-1.7172e-03,3.4255e-03,1.2255e-04,6.5189e-02,3.8338e-03
+5,8.7500e+00,DOWN_FORCE_DETACH,2.1136e-03,1.9822e-02,2.5349e-02,2.4708e+00,-3.8541e-02,3.8179e-02,9.1292e-05,4.9796e-02,2.6180e-02,2.5675e-02,-1.8172e-03,3.5342e-03,8.7555e-05,6.1841e-02,3.9750e-03
+6,1.0533e+01,DOWN_FORCE_DETACH,2.5379e-03,2.0177e-02,2.4203e-02,2.4847e+00,-3.8487e-02,3.8194e-02,4.2227e-05,5.0152e-02,2.5034e-02,3.9664e-02,-1.7625e-03,3.5488e-03,3.8490e-05,6.8667e-02,3.9625e-03
+7,1.2333e+01,DOWN_FORCE_DETACH,2.9625e-03,1.7316e-02,2.7577e-02,2.4890e+00,-3.8743e-02,3.7982e-02,2.0442e-05,4.7291e-02,2.8408e-02,4.3914e-02,-2.0186e-03,3.3369e-03,1.6705e-05,7.0511e-02,3.9000e-03
+8,1.4267e+01,DOWN_FORCE_DETACH,3.3830e-03,1.9352e-02,3.2348e-02,2.5042e+00,-3.9092e-02,3.8108e-02,2.0020e-05,4.9327e-02,3.3179e-02,5.9090e-02,-2.3683e-03,3.4626e-03,1.6284e-05,8.3819e-02,4.1951e-03
+9,1.6067e+01,DOWN_FORCE_DETACH,3.8050e-03,1.8807e-02,3.8844e-02,2.5130e+00,-3.9525e-02,3.8079e-02,4.2289e-05,4.8782e-02,3.9675e-02,6.7946e-02,-2.8006e-03,3.4333e-03,3.8552e-05,9.2577e-02,4.4309e-03
+10,1.7617e+01,DOWN_FORCE_DETACH,4.2278e-03,1.7753e-02,4.0538e-02,2.5216e+00,-3.9625e-02,3.7987e-02,5.7837e-05,4.7727e-02,4.1369e-02,7.6517e-02,-2.9008e-03,3.3414e-03,5.4101e-05,9.9218e-02,4.4252e-03
+11,1.9100e+01,DOWN_FORCE_DETACH,4.6516e-03,1.4868e-02,4.2488e-02,2.5479e+00,-3.9696e-02,3.7754e-02,3.7715e-05,4.4843e-02,4.3319e-02,1.0282e-01,-2.9720e-03,3.1089e-03,3.3978e-05,1.2025e-01,4.3011e-03
+12,2.0433e+01,DOWN_FORCE_DETACH,5.0788e-03,1.1929e-02,4.4824e-02,2.5605e+00,-3.9766e-02,3.7530e-02,6.0566e-06,4.1903e-02,4.5655e-02,1.1545e-01,-3.0423e-03,2.8850e-03,2.3197e-06,1.3103e-01,4.1927e-03
+13,2.1833e+01,DOWN_FORCE_DETACH,5.4944e-03,1.1023e-02,4.3213e-02,2.5904e+00,-3.9703e-02,3.7438e-02,1.8293e-05,4.0998e-02,4.4045e-02,1.4534e-01,-2.9784e-03,2.7923e-03,1.4557e-05,1.5730e-01,4.0827e-03
+14,2.3200e+01,DOWN_FORCE_DETACH,5.9196e-03,1.5114e-02,5.0225e-02,2.6199e+00,-4.0123e-02,3.7682e-02,5.3957e-05,4.5089e-02,5.1056e-02,1.7482e-01,-3.3989e-03,3.0365e-03,5.0220e-05,1.8762e-01,4.5580e-03
+15,2.4467e+01,DOWN_FORCE_DETACH,6.3441e-03,1.8391e-02,5.7019e-02,2.6514e+00,-4.0519e-02,3.7886e-02,6.9660e-05,4.8366e-02,5.7851e-02,2.0636e-01,-3.7946e-03,3.2409e-03,6.5923e-05,2.1970e-01,4.9907e-03
+16,2.5600e+01,DOWN_FORCE_DETACH,6.7653e-03,1.9232e-02,6.0406e-02,2.6808e+00,-4.0680e-02,3.7911e-02,8.0177e-05,4.9207e-02,6.1237e-02,2.3568e-01,-3.9558e-03,3.2660e-03,7.6441e-05,2.4843e-01,5.1304e-03
+17,2.6617e+01,DOWN_FORCE_DETACH,7.1889e-03,1.4247e-02,6.3079e-02,2.7032e+00,-4.0746e-02,3.7557e-02,9.5384e-05,4.4222e-02,6.3911e-02,2.5809e-01,-4.0223e-03,2.9122e-03,9.1647e-05,2.6954e-01,4.9667e-03
+18,2.7500e+01,DOWN_FORCE_DETACH,7.6118e-03,1.2580e-02,6.1280e-02,2.7334e+00,-4.0588e-02,3.7401e-02,9.5126e-05,4.2554e-02,6.2111e-02,2.8828e-01,-3.8640e-03,2.7555e-03,9.1389e-05,2.9795e-01,4.7468e-03
+19,2.8267e+01,DOWN_FORCE_DETACH,8.0329e-03,1.4586e-02,6.3428e-02,2.7614e+00,-4.0689e-02,3.7507e-02,7.9095e-05,4.4560e-02,6.4260e-02,3.1631e-01,-3.9647e-03,2.8620e-03,7.5359e-05,3.2583e-01,4.8903e-03
+20,2.9017e+01,DOWN_FORCE_DETACH,8.4638e-03,1.6086e-02,6.7831e-02,2.7815e+00,-4.0904e-02,3.7574e-02,6.0142e-05,4.6061e-02,6.8663e-02,3.3645e-01,-4.1796e-03,2.9291e-03,5.6405e-05,3.4646e-01,5.1041e-03
+21,2.9683e+01,DOWN_FORCE_DETACH,8.8806e-03,1.4629e-02,6.9284e-02,2.8016e+00,-4.0924e-02,3.7458e-02,5.3394e-05,4.4604e-02,7.0115e-02,3.5653e-01,-4.1995e-03,2.8124e-03,4.9657e-05,3.6609e-01,5.0545e-03
+22,3.0283e+01,DOWN_FORCE_DETACH,9.3002e-03,1.5156e-02,7.2911e-02,2.8161e+00,-4.1104e-02,3.7471e-02,5.7831e-05,4.5131e-02,7.3742e-02,3.7102e-01,-4.3799e-03,2.8253e-03,5.4094e-05,3.8096e-01,5.2124e-03
+23,3.0867e+01,DOWN_FORCE_DETACH,9.7253e-03,2.2963e-02,6.9104e-02,2.8210e+00,-4.0842e-02,3.7976e-02,5.2397e-05,5.2938e-02,6.9936e-02,3.7588e-01,-4.1183e-03,3.3310e-03,4.8660e-05,3.8598e-01,5.2970e-03
+24,3.1383e+01,DOWN_FORCE_DETACH,1.0144e-02,2.3877e-02,7.4674e-02,2.8384e+00,-4.1114e-02,3.8020e-02,4.6569e-05,5.3852e-02,7.5505e-02,3.9331e-01,-4.3898e-03,3.3744e-03,4.2832e-05,4.0409e-01,5.5370e-03
+25,3.1867e+01,DOWN_FORCE_DETACH,1.0571e-02,2.2676e-02,7.2365e-02,2.8429e+00,-4.0928e-02,3.7919e-02,4.8927e-05,5.2651e-02,7.3196e-02,3.9777e-01,-4.2044e-03,3.2739e-03,4.5190e-05,4.0786e-01,5.3289e-03
+26,3.2317e+01,DOWN_FORCE_DETACH,1.1002e-02,2.6749e-02,6.8916e-02,2.8105e+00,-4.0701e-02,3.8208e-02,4.7103e-05,5.6724e-02,6.9747e-02,3.6537e-01,-3.9768e-03,3.5628e-03,4.3366e-05,3.7626e-01,5.3395e-03
+27,3.2750e+01,DOWN_FORCE_DETACH,1.1412e-02,2.9376e-02,6.2459e-02,2.8030e+00,-4.0315e-02,3.8392e-02,3.3485e-05,5.9350e-02,6.3291e-02,3.5789e-01,-3.5908e-03,3.7467e-03,2.9748e-05,3.6826e-01,5.1896e-03
+28,3.3167e+01,DOWN_FORCE_DETACH,1.1840e-02,2.9295e-02,5.6965e-02,2.7800e+00,-3.9993e-02,3.8405e-02,3.4560e-05,5.9270e-02,5.7796e-02,3.3496e-01,-3.2692e-03,3.7593e-03,3.0824e-05,3.4503e-01,4.9820e-03
+29,3.3583e+01,DOWN_FORCE_DETACH,1.2272e-02,3.1785e-02,5.0711e-02,2.7647e+00,-3.9624e-02,3.8584e-02,3.3934e-05,6.1759e-02,5.1542e-02,3.1957e-01,-2.8997e-03,3.9383e-03,3.0197e-05,3.2954e-01,4.8908e-03
+30,3.3967e+01,DOWN_FORCE_DETACH,1.2678e-02,3.5226e-02,3.7658e-02,2.7425e+00,-3.8900e-02,3.8815e-02,1.7459e-05,6.5201e-02,3.8490e-02,2.9739e-01,-2.1755e-03,4.1694e-03,1.3722e-05,3.0687e-01,4.7029e-03
+31,3.4350e+01,DOWN_FORCE_DETACH,1.3115e-02,3.4086e-02,3.3157e-02,2.7002e+00,-3.8661e-02,3.8778e-02,6.9520e-06,6.4061e-02,3.3989e-02,2.5513e-01,-1.9364e-03,4.1327e-03,3.2152e-06,2.6524e-01,4.5639e-03
+32,3.4717e+01,DOWN_FORCE_DETACH,1.3525e-02,3.5562e-02,2.1394e-02,2.6892e+00,-3.7895e-02,3.8889e-02,-1.6199e-07,6.5537e-02,2.2226e-02,2.4407e-01,-1.1707e-03,4.2440e-03,-3.8988e-06,2.5369e-01,4.4026e-03
+33,3.5067e+01,DOWN_FORCE_DETACH,1.3957e-02,3.7630e-02,1.3709e-02,2.6485e+00,-3.7512e-02,3.9056e-02,-2.1129e-05,6.7605e-02,1.4541e-02,2.0343e-01,-7.8753e-04,4.4106e-03,-2.4866e-05,2.1486e-01,4.4804e-03
+34,3.5383e+01,DOWN_FORCE_DETACH,1.4383e-02,3.5514e-02,3.3549e-03,2.6175e+00,-3.7019e-02,3.8951e-02,-3.4731e-05,6.5489e-02,4.1863e-03,1.7242e-01,-2.9458e-04,4.3060e-03,-3.8468e-05,1.8449e-01,4.3162e-03
+35,3.5683e+01,DOWN_FORCE_DETACH,1.4804e-02,3.2644e-02,1.3689e-03,2.6128e+00,-3.6772e-02,3.8759e-02,-4.4518e-05,6.2618e-02,2.2002e-03,1.6776e-01,-4.7714e-05,4.1141e-03,-4.8255e-05,1.7908e-01,4.1146e-03
+36,3.5967e+01,DOWN_FORCE_DETACH,1.5232e-02,2.9399e-02,-1.5451e-02,2.5700e+00,-3.5839e-02,3.8577e-02,-4.9218e-05,5.9374e-02,-1.4620e-02,1.2494e-01,8.8487e-04,3.9319e-03,-5.2955e-05,1.3910e-01,4.0306e-03
+37,3.6233e+01,DOWN_FORCE_DETACH,1.5653e-02,2.6103e-02,-2.6562e-02,2.5429e+00,-3.5275e-02,3.8401e-02,-4.9619e-05,5.6078e-02,-2.5731e-02,9.7800e-02,1.4487e-03,3.7555e-03,-5.3356e-05,1.1564e-01,4.0256e-03
+38,3.6483e+01,DOWN_FORCE_DETACH,1.6068e-02,1.8017e-02,-2.8652e-02,2.5199e+00,-3.5108e-02,3.7896e-02,-3.9035e-05,4.7992e-02,-2.7821e-02,7.4819e-02,1.6165e-03,3.2512e-03,-4.2772e-05,9.3140e-02,3.6312e-03
+39,3.6717e+01,DOWN_FORCE_DETACH,1.6478e-02,1.1740e-02,-2.1027e-02,2.4961e+00,-3.5530e-02,3.7500e-02,-9.1645e-06,4.1714e-02,-2.0195e-02,5.1041e-02,1.1943e-03,2.8543e-03,-1.2901e-05,6.8943e-02,3.0941e-03
+40,3.6950e+01,DOWN_FORCE_DETACH,1.6913e-02,5.5741e-03,-2.4753e-02,2.4713e+00,-3.5372e-02,3.7126e-02,1.0821e-05,3.5549e-02,-2.3921e-02,2.6257e-02,1.3525e-03,2.4808e-03,7.0839e-06,5.0253e-02,2.8255e-03
+41,3.7183e+01,DOWN_FORCE_DETACH,1.7329e-02,6.8799e-04,-6.9304e-03,2.4569e+00,-3.6430e-02,3.6826e-02,1.0932e-05,3.0663e-02,-6.0990e-03,1.1796e-02,2.9408e-04,2.1803e-03,7.1949e-06,3.3415e-02,2.2001e-03
+42,3.7417e+01,DOWN_FORCE_DETACH,1.7768e-02,1.6071e-06,-5.3102e-06,2.4525e+00,-3.6787e-02,3.6788e-02,8.1933e-08,2.9976e-02,8.2608e-04,7.4186e-03,-6.2972e-05,2.1424e-03,-3.6549e-06,3.0892e-02,2.1433e-03
+43,3.7617e+01,DOWN_FORCE_DETACH,1.8182e-02,8.3806e-08,-3.4964e-07,2.4525e+00,-3.6787e-02,3.6787e-02,4.7862e-08,2.9975e-02,8.3104e-04,7.4148e-03,-6.3360e-05,2.1422e-03,-3.6890e-06,3.0889e-02,2.1432e-03
+44,3.7833e+01,DOWN_FORCE_DETACH,1.8607e-02,-9.6211e-09,-7.5545e-08,2.4525e+00,-3.6787e-02,3.6787e-02,2.7146e-08,2.9975e-02,8.3132e-04,7.4148e-03,-6.3382e-05,2.1422e-03,-3.7097e-06,3.0889e-02,2.1432e-03
+45,3.8050e+01,DOWN_FORCE_DETACH,1.9043e-02,-1.0279e-08,-3.0705e-08,2.4525e+00,-3.6787e-02,3.6787e-02,1.5072e-08,2.9975e-02,8.3136e-04,7.4148e-03,-6.3386e-05,2.1422e-03,-3.7217e-06,3.0889e-02,2.1432e-03
+46,3.8250e+01,DOWN_FORCE_DETACH,1.9467e-02,-5.2636e-09,-1.7332e-08,2.4525e+00,-3.6788e-02,3.6787e-02,8.6606e-09,2.9975e-02,8.3138e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7282e-06,3.0889e-02,2.1432e-03
+47,3.8467e+01,DOWN_FORCE_DETACH,1.9896e-02,-5.2287e-09,-9.7482e-09,2.4525e+00,-3.6788e-02,3.6787e-02,4.9852e-09,2.9975e-02,8.3138e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7318e-06,3.0889e-02,2.1432e-03
+48,3.8650e+01,DOWN_FORCE_DETACH,2.0299e-02,-3.0476e-09,-6.0741e-09,2.4525e+00,-3.6788e-02,3.6787e-02,3.0757e-09,2.9975e-02,8.3139e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7337e-06,3.0889e-02,2.1432e-03
+49,3.8850e+01,DOWN_FORCE_DETACH,2.0706e-02,-1.6620e-09,-3.6693e-09,2.4525e+00,-3.6788e-02,3.6787e-02,1.8564e-09,2.9975e-02,8.3139e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7350e-06,3.0889e-02,2.1432e-03
+50,3.9067e+01,DOWN_FORCE_DETACH,2.1151e-02,-9.6564e-10,-2.1145e-09,2.4525e+00,-3.6788e-02,3.6787e-02,1.0548e-09,2.9975e-02,8.3139e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7358e-06,3.0889e-02,2.1432e-03
+51,3.9250e+01,DOWN_FORCE_DETACH,2.1561e-02,-6.3171e-10,-1.3355e-09,2.4525e+00,-3.6788e-02,3.6787e-02,6.6538e-10,2.9975e-02,8.3139e-04,7.4148e-03,-6.3390e-05,2.1422e-03,-3.7362e-06,3.0889e-02,2.1432e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec580844bb79b4e0cbac7c4624be330ec27d2363
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/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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+1321,1791619450398278551,24634245000000,1791619450397034093,UP_FORCE_HOLD,9,0.0442,0.04419891908764839,0.675954862202145,-0.004959055045804946,0.090779043040899,0.9999999623463965,-2.3307188887415887e-05,-0.00021897219229920692,0.0001351222551530031,0.6761,-0.0048,0.09091202146208792,1.0,0.0,0.0,0.0,0.7136650227825578,0.699286474901963,-0.5497012387611137,0.048978837474916076,-0.04843795429259878,0.0030721646992839403,0.6727209010643055,0.7625084157216606,-0.6787316212243422,0.048002022738499184,-0.04841313807108503,0.0024718452925164888,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0271777765317813,0.6085263787380921,0.814721275025334,0.2551715279260549,-0.3421071638052002,0.38071693019718533,0.6137136141712698,0.5497012387611137,-0.20100766085406419,0.5497012387611137,0.558,0,0,-4.604455112047911e-05,9.999999025923074e-05
+1341,1791619450565229979,24634412000000,1791619450561034208,UP_FORCE_HOLD,9,0.0442,0.04419957846403122,0.6759559727565688,-0.004959582086069195,0.09077670645598411,0.9999999625824109,-2.3343607239899792e-05,-0.00021707902557850938,0.00013641779226447552,0.6761,-0.0048,0.09090502507191416,1.0,0.0,0.0,0.0,0.7032554358027392,0.6934141203215829,-0.5194006799225469,0.0483447022872383,-0.04782862291074314,0.003050165695999753,0.6623113140844868,0.7566360611412805,-0.6484310623857754,0.04736788755082141,-0.04780380668922939,0.002449846289232301,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.039669997444888,0.5723494116402582,0.8203432264321351,0.2760256558757963,-0.34655341117376665,0.35217972433617023,0.6137136141712698,0.5194006799225469,-0.2066296122608653,0.5194006799225469,0.558,0,0,-3.7694552747187575e-05,9.999999025923074e-05
+1361,1791619450731254847,24634578000000,1791619450725034263,UP_FORCE_HOLD,9,0.0442,0.04419957846403122,0.6759558645602145,-0.004956991331074096,0.09076885243285185,0.9999999624387449,-1.894416369490857e-05,-0.00021741048762790712,0.00013761966372096608,0.6761,-0.0048,0.0908994525260231,1.0,0.0,0.0,0.0,0.689858540850565,0.6850525441745546,-0.4915285760061118,0.048700405668521504,-0.04747612983046856,0.0030354658424306454,0.6489144191323126,0.7482744849942522,-0.6205589584693403,0.04772359093210461,-0.04745131360895481,0.002435146435663194,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0275012227910099,0.6973352180047935,0.8540346153079743,0.2376839719665525,-0.3721396032292934,0.4290217796561122,0.6137136141712698,0.4915285760061118,-0.24032100113670452,0.4915285760061118,0.558,0,0,-2.9394554364155272e-05,9.999999025923074e-05
+1365,1791619450765225635,24634612000000,1791619450765023946,UP_FORCE_HOLD,9,0.0442,0.04419957846403122,0.6759553137303891,-0.004956645972434781,0.09076829188354359,0.9999999624377649,-1.8265440281745726e-05,-0.00021763341407220869,0.0001373659495875056,0.6761,-0.0048,0.09089848116116893,1.0,0.0,0.0,0.0,0.6893545115051775,0.6991424910161028,-0.48908316409596353,0.04897650087769496,-0.047438358521318676,0.003036864741319305,0.6484103897869251,0.7623644318358004,-0.618113546559192,0.047999686141278065,-0.04741354229980493,0.0024365453345518533,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0372731803893567,0.6527763486135827,0.8154541485600771,0.25522962053746406,-0.34336028752377135,0.4013352943687004,0.6137136141712698,0.48908316409596353,-0.20174053438880735,0.48908316409596353,0.558,0,0,-2.7694554695341427e-05,9.999999025923074e-05
+1381,1791619450898330449,24634745000000,1791619450893034311,UP_FORCE_HOLD,9,0.0442,0.04419957846403122,0.6759584428088052,-0.004960672968452158,0.09076807358006855,0.9999999629484432,-1.8598123149667432e-05,-0.00021355325184374628,0.00013998248218760476,0.6761,-0.0048,0.09089523668530765,1.0,0.0,0.0,0.0,0.6944986375545195,0.7029322007308447,-0.46606564376017945,0.04934206973322956,-0.047450125198448795,0.0030220571834534745,0.6535545158362671,0.7661541415505423,-0.595096026223408,0.04836525499681267,-0.047425308976935046,0.0024217377766860225,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.043631061383074,0.7176777300627223,0.7689101907977144,0.24117846728357606,-0.31345647317042025,0.4435479339767333,0.6137136141712698,0.46606564376017945,-0.1551965766264446,0.46606564376017945,0.558,0,0,-2.1044555990863738e-05,9.999999025923074e-05
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+1557,1791619452365306315,24636212000000,1791619452361033920,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.6759546297120693,-0.0049602800759778526,0.09075697654337296,0.999999961602801,-1.7173239915570073e-05,-0.00021936534330574466,0.00014078773675682197,0.6761,-0.0048,0.09091812503825336,1.0,0.0,0.0,0.0,0.6637529248544495,0.7028743060633514,-0.4385665071041892,0.05021974304172053,-0.04541949258476378,0.0030398406631451406,0.6228088031361971,0.766096246883049,-0.5675968895674177,0.049242928305303635,-0.04539467636325003,0.002439521256377689,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9207870309090118,0.6243559953769794,0.9405947369531319,0.2591775268981321,-0.44764831696303886,0.37167778247242966,0.6137136141712698,0.4385665071041892,-0.3268811227818621,0.4385665071041892,0.558,0,0,5.200643949512932e-05,7.788188841187981e-05
+1576,1791619452523276135,24636370000000,1791619452521024185,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759557465785565,-0.004959856745359554,0.09076004924065498,0.9999999621769141,-1.7051501660215386e-05,-0.00021709081345196271,0.00014024927809020487,0.6761,-0.0048,0.09092680047846785,1.0,0.0,0.0,0.0,0.6597881748859504,0.7068306710991515,-0.4288216513659281,0.05030150442917958,-0.04544971463702531,0.003036339021831499,0.6188440531676981,0.7700526119188491,-0.5578520338291566,0.049324689692762685,-0.04542489841551156,0.0024360196150640476,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9038159822168379,0.6994027757234155,0.8802418069676243,0.23365837547322305,-0.4121237936004749,0.4224370432742025,0.6137136141712698,0.4288216513659281,-0.26652819279635453,0.4288216513659281,0.558,0,0,5.758738963998227e-05,7.072509774801733e-05
+1590,1791619452640275239,24636487000000,1791619452637033971,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759529083080673,-0.004962184520443421,0.09075604467371864,0.9999999609555847,-1.5843283619396588e-05,-0.00022117189784117956,0.00014270135051870202,0.6761,-0.0048,0.09093361224601147,1.0,0.0,0.0,0.0,0.6656671858840575,0.706589530903178,-0.4385580173031214,0.05030159753998918,-0.04544769692810276,0.003039756703789042,0.6247230641658051,0.7698114717228756,-0.5675883997663499,0.04932478280357229,-0.04542288070658901,0.0024394372970215905,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8441247515149056,0.6254278836249567,0.9383343459494273,0.25334752229002294,-0.46368005667430917,0.37138100301028815,0.6137136141712698,0.4385580173031214,-0.32462073177815753,0.4385580173031214,0.558,0,0,5.86179628069184e-05,1.1141702439605472e-05
+1600,1791619452723220949,24636570000000,1791619452721024012,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.675956422853327,-0.004964305757520787,0.09075957448984635,0.9999999618051999,-2.1025803002266267e-05,-0.00021730492234569657,0.00014201742635102039,0.6761,-0.0048,0.0909385105644934,1.0,0.0,0.0,0.0,0.6741164270016423,0.7280118074206521,-0.43805420121034344,0.05118153520538344,-0.04631303971788042,0.003036290646561075,0.63317230528339,0.7912337482403496,-0.567084583673572,0.05020472046896655,-0.04628822349636667,0.002435971239793623,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8100746284898239,0.6671161717925695,1.0411477982959072,0.25202176784521974,-0.5370282960188925,0.40209381921222376,0.6137136141712698,0.43805420121034344,-0.4274341841246374,0.43805420121034344,0.558,0,0,5.9291372085777674e-05,6.884114232834669e-06
+1617,1791619452865306123,24636712000000,1791619452861033908,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.675953590817591,-0.004958448628333259,0.09075946189990235,0.9999999614243259,-1.7851189523152298e-05,-0.00022081584718582474,0.0001396993478608978,0.6761,-0.0048,0.09094700016905248,1.0,0.0,0.0,0.0,0.6415163308953863,0.6813776631686135,-0.4394875643314421,0.04865147968506829,-0.04409434030348156,0.0030443292395714904,0.6005722091771339,0.744599603988311,-0.5685179467946706,0.0476746649486514,-0.04406952408196781,0.0024440098328040384,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7568035382748235,0.6663462427743114,1.032140175718832,0.2489046230937188,-0.5407204984978199,0.4010151730959272,0.6137136141712698,0.4394875643314421,-0.4184265615475622,0.4394875643314421,0.558,0,0,5.998412249310157e-05,-7.352572311339345e-06
+1632,1791619452990258636,24636837000000,1791619452989024468,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.6759533759532524,-0.004959957651236285,0.09075766573056555,0.9999999608989142,-1.8102550767111243e-05,-0.00022283711684818196,0.00014021751502062992,0.6761,-0.0048,0.09095456437504959,1.0,0.0,0.0,0.0,0.6526399783227219,0.6930660765171336,-0.4290399535538931,0.04925753315499855,-0.044421384986339664,0.003031764931538972,0.6116958566044696,0.7562880173368312,-0.5580703360171216,0.048280718418581656,-0.044396568764825915,0.0024314455247715205,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7099378600587514,0.6295962363890678,1.0594241003335902,0.2525488962757729,-0.5671949989211378,0.3743017207416166,0.6137136141712698,0.4290399535538931,-0.44571048616232045,0.4290399535538931,0.558,0,0,6.121264120111977e-05,3.30038588074111e-05
+1652,1791619453156312322,24637003000000,1791619453153024376,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759550260045687,-0.004959498307416715,0.09076280651235831,0.9999999615967616,-1.773869546313916e-05,-0.00022059348211676014,0.00013882793014238792,0.6761,-0.0048,0.09096483087809991,1.0,0.0,0.0,0.0,0.6569831903392706,0.6943225788173593,-0.4295833291675095,0.0492841366911371,-0.045429854129764524,0.0030201034170351327,0.6160390686210182,0.7575445196370568,-0.558613711630738,0.048307321954720206,-0.045405037908250775,0.0024197840102676807,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6490625911767357,0.702768817114505,1.0488149364647903,0.22974691630187727,-0.5682922143232884,0.4230819642260058,0.6137136141712698,0.4295833291675095,-0.4351013222935205,0.4295833291675095,0.558,0,0,6.215899919174635e-05,2.0700365904029476e-05
+1672,1791619453323304171,24637170000000,1791619453321024689,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759508214314424,-0.004964634515789735,0.09075863632397503,0.9999999594181496,-2.1209055848419703e-05,-0.0002286982533518017,0.00014090368526538388,0.6761,-0.0048,0.09097526740231221,1.0,0.0,0.0,0.0,0.6562333266039005,0.6911430875122041,-0.42895315502884057,0.049278259062249335,-0.04534838437229805,0.003020600348456046,0.6152892048856482,0.7543650283319017,-0.5579835374920691,0.04830144432583244,-0.0453235681507843,0.002420280941688594,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5502354329875706,0.6714415573285623,1.2051283854243855,0.23004388043029578,-0.6900551095768499,0.4033348915433583,0.6137136141712698,0.42895315502884057,-0.5914147712531157,0.42895315502884057,0.558,0,0,6.3051350930377e-05,1.4869409648512495e-05
+1692,1791619453490294596,24637337000000,1791619453485034396,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759494636210005,-0.0049601261380253486,0.09075749863105821,0.999999959086533,-1.905459112873841e-05,-0.0002315830798269162,0.00013883802113886793,0.6761,-0.0048,0.09098579082583863,1.0,0.0,0.0,0.0,0.6581782754151984,0.684762805398257,-0.42898549368079986,0.04927858767993289,-0.045429244191527725,0.0030195885464362054,0.617234153696946,0.7479847462179545,-0.5580158761440284,0.048301772943516,-0.045404427970013976,0.002419269139668754,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.4480857741694921,0.6906455192952893,1.2470560990143833,0.21587101903966857,-0.7387332442837005,0.41147829685221965,0.6137136141712698,0.42898549368079986,-0.6333424848431135,0.42898549368079986,0.558,0,0,6.311511139593333e-05,1.4062038016835978e-05
+1704,1791619453590288099,24637437000000,1791619453589033442,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759482978717465,-0.004960826725698814,0.09075597125623203,0.9999999584391654,-1.6856533516025676e-05,-0.00023491287107136498,0.00013818947890199395,0.6761,-0.0048,0.0909921183201364,1.0,0.0,0.0,0.0,0.6629503863857902,0.6929969853766254,-0.42900920676633414,0.049281039198034,-0.045430315810281514,0.0030202211179934484,0.6220062646675378,0.7562189261963229,-0.5580395892295626,0.048304224461617105,-0.045405499588767766,0.0024199017112259964,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3719965007842344,0.6811197866238823,1.276924105458817,0.2116338625673044,-0.7744424470372824,0.40617072242919255,0.6137136141712698,0.42900920676633414,-0.6632104912875472,0.42900920676633414,0.558,0,0,6.331692903201609e-05,1.1903712977948176e-05
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+1776,1791619454190277057,24638037000000,1791619454189034152,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759446428447576,-0.004952836817027063,0.09076037325960648,0.9999999573187013,-1.740095901440826e-05,-0.0002430223619486961,0.00013207118612972783,0.6761,-0.0048,0.09102958667191942,1.0,0.0,0.0,0.0,0.6396820389537603,0.6432340452332456,-0.45027284779912324,0.04601202465779255,-0.043353946298823415,0.0030354233894569213,0.598737917235508,0.7064559860529431,-0.5793032302623518,0.045035209921375656,-0.043329130077309666,0.0024351039826894694,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.10890852900830725,0.6733474141652095,1.5599280951065795,0.19444846386241593,-1.012916806650861,0.4016035831561341,0.6137136141712698,0.45027284779912324,-0.9462144809353097,0.45027284779912324,0.558,0,0,5.8799591584484725e-05,-4.985874226309414e-05
+1780,1791619454223263968,24638070000000,1791619454217034166,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759401772244101,-0.0049605817781528715,0.09075669471589623,0.9999999550803306,-2.193418578802016e-05,-0.0002504762406756834,0.00013439771400652022,0.6761,-0.0048,0.09103150843061313,1.0,0.0,0.0,0.0,0.6776935509187976,0.710294012524362,-0.4581714161316345,0.05074698518657607,-0.047006359435126835,0.0030339848816177684,0.6367494292005452,0.7735159533440595,-0.587201798594863,0.049770170450159176,-0.046981543213613086,0.0024336654748503164,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.09202169915147426,0.6182512422724546,1.501349882807914,0.21022844124694967,-0.9787583013134624,0.3645290936586527,0.6137136141712698,0.4581714161316345,-0.8876362686366441,0.4581714161316345,0.558,0,0,5.756533153640275e-05,-7.728322830525216e-05
+1784,1791619454256244607,24638103000000,1791619454249034103,UP_FORCE_HOLD,9,0.0442,0.044202204793691635,0.6759421736839403,-0.004964938445755396,0.0907597890130019,0.9999999555574547,-2.5691429234889496e-05,-0.0002477611496277637,0.00013521211645730274,0.6761,-0.0048,0.09103339861517432,1.0,0.0,0.0,0.0,0.6691211638027592,0.6974843115687919,-0.4495812333496949,0.048531037737934435,-0.046817290014508295,0.0030245423915415395,0.6281770420845069,0.7607062523884894,-0.5786116158129234,0.04755422300151754,-0.046792473792994546,0.002424222984774088,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.17463200156451267,0.651744834569692,1.5479802306025074,0.20012343842807345,-0.9859916471234665,0.3869592215983671,0.6137136141712698,0.4495812333496949,-0.9342666164312377,0.4495812333496949,0.558,0,0,5.702259288096899e-05,-2.8416258139559702e-05
+1796,1791619454356306048,24638203000000,1791619454349024681,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.6759431291133132,-0.0049641239307182125,0.09076482270142874,0.9999999559365823,-2.4710789487268944e-05,-0.00024623094748020124,0.0001353860970735546,0.6761,-0.0048,0.09103896176978651,1.0,0.0,0.0,0.0,0.656295217966624,0.6830686418099158,-0.45968153981076243,0.048471711174066644,-0.04576362342330007,0.003031655685181194,0.6153510962483717,0.7462905826296133,-0.5887119222739909,0.04749489643764975,-0.04573880720178632,0.0024313362784137422,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.12793882475927257,0.7160908816036874,1.439277022092653,0.17073392017981073,-0.9261671251645109,0.42825853648540196,0.6137136141712698,0.45968153981076243,-0.8255634079213832,0.45968153981076243,0.558,0,0,5.4198903217030795e-05,-5.090578911527257e-05
+1808,1791619454456305032,24638303000000,1791619454449034304,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.6759416019417825,-0.00496266205492484,0.0907652851418831,0.9999999554920033,-2.470117106776044e-05,-0.00024877605349521106,0.00013401187724492824,0.6761,-0.0048,0.09104421206044541,1.0,0.0,0.0,0.0,0.6584450390473654,0.6671782319657734,-0.46994774319810084,0.0484919300126577,-0.045527100513331094,0.0030410328305043727,0.617500917329113,0.730400172785471,-0.5989781256613294,0.047515115276240805,-0.045502284291817345,0.0024407134237369207,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.08707269208732564,0.6960327194477273,1.6090766416122713,0.1749643364694064,-1.0446480040499169,0.4167225415841837,0.6137136141712698,0.46994774319810084,-0.9953630274410015,0.46994774319810084,0.558,0,0,5.0461123927200326e-05,-6.499995481061339e-05
+1832,1791619454656277461,24638503000000,1791619454649024286,UP_FORCE_HOLD,9,0.0442,0.04420154541730881,0.6759393150517359,-0.004961119892563786,0.09076413938829009,0.9999999547600417,-2.480700436480078e-05,-0.00025315189819221864,0.0001312307437932458,0.6761,-0.0048,0.09105349475545656,1.0,0.0,0.0,0.0,0.6680405509953875,0.6793093499231004,-0.48951092597090606,0.04827892185908259,-0.045757300082591934,0.003057040381099589,0.6270964292771352,0.742531290742798,-0.6185413084341346,0.0473021071226657,-0.045732483861078185,0.0024567209743321375,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.013658121533260981,0.7120087551070227,1.6576758503736198,0.16558176924693196,-1.092905692821399,0.4303162750083926,0.6137136141712698,0.48951092597090606,-1.04396223620235,0.48951092597090606,0.558,0,0,4.241706997076975e-05,-8.255083794164398e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aebc28f029eb50aa9e0e697261bae63da4eb4da3
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..74c25e511a1977e3c3f6eaa429920435d097d7e0
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+22,1.466666667e+00,UP_FORCE_HOLD,1791619451164882591,1.358286490e-05,-6.727221690e-05,-5.412986197e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.589500209e-06,-6.941941768e-05,-5.497848468e-05,7.015514543e-01,-6.572125558e-05,8.406868113e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017386395e-01,-6.770055427e-05,8.295176445e-01
+23,1.566666667e+00,UP_FORCE_HOLD,1791619451360948707,1.343515103e-05,-7.009802121e-05,-5.880554781e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.630381329e-06,-6.941921824e-05,-5.504333749e-05,7.015513066e-01,-6.854705989e-05,8.406821356e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017386804e-01,-6.770035483e-05,8.295175796e-01
+24,1.666666667e+00,UP_FORCE_HOLD,1791619451528910886,1.258512789e-05,-6.831905872e-05,-5.862767717e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.667846117e-06,-6.941849355e-05,-5.510046896e-05,7.015504566e-01,-6.676809740e-05,8.406823135e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017387179e-01,-6.769963014e-05,8.295175225e-01
+25,1.766666667e+00,UP_FORCE_HOLD,1791619451728886426,1.268921916e-05,-7.124664369e-05,-5.934360672e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.702240225e-06,-6.941765263e-05,-5.515138165e-05,7.015505607e-01,-6.969568237e-05,8.406815976e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017387523e-01,-6.769878922e-05,8.295174716e-01
+26,1.866666667e+00,UP_FORCE_HOLD,1791619451928920826,1.268477104e-05,-7.227260871e-05,-6.044226917e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.733863981e-06,-6.941678069e-05,-5.519694521e-05,7.015505563e-01,-7.072164739e-05,8.406804989e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017387839e-01,-6.769791728e-05,8.295174260e-01
+27,1.933333333e+00,UP_FORCE_HOLD,1791619452029011249,1.338348602e-05,-6.995097903e-05,-5.840757760e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.753543837e-06,-6.941621700e-05,-5.522465927e-05,7.015512550e-01,-6.840001771e-05,8.406825336e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388036e-01,-6.769735359e-05,8.295173983e-01
+28,2.000000000e+00,UP_FORCE_HOLD,1791619452160903397,1.346314213e-05,-7.219045062e-05,-5.837193292e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.772155420e-06,-6.941565445e-05,-5.525044724e-05,7.015513346e-01,-7.063948930e-05,8.406825693e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388222e-01,-6.769679105e-05,8.295173725e-01
+29,2.100000000e+00,UP_FORCE_HOLD,1791619452360910007,1.224911245e-05,-6.959640851e-05,-5.946173133e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.798210863e-06,-6.941484529e-05,-5.528580371e-05,7.015501206e-01,-6.804544719e-05,8.406814795e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388483e-01,-6.769598189e-05,8.295173372e-01
+30,2.183333333e+00,UP_FORCE_HOLD,1791619452527086923,1.295823632e-05,-7.192319076e-05,-5.595062972e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.818383673e-06,-6.941422711e-05,-5.531247491e-05,7.015508297e-01,-7.037222944e-05,8.406849906e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388684e-01,-6.769536370e-05,8.295173105e-01
+31,2.250000000e+00,UP_FORCE_HOLD,1791619452642931313,1.425312838e-05,-6.937524751e-05,-5.574737152e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.833526522e-06,-6.941374071e-05,-5.533217656e-05,7.015521246e-01,-6.782428618e-05,8.406851938e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388836e-01,-6.769487730e-05,8.295172908e-01
+32,2.300000000e+00,UP_FORCE_HOLD,1791619452724964915,1.104300124e-05,-7.548843740e-05,-5.907308999e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.844355353e-06,-6.941338828e-05,-5.534605756e-05,7.015489145e-01,-7.393747608e-05,8.406818681e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017388944e-01,-6.769452487e-05,8.295172769e-01
+33,2.366666667e+00,UP_FORCE_HOLD,1791619452860958036,9.329760813e-06,-6.724622677e-05,-6.159871287e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.858135221e-06,-6.941293420e-05,-5.536345120e-05,7.015472012e-01,-6.569526545e-05,8.406793425e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389082e-01,-6.769407079e-05,8.295172595e-01
+34,2.433333333e+00,UP_FORCE_HOLD,1791619452992889227,8.156385835e-06,-6.856361817e-05,-6.085208635e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.871158817e-06,-6.941248488e-05,-5.537966757e-05,7.015460279e-01,-6.701265685e-05,8.406800891e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389212e-01,-6.769362147e-05,8.295172433e-01
+35,2.516666667e+00,UP_FORCE_HOLD,1791619453159103715,9.243426017e-06,-7.357104161e-05,-5.858519025e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.886556602e-06,-6.941197113e-05,-5.539838410e-05,7.015471149e-01,-7.202008028e-05,8.406823560e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389366e-01,-6.769310772e-05,8.295172246e-01
+36,2.616666667e+00,UP_FORCE_HOLD,1791619453327123550,5.983883826e-06,-7.023603823e-05,-6.236234394e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.903755545e-06,-6.941139404e-05,-5.541877306e-05,7.015438554e-01,-6.868507691e-05,8.406785788e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389538e-01,-6.769253064e-05,8.295172042e-01
+37,2.700000000e+00,UP_FORCE_HOLD,1791619453492988366,4.249490388e-06,-7.226224377e-05,-6.147924394e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.917098573e-06,-6.941094069e-05,-5.543420178e-05,7.015421210e-01,-7.071128245e-05,8.406794619e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389671e-01,-6.769207728e-05,8.295171888e-01
+38,2.750000000e+00,UP_FORCE_HOLD,1791619453591032762,5.285038228e-06,-7.047777597e-05,-5.881320223e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.924698520e-06,-6.941068103e-05,-5.544283187e-05,7.015431565e-01,-6.892681465e-05,8.406821280e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389747e-01,-6.769181762e-05,8.295171801e-01
+39,2.816666667e+00,UP_FORCE_HOLD,1791619453725131912,1.607781161e-06,-6.929549416e-05,-6.478873213e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.934383180e-06,-6.941035020e-05,-5.545365813e-05,7.015394793e-01,-6.774453284e-05,8.406761525e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389844e-01,-6.769148679e-05,8.295171693e-01
+40,2.900000000e+00,UP_FORCE_HOLD,1791619453892900650,1.153071058e-06,-6.912831359e-05,-6.148770474e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.945805297e-06,-6.940995707e-05,-5.546617290e-05,7.015390246e-01,-6.757735226e-05,8.406794535e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017389959e-01,-6.769109366e-05,8.295171568e-01
+41,2.983333333e+00,UP_FORCE_HOLD,1791619454057242656,-1.239709183e-06,-7.484262336e-05,-6.076260732e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.956539347e-06,-6.940959266e-05,-5.547764290e-05,7.015366318e-01,-7.329166204e-05,8.406801786e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390066e-01,-6.769072925e-05,8.295171453e-01
+42,3.016666667e+00,UP_FORCE_HOLD,1791619454123368809,3.141298710e-08,-6.649195692e-05,-5.822785899e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.960640873e-06,-6.940945124e-05,-5.548196422e-05,7.015379029e-01,-6.494099560e-05,8.406827133e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390107e-01,-6.769058783e-05,8.295171410e-01
+43,3.050000000e+00,UP_FORCE_HOLD,1791619454191119404,2.334380959e-06,-6.293384276e-05,-5.471646955e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.964573069e-06,-6.940932937e-05,-5.548617794e-05,7.015402059e-01,-6.138288144e-05,8.406862247e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390146e-01,-6.769046596e-05,8.295171368e-01
+44,3.066666667e+00,UP_FORCE_HOLD,1791619454224979861,-3.551127066e-06,-7.414991226e-05,-6.126522149e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.966591971e-06,-6.940924986e-05,-5.548817000e-05,7.015343204e-01,-7.259895093e-05,8.406796760e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390166e-01,-6.769038645e-05,8.295171348e-01
+45,3.083333333e+00,UP_FORCE_HOLD,1791619454256928301,2.011620200e-06,-7.430709139e-05,-5.361764994e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.968494119e-06,-6.940917102e-05,-5.549018018e-05,7.015398831e-01,-7.275613007e-05,8.406873235e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390185e-01,-6.769030761e-05,8.295171328e-01
+46,3.133333333e+00,UP_FORCE_HOLD,1791619454357042742,-5.817086131e-07,-7.381970612e-05,-5.384614400e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.974157935e-06,-6.940897226e-05,-5.549598196e-05,7.015372898e-01,-7.226874480e-05,8.406870950e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390242e-01,-6.769010885e-05,8.295171270e-01
+47,3.183333333e+00,UP_FORCE_HOLD,1791619454456874937,-1.215784423e-06,-7.215445595e-05,-5.391789047e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.979610922e-06,-6.940878017e-05,-5.550149022e-05,7.015366557e-01,-7.060349463e-05,8.406870233e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390297e-01,-6.768991677e-05,8.295171215e-01
+48,3.283333333e+00,UP_FORCE_HOLD,1791619454654929443,-3.558877286e-06,-7.204177321e-05,-5.419788777e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.989915439e-06,-6.940841450e-05,-5.551168833e-05,7.015343126e-01,-7.049081189e-05,8.406867433e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390400e-01,-6.768955109e-05,8.295171113e-01
+49,3.333333333e+00,UP_FORCE_HOLD,1791619454757020411,-5.147160781e-06,-7.395237220e-05,-5.252861147e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.994780527e-06,-6.940824038e-05,-5.551640597e-05,7.015327243e-01,-7.240141088e-05,8.406884126e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390448e-01,-6.768937697e-05,8.295171066e-01
+50,3.383333333e+00,UP_FORCE_HOLD,1791619454854917231,-7.882154137e-06,-7.438928200e-05,-5.549687249e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,9.999464500e-06,-6.940807187e-05,-5.552088560e-05,7.015299893e-01,-7.283832068e-05,8.406854443e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390495e-01,-6.768920846e-05,8.295171021e-01
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+55,3.633333333e+00,UP_FORCE_HOLD,1791619455353077240,-6.523156734e-06,-7.542387363e-05,-4.646422290e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,1.002003016e-05,-6.940727599e-05,-5.554018618e-05,7.015313483e-01,-7.387291230e-05,8.406944770e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390701e-01,-6.768841259e-05,8.295170828e-01
+56,3.700000000e+00,UP_FORCE_HOLD,1791619455488841024,-6.568328567e-06,-7.428612214e-05,-4.585035062e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,1.002532505e-05,-6.940713025e-05,-5.554444528e-05,7.015313032e-01,-7.273516081e-05,8.406950908e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390754e-01,-6.768826684e-05,8.295170785e-01
+57,3.766666667e+00,UP_FORCE_HOLD,1791619455620844945,-6.582437477e-06,-6.624186805e-05,-4.614548043e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,1.003002448e-05,-6.940695009e-05,-5.554848522e-05,7.015312890e-01,-6.469090673e-05,8.406947957e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390801e-01,-6.768808668e-05,8.295170745e-01
+58,3.816666667e+00,UP_FORCE_HOLD,1791619455720961324,-8.759977512e-06,-6.855638379e-05,-4.805447963e-05,8.814570990e-06,-6.959535008e-05,-5.590109741e-05,1.003339442e-05,-6.940682388e-05,-5.555133514e-05,7.015291115e-01,-6.700542247e-05,8.406928867e-01,7.015466861e-01,-6.804438876e-05,8.406850401e-01,7.017390834e-01,-6.768796048e-05,8.295170716e-01
+59,3.883333333e+00,UP_FORCE_HOLD,1791619455854985465,-8.861304114e-06,-7.220055950e-05,-4.636498124e-05,-9.787363669e-06,-7.318642446e-05,-4.728254137e-05,-8.775937053e-06,-7.300840757e-05,-4.711853606e-05,7.015290102e-01,-7.064959818e-05,8.406945762e-01,7.015280841e-01,-7.163546314e-05,8.406936586e-01,7.017202741e-01,-7.128954416e-05,8.295255044e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7278e159fd1c4ec99f15be6ed0fe1d7ccb152003
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/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,-2.9328e-02,-8.3893e-04,2.4454e+00,-3.6724e-02,3.4688e-02,3.8715e-06,6.4666e-04,-7.5332e-06,3.1757e-04,5.6624e-07,4.3113e-05,1.3469e-07,7.2047e-04,4.3117e-05
+1,8.3333e-02,UP_FORCE_HOLD,1.7240e-05,-2.6121e-02,-8.7176e-04,2.4470e+00,-3.6721e-02,3.4904e-02,4.5624e-06,3.8538e-03,-4.0371e-05,1.8823e-03,3.0845e-06,2.5830e-04,8.2556e-07,4.2891e-03,2.5832e-04
+2,1.5000e-01,UP_FORCE_HOLD,3.4453e-05,-2.2706e-02,2.3795e-03,2.4492e+00,-3.6935e-02,3.5134e-02,6.1925e-06,7.2683e-03,3.2109e-03,4.1142e-03,-2.1069e-04,4.8889e-04,2.4557e-06,8.9478e-03,5.3236e-04
+3,2.0000e-01,UP_FORCE_HOLD,4.8910e-05,-2.0637e-02,4.5495e-03,2.4506e+00,-3.7080e-02,3.5275e-02,7.6095e-06,9.3376e-03,5.3809e-03,5.5473e-03,-3.5587e-04,6.2938e-04,3.8727e-06,1.2121e-02,7.2303e-04
+4,2.6667e-01,UP_FORCE_HOLD,6.7207e-05,-1.7993e-02,6.2224e-03,2.4522e+00,-3.7195e-02,3.5456e-02,9.5137e-06,1.1982e-02,7.0538e-03,7.1404e-03,-4.7064e-04,8.1049e-04,5.7769e-06,1.5631e-02,9.3725e-04
+5,3.0000e-01,UP_FORCE_HOLD,8.6148e-05,-1.6715e-02,6.7431e-03,2.4529e+00,-3.7232e-02,3.5544e-02,1.0480e-05,1.3259e-02,7.5745e-03,7.8306e-03,-5.0756e-04,8.9859e-04,6.7436e-06,1.7161e-02,1.0321e-03
+6,3.5000e-01,UP_FORCE_HOLD,1.0297e-04,-1.4336e-02,8.8065e-03,2.4552e+00,-3.7372e-02,3.5708e-02,1.2474e-05,1.5639e-02,9.6379e-03,1.0142e-02,-6.4753e-04,1.0625e-03,8.7369e-06,2.0984e-02,1.2443e-03
+7,4.0000e-01,UP_FORCE_HOLD,1.1952e-04,-7.0973e-03,1.6970e-02,2.4681e+00,-3.8019e-02,3.6288e-02,4.4484e-05,2.2877e-02,1.7802e-02,2.3026e-02,-1.2951e-03,1.6424e-03,4.0747e-05,3.7020e-02,2.0920e-03
+8,4.8333e-01,UP_FORCE_HOLD,1.4001e-04,-5.1624e-03,1.7697e-02,2.4669e+00,-3.8061e-02,3.6411e-02,4.6221e-05,2.4812e-02,1.8529e-02,2.1779e-02,-1.3368e-03,1.7657e-03,4.2484e-05,3.7859e-02,2.2151e-03
+9,5.5000e-01,UP_FORCE_HOLD,1.5421e-04,-3.6697e-03,1.7862e-02,2.4663e+00,-3.8068e-02,3.6508e-02,4.7505e-05,2.6305e-02,1.8693e-02,2.1201e-02,-1.3437e-03,1.8624e-03,4.3768e-05,3.8612e-02,2.2969e-03
+10,6.3333e-01,UP_FORCE_HOLD,1.6802e-04,-1.8564e-03,1.7878e-02,2.4659e+00,-3.8065e-02,3.6627e-02,4.8996e-05,2.8118e-02,1.8709e-02,2.0803e-02,-1.3404e-03,1.9816e-03,4.5260e-05,3.9666e-02,2.3928e-03
+11,7.0000e-01,UP_FORCE_HOLD,1.8495e-04,-6.5550e-03,3.2598e-02,2.4704e+00,-3.9033e-02,3.6318e-02,6.1144e-05,2.3420e-02,3.3430e-02,2.5349e-02,-2.3087e-03,1.6730e-03,5.7407e-05,4.8048e-02,2.8517e-03
+12,7.5000e-01,UP_FORCE_HOLD,2.0351e-04,-4.8121e-03,2.9785e-02,2.4697e+00,-3.8855e-02,3.6430e-02,6.2938e-05,2.5163e-02,3.0616e-02,2.4614e-02,-2.1306e-03,1.7851e-03,5.9201e-05,4.6651e-02,2.7802e-03
+13,8.3333e-01,UP_FORCE_HOLD,2.2212e-04,-2.7310e-03,2.7822e-02,2.4690e+00,-3.8731e-02,3.6566e-02,6.5206e-05,2.7244e-02,2.8653e-02,2.3953e-02,-2.0065e-03,1.9210e-03,6.1469e-05,4.6227e-02,2.7785e-03
+14,9.1667e-01,UP_FORCE_HOLD,2.3829e-04,-6.2983e-04,2.6852e-02,2.4686e+00,-3.8669e-02,3.6706e-02,6.7605e-05,2.9345e-02,2.7683e-02,2.3489e-02,-1.9453e-03,2.0605e-03,6.3868e-05,4.6682e-02,2.8344e-03
+15,9.8333e-01,UP_FORCE_HOLD,2.5260e-04,-5.1239e-04,2.7183e-02,2.4916e+00,-3.8691e-02,3.6709e-02,7.3301e-05,2.9462e-02,2.8015e-02,4.6546e-02,-1.9671e-03,2.0637e-03,6.9564e-05,6.1801e-02,2.8519e-03
+16,1.0667e+00,UP_FORCE_HOLD,2.7156e-04,7.3388e-04,2.7123e-02,2.4896e+00,-3.8687e-02,3.6792e-02,7.5433e-05,3.0709e-02,2.7955e-02,4.4476e-02,-1.9626e-03,2.1464e-03,7.1697e-05,6.0849e-02,2.9093e-03
+17,1.1500e+00,UP_FORCE_HOLD,2.8913e-04,2.2460e-03,2.7123e-02,2.4875e+00,-3.8686e-02,3.6893e-02,7.7379e-05,3.2221e-02,2.7955e-02,4.2420e-02,-1.9615e-03,2.2482e-03,7.3642e-05,6.0159e-02,2.9845e-03
+18,1.2333e+00,UP_FORCE_HOLD,3.0820e-04,3.8207e-03,2.7143e-02,2.4856e+00,-3.8685e-02,3.7001e-02,7.9166e-05,3.3795e-02,2.7974e-02,4.0540e-02,-1.9612e-03,2.3557e-03,7.5429e-05,5.9734e-02,3.0662e-03
+19,1.2667e+00,UP_FORCE_HOLD,3.1937e-04,4.4494e-03,2.7152e-02,2.4849e+00,-3.8685e-02,3.7044e-02,7.9842e-05,3.4424e-02,2.7983e-02,3.9842e-02,-1.9611e-03,2.3989e-03,7.6105e-05,5.9628e-02,3.0994e-03
+20,1.3333e+00,UP_FORCE_HOLD,3.3982e-04,4.7628e-03,3.1235e-02,2.5052e+00,-3.8951e-02,3.7066e-02,8.5091e-05,3.4737e-02,3.2067e-02,6.0116e-02,-2.2273e-03,2.4209e-03,8.1354e-05,7.6478e-02,3.2906e-03
+21,1.3833e+00,UP_FORCE_HOLD,3.5678e-04,5.3043e-03,3.0959e-02,2.5037e+00,-3.8934e-02,3.7103e-02,8.6365e-05,3.5279e-02,3.1791e-02,5.8656e-02,-2.2102e-03,2.4574e-03,8.2629e-05,7.5471e-02,3.3062e-03
+22,1.4667e+00,UP_FORCE_HOLD,3.7414e-04,6.4958e-03,3.0763e-02,2.5009e+00,-3.8922e-02,3.7184e-02,8.8342e-05,3.6471e-02,3.1594e-02,5.5779e-02,-2.1977e-03,2.5385e-03,8.4605e-05,7.3754e-02,3.3587e-03
+23,1.5667e+00,UP_FORCE_HOLD,3.9178e-04,8.0790e-03,3.0725e-02,2.4974e+00,-3.8919e-02,3.7293e-02,9.0522e-05,3.8054e-02,3.1556e-02,5.2297e-02,-2.1945e-03,2.6476e-03,8.6785e-05,7.1964e-02,3.4399e-03
+24,1.6667e+00,UP_FORCE_HOLD,4.0806e-04,9.6630e-03,3.0755e-02,2.4942e+00,-3.8919e-02,3.7403e-02,9.2538e-05,3.9638e-02,3.1586e-02,4.9078e-02,-2.1949e-03,2.7582e-03,8.8801e-05,7.0551e-02,3.5261e-03
+25,1.7667e+00,UP_FORCE_HOLD,4.2452e-04,1.1184e-02,3.0797e-02,2.4913e+00,-3.8920e-02,3.7511e-02,9.4389e-05,4.1159e-02,3.1629e-02,4.6172e-02,-2.1958e-03,2.8657e-03,9.0652e-05,6.9472e-02,3.6113e-03
+26,1.8667e+00,UP_FORCE_HOLD,4.4444e-04,1.2636e-02,3.0838e-02,2.4886e+00,-3.8920e-02,3.7614e-02,9.6121e-05,4.2610e-02,3.1669e-02,4.3560e-02,-2.1962e-03,2.9691e-03,9.2385e-05,6.8673e-02,3.6942e-03
+27,1.9333e+00,UP_FORCE_HOLD,4.6005e-04,1.3558e-02,3.0865e-02,2.4871e+00,-3.8921e-02,3.7680e-02,9.7218e-05,4.3533e-02,3.1696e-02,4.1973e-02,-2.1964e-03,3.0352e-03,9.3481e-05,6.8275e-02,3.7478e-03
+28,2.0000e+00,UP_FORCE_HOLD,4.7673e-04,1.4444e-02,3.0888e-02,2.4856e+00,-3.8921e-02,3.7744e-02,9.8272e-05,4.4419e-02,3.1719e-02,4.0498e-02,-2.1965e-03,3.0990e-03,9.4535e-05,6.7965e-02,3.7996e-03
+29,2.1000e+00,UP_FORCE_HOLD,4.9303e-04,1.5705e-02,3.0911e-02,2.4836e+00,-3.8920e-02,3.7835e-02,9.9783e-05,4.5680e-02,3.1742e-02,3.8481e-02,-2.1956e-03,3.1902e-03,9.6046e-05,6.7639e-02,3.8739e-03
+30,2.1833e+00,UP_FORCE_HOLD,5.0974e-04,1.6694e-02,3.0922e-02,2.4820e+00,-3.8919e-02,3.7907e-02,1.0098e-04,4.6669e-02,3.1754e-02,3.6962e-02,-2.1945e-03,3.2619e-03,9.7247e-05,6.7472e-02,3.9326e-03
+31,2.2500e+00,UP_FORCE_HOLD,5.2625e-04,1.7510e-02,3.0927e-02,2.4808e+00,-3.8917e-02,3.7967e-02,1.0204e-04,4.7484e-02,3.1758e-02,3.5749e-02,-2.1932e-03,3.3215e-03,9.8307e-05,6.7389e-02,3.9814e-03
+32,2.3000e+00,UP_FORCE_HOLD,5.4316e-04,1.8128e-02,3.0926e-02,2.4799e+00,-3.8916e-02,3.8012e-02,1.0291e-04,4.8103e-02,3.1758e-02,3.4857e-02,-2.1918e-03,3.3669e-03,9.9176e-05,6.7361e-02,4.0187e-03
+33,2.3667e+00,UP_FORCE_HOLD,5.6263e-04,1.8878e-02,3.0922e-02,2.4789e+00,-3.8914e-02,3.8067e-02,1.0403e-04,4.8853e-02,3.1753e-02,3.3818e-02,-2.1899e-03,3.4222e-03,1.0029e-04,6.7369e-02,4.0642e-03
+34,2.4333e+00,UP_FORCE_HOLD,5.7537e-04,2.1826e-02,3.0824e-02,2.4750e+00,-3.8900e-02,3.8292e-02,1.1026e-04,5.1801e-02,3.1655e-02,2.9926e-02,-2.1755e-03,3.6472e-03,1.0653e-04,6.7683e-02,4.2481e-03
+35,2.5167e+00,UP_FORCE_HOLD,5.9702e-04,2.1546e-02,3.0773e-02,2.4758e+00,-3.8896e-02,3.8275e-02,1.1099e-04,5.1520e-02,3.1604e-02,3.0707e-02,-2.1722e-03,3.6296e-03,1.0725e-04,6.7795e-02,4.2313e-03
+36,2.6167e+00,UP_FORCE_HOLD,6.1309e-04,2.1871e-02,3.0782e-02,2.4755e+00,-3.8897e-02,3.8297e-02,1.1185e-04,5.1845e-02,3.1613e-02,3.0457e-02,-2.1725e-03,3.6521e-03,1.0811e-04,6.7933e-02,4.2508e-03
+37,2.7000e+00,UP_FORCE_HOLD,6.3102e-04,2.2318e-02,3.0803e-02,2.4750e+00,-3.8898e-02,3.8328e-02,1.1256e-04,5.2293e-02,3.1635e-02,2.9881e-02,-2.1734e-03,3.6830e-03,1.0883e-04,6.8031e-02,4.2778e-03
+38,2.7500e+00,UP_FORCE_HOLD,6.4977e-04,2.2611e-02,3.0817e-02,2.4746e+00,-3.8898e-02,3.8349e-02,1.1299e-04,5.2586e-02,3.1648e-02,2.9481e-02,-2.1740e-03,3.7033e-03,1.0925e-04,6.8088e-02,4.2956e-03
+39,2.8167e+00,UP_FORCE_HOLD,6.6681e-04,2.3009e-02,3.0833e-02,2.4740e+00,-3.8899e-02,3.8376e-02,1.1355e-04,5.2984e-02,3.1665e-02,2.8933e-02,-2.1746e-03,3.7310e-03,1.0982e-04,6.8169e-02,4.3199e-03
+40,2.9000e+00,UP_FORCE_HOLD,6.8034e-04,2.3522e-02,3.0852e-02,2.4733e+00,-3.8899e-02,3.8412e-02,1.1429e-04,5.3497e-02,3.1683e-02,2.8230e-02,-2.1751e-03,3.7671e-03,1.1055e-04,6.8284e-02,4.3514e-03
+41,2.9833e+00,UP_FORCE_HOLD,7.0126e-04,2.4051e-02,3.0865e-02,2.4726e+00,-3.8899e-02,3.8450e-02,1.1512e-04,5.4026e-02,3.1697e-02,2.7529e-02,-2.1753e-03,3.8048e-03,1.1139e-04,6.8420e-02,4.3842e-03
+42,3.0167e+00,UP_FORCE_HOLD,7.1479e-04,2.4254e-02,3.0869e-02,2.4724e+00,-3.8899e-02,3.8465e-02,1.1547e-04,5.4229e-02,3.1701e-02,2.7270e-02,-2.1753e-03,3.8194e-03,1.1173e-04,6.8479e-02,4.3968e-03
+43,3.0500e+00,UP_FORCE_HOLD,7.3850e-04,2.4450e-02,3.0873e-02,2.4721e+00,-3.8899e-02,3.8479e-02,1.1581e-04,5.4425e-02,3.1704e-02,2.7026e-02,-2.1752e-03,3.8335e-03,1.1207e-04,6.8539e-02,4.4091e-03
+44,3.0667e+00,UP_FORCE_HOLD,7.5275e-04,2.5967e-02,3.0867e-02,2.4702e+00,-3.8896e-02,3.8592e-02,1.1980e-04,5.5942e-02,3.1698e-02,2.5103e-02,-2.1716e-03,3.9472e-03,1.1606e-04,6.9025e-02,4.5066e-03
+45,3.0833e+00,UP_FORCE_HOLD,7.6221e-04,2.5831e-02,3.0850e-02,2.4704e+00,-3.8895e-02,3.8584e-02,1.1991e-04,5.5806e-02,3.1681e-02,2.5339e-02,-2.1706e-03,3.9383e-03,1.1618e-04,6.8993e-02,4.4984e-03
+46,3.1333e+00,UP_FORCE_HOLD,7.8689e-04,2.5702e-02,3.0830e-02,2.4707e+00,-3.8893e-02,3.8575e-02,1.2019e-04,5.5677e-02,3.1661e-02,2.5633e-02,-2.1693e-03,3.9301e-03,1.1645e-04,6.8989e-02,4.4905e-03
+47,3.1833e+00,UP_FORCE_HOLD,8.0056e-04,2.5723e-02,3.0826e-02,2.4708e+00,-3.8893e-02,3.8577e-02,1.2046e-04,5.5698e-02,3.1657e-02,2.5702e-02,-2.1690e-03,3.9316e-03,1.1673e-04,6.9029e-02,4.4918e-03
+48,3.2833e+00,UP_FORCE_HOLD,8.1772e-04,2.5966e-02,3.0837e-02,2.4706e+00,-3.8894e-02,3.8593e-02,1.2103e-04,5.5941e-02,3.1668e-02,2.5501e-02,-2.1695e-03,3.9482e-03,1.1729e-04,6.9156e-02,4.5065e-03
+49,3.3333e+00,UP_FORCE_HOLD,8.3542e-04,2.6131e-02,3.0845e-02,2.4704e+00,-3.8894e-02,3.8605e-02,1.2131e-04,5.6106e-02,3.1677e-02,2.5320e-02,-2.1700e-03,3.9595e-03,1.1758e-04,6.9227e-02,4.5166e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b4597ff4237e2f2a58a0c354a16bf170e5452db
--- /dev/null
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+59,4.315000e+01,2811,6.992932e-01,1.621957e-02,8.080633e-01,-3.054154e-04,-1.665549e-03,-2.033668e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2812,6.993348e-01,1.654353e-02,8.053349e-01,-2.536510e-04,-1.074382e-03,-2.045458e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2813,6.992008e-01,1.633797e-02,8.068771e-01,-2.925428e-04,-1.480148e-03,-2.040388e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2814,6.957533e-01,1.800500e-02,8.139373e-01,-2.344449e-05,-1.471272e-04,-2.026633e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2815,6.990233e-01,1.960897e-02,8.199104e-01,3.620285e-06,-4.526400e-05,-2.036378e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2816,6.930821e-01,2.005708e-02,8.100930e-01,1.444843e-04,-7.878633e-05,-2.024388e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2817,6.990308e-01,1.742392e-02,8.164430e-01,-6.483191e-05,-2.268611e-04,-2.023721e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2818,6.990727e-01,2.076178e-02,7.981768e-01,-1.354475e-04,-5.754684e-05,-2.015554e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2819,6.986720e-01,1.978929e-02,7.989648e-01,-1.236724e-04,-4.588066e-05,-2.014841e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2820,6.933061e-01,1.976279e-02,8.079877e-01,1.358919e-04,-9.868987e-05,-2.019685e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2821,6.979867e-01,1.792157e-02,8.168465e-01,-3.208891e-05,-1.310647e-04,-2.028999e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2822,6.939930e-01,1.959285e-02,8.137716e-01,1.050604e-04,-7.310151e-05,-2.031740e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2823,7.006138e-01,1.957032e-02,7.985087e-01,-1.461921e-04,-4.727875e-05,-2.016519e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2824,6.956820e-01,2.080262e-02,8.007319e-01,-4.966969e-05,-6.306764e-05,-2.011745e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2825,6.995837e-01,1.837833e-02,8.002086e-01,-1.301550e-04,-8.252094e-05,-2.020641e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2826,6.992920e-01,2.084956e-02,8.208143e-01,1.483731e-06,-5.477235e-05,-2.035355e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2827,6.928579e-01,2.081903e-02,8.077801e-01,1.233677e-04,-9.127502e-05,-2.019061e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2828,6.983058e-01,1.666628e-02,8.059903e-01,-2.995775e-04,-1.008212e-03,-2.041079e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2829,6.949486e-01,1.969247e-02,8.161340e-01,8.289408e-05,-5.035689e-05,-2.034959e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2830,6.939179e-01,1.889753e-02,8.083586e-01,9.247559e-05,-1.073209e-04,-2.021728e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2831,6.968622e-01,1.729196e-02,8.054083e-01,-2.239622e-04,-4.761951e-04,-2.031858e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2832,6.932468e-01,2.085431e-02,8.055997e-01,8.837052e-05,-8.488535e-05,-2.014946e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2833,6.983340e-01,1.832954e-02,8.009610e-01,-1.161422e-04,-1.024821e-04,-2.020293e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2834,6.942430e-01,1.971600e-02,8.042321e-01,4.864277e-05,-7.393530e-05,-2.014063e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2835,6.969474e-01,1.805222e-02,8.160637e-01,-2.193227e-05,-1.273557e-04,-2.028886e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2836,6.952466e-01,1.868386e-02,8.148307e-01,4.460278e-05,-7.837050e-05,-2.031467e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2837,6.975763e-01,1.982068e-02,7.996140e-01,-1.015442e-04,-4.204511e-05,-2.013657e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2838,6.986038e-01,1.897037e-02,7.998483e-01,-1.123092e-04,-5.124656e-05,-2.015875e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2839,6.927133e-01,2.110690e-02,8.103189e-01,1.238040e-04,-8.220962e-05,-2.024415e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2840,7.004407e-01,2.097213e-02,8.211559e-01,-5.206114e-06,-5.672093e-05,-2.035497e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2841,6.961062e-01,1.866067e-02,8.026452e-01,-4.226050e-05,-8.945113e-05,-2.015457e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2842,6.932661e-01,1.971406e-02,8.090991e-01,1.365600e-04,-8.758508e-05,-2.022470e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2843,6.996337e-01,1.918893e-02,7.991296e-01,-1.319894e-04,-4.858411e-05,-2.016147e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,4.315000e+01,2844,6.996406e-01,1.994171e-02,7.984464e-01,-1.379492e-04,-4.980312e-05,-2.015400e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/franka_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d1db641a52fceb8a0f9433191d819fe127d468d
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+23072,1791619631591353326,24815439000000,1791619631585033977,DOWN_FORCE_DETACH,10,0.0439,0.043944790959358215,0.6759574773332123,-0.004898920348363129,0.09066852827586945,0.9999999698524391,-1.574315569670155e-05,-0.00022465112915578326,3.196887013008389e-05,0.6761,-0.0048,0.09099999315000014,1.0,0.0,0.0,0.0,0.9185674498013209,0.5621374725546721,-1.1842290128908313,0.03755840128929534,-0.06305402216479929,0.004267970398656863,0.8776233280830685,0.6253594133743696,-1.3132593953540597,0.03658158655287845,-0.06302920594328554,0.003667650991889411,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.13951280213600492,0.8199942555731503,2.455797864355134,-0.13353019805860114,-1.5025098500840774,0.5035109590601086,0.6137136141712698,1.1842290128908313,-1.8420842501838643,-1.8420842501838643,0.00136,1,0,-8.500000245589333e-07,-9.999924085868912e-05
+23447,1791619634716306437,24818564000000,1791619634713024538,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6759632933115888,-0.004939446486631337,0.0905783456080089,0.9999999675179109,-2.458644305180455e-05,-0.0002268991953133038,6.57214103471972e-05,0.6761,-0.0048,0.09075327444732728,1.0,0.0,0.0,0.0,0.8743204163703681,0.6913378840656129,-0.29506258730679313,0.05074006215929943,-0.06279068514029994,0.0037112268731357657,0.8333762946521157,0.7545598248853105,-0.4240929697700216,0.04976324742288254,-0.06276586891878619,0.0031109074663683138,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.059229752385364265,0.9126828656775692,1.410693238614917,0.02972988846933771,-0.8306075377192168,0.5709631611850872,0.6137136141712698,0.29506258730679313,-0.7969796244436471,-0.7969796244436471,0.2513599999999916,1,0,-0.00015709996964016616,-9.999999025923074e-05
+23552,1791619635591274425,24819439000000,1791619635585034206,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6760127968861079,-0.0049592016717036344,0.09051892615194947,0.9999999833714399,-2.222225101586335e-05,-0.00011747976404667795,0.00010200323987888317,0.6761,-0.0048,0.09059669322762529,1.0,0.0,0.0,0.0,0.7691392085954868,0.7999010395513281,0.11328428652134034,0.0581480314570953,-0.054668634652192384,0.0035730475565701027,0.7281950868772344,0.8631229803710256,-0.01574609594188813,0.05717121672067841,-0.054643818430678635,0.0029727281498026508,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.42444410145052364,0.7743896119337621,0.7166070211996471,0.1501763375567365,-0.3501063749957884,0.4587127079279568,0.6137136141712698,0.11328428652134034,-0.10289340702837735,-0.10289340702837735,0.321360000000013,1,0,-0.00020084996111699305,-9.999999025923074e-05
+23826,1791619637875322299,24821723000000,1791619637869024801,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6761126547846722,-0.004958636913586285,0.09034182440322547,0.9999999917351438,-5.823254623269131e-06,3.939546098919162e-05,7.99166082523905e-05,0.6761,-0.0048,0.09022323753395885,1.0,0.0,0.0,0.0,0.5139061855599966,0.9243313363587747,1.3678295191808743,0.06834250832099256,-0.0381557155625164,0.00292706091141633,0.47296206384174416,0.9875532771784723,1.2387991367176459,0.06736569358457567,-0.03813089934100265,0.0023267415046488785,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8855932078219707,0.6472624985506303,-0.7545337168829083,0.1905954024824131,0.6671429980027258,0.37461772645382413,0.6137136141712698,1.3678295191808743,1.368247331054178,1.368247331054178,0.5040800000000661,1,0,-0.00010732485590939233,9.999999025923074e-05
+24253,1791619641433288609,24825281000000,1791619641429034262,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6761309204077048,-0.004993225393818586,0.09025249270432488,0.9999999876822867,-3.462245462281472e-05,6.560694598792811e-05,0.00010283630258897643,0.6761,-0.0048,0.09010700328623525,1.0,0.0,0.0,0.0,0.33355475826546105,0.8720482444723728,1.6032497508484562,0.06572032668919868,-0.02687482198495496,0.0028611179150862982,0.29261063654720865,0.9352701852920704,1.4742193683852278,0.06474351195278179,-0.026850005763441213,0.0022607985083188463,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9427680692181059,0.6901400278856143,-0.8989049339718673,0.12351825051059925,0.7646311115092632,0.3944198373527694,0.6137136141712698,1.6032497508484562,1.5126185481431371,1.5126185481431371,0.7887199999999558,1,0,-3.1029416536210164e-09,3.134284498607087e-08
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+25486,1791619651708220111,24835556000000,1791619651705024663,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6761313585172983,-0.004993212415827285,0.09020669320816968,0.999999987188154,-3.424860477081733e-05,6.761825590886832e-05,0.00010640188395557973,0.6761,-0.0048,0.0900473299069113,1.0,0.0,0.0,0.0,0.3031350824278147,0.8810980497076016,1.6139434806956034,0.06772727865242492,-0.025923353569364517,0.0028809746525698086,0.26219096070956227,0.9443199905272992,1.484913098232375,0.06675046391600803,-0.02589853734785077,0.0022806552458023567,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.009701613069014,0.5655471020376915,-0.9366070297365735,0.16058785783498733,0.7958666525634339,0.31458795041923515,0.6137136141712698,1.6139434806956034,1.5503206439078432,1.5503206439078432,1.6107200000004847,1,0,-1.982612769377135e-05,-9.98575070118079e-05
+25937,1791619655466238006,24839314000000,1791619655465024214,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.676151447613922,-0.004989044927536835,0.09015516734625145,0.9999999847036064,-2.9437381533888165e-05,9.829428356340585e-05,0.00010727220447271103,0.6761,-0.0048,0.08995419952437411,1.0,0.0,0.0,0.0,0.2537872678150758,0.9406231628667058,1.8848023371183433,0.07165866518441111,-0.02205582320642988,0.002770161047964686,0.21284314609682342,1.0038451036864033,1.755771954655115,0.07068185044799422,-0.02203100698491613,0.0021698416411972342,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.1101046587510597,0.5485262710789984,-1.3015983055801237,0.16724141067167084,1.0423429664585748,0.30098101858471504,0.6137136141712698,1.8848023371183433,1.9153119197513935,1.9153119197513935,1.9113600000007853,1,0,-2.577383618054962e-05,9.974076706076857e-05
+26345,1791619658866116003,24842714000000,1791619658865023949,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6761710558185737,-0.004992703078005857,0.09008981910069734,0.9999999809117407,-3.558302916670005e-05,0.00013257135992814371,0.00010381746119039528,0.6761,-0.0048,0.08984694527445655,1.0,0.0,0.0,0.0,0.22329917816708333,0.9910506095128603,2.108244764552462,0.07561774479174553,-0.019142149184861405,0.0026795897019463452,0.18235505644883096,1.0542725503325578,1.9792143820892332,0.07464093005532864,-0.019117332963347656,0.0020792702951788937,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.2271467597433312,0.6033277153169654,-1.548383686963505,0.16053952120752413,1.2186854421365967,0.3425073945382535,0.6137136141712698,2.108244764552462,2.162097301134775,2.162097301134775,2.1833600000010573,1,0,-3.641225747722109e-05,9.999999025923074e-05
+26784,1791619662525164229,24846373000000,1791619662525024035,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6761906570251556,-0.004993949326889456,0.08998648743149366,0.9999999759059538,-3.1972871152224744e-05,0.00016537538621810198,0.00010611160744634613,0.6761,-0.0048,0.08970262530019844,1.0,0.0,0.0,0.0,0.2007612448929269,1.0113794778612588,2.3501136212032265,0.07755137565332293,-0.017211803016018764,0.0035632668244423822,0.15981712317467453,1.0746014186809565,2.221083238739998,0.07657456091690604,-0.017186986794505015,0.0029629474176749303,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.2950999658906883,0.6176081922781174,-1.7810406940338335,0.16337953793226123,1.3793652999830117,0.35241610985478633,0.6137136141712698,2.3501136212032265,2.394754308205103,2.394754308205103,2.47608000000135,1,0,-4.5891693829817843e-05,-9.997638414216965e-05
+27223,1791619666183086901,24850031000000,1791619666177024184,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6762116282479766,-0.004998782215687666,0.08983861418740208,0.9999999698972079,-3.5482082492341574e-05,0.0001968977095361969,0.00010779963625797408,0.6761,-0.0048,0.08951746760662412,1.0,0.0,0.0,0.0,0.20118304296395934,1.029108681134123,2.580102712692587,0.07954873584603296,-0.017300012459274393,0.0034004559321913356,0.16023892124570696,1.0923306219538207,2.4510723302293584,0.07857192110961607,-0.017275196237760644,0.0028001365254238836,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.3424835052605926,0.6747592493425757,-2.1369069978521593,0.16304677709011384,1.6143154295696398,0.3967508478485367,0.6137136141712698,2.580102712692587,2.750620612023429,2.750620612023429,2.7687200000016428,1,0,-5.772132185136313e-05,9.980470202919917e-05
+27626,1791619669541176633,24853389000000,1791619669537024868,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6762328141986558,-0.0049994888024504445,0.08966068021961437,0.9999999628910062,-4.465103024827134e-05,0.00023089706752410985,0.00010175303609787785,0.6761,-0.0048,0.08930085847119583,1.0,0.0,0.0,0.0,0.2306654098703923,1.0354761667115633,2.760162848405817,0.07954264667447125,-0.018353171743337067,0.003241512842213294,0.1897212881521399,1.098698107531261,2.6311324659425885,0.07856583193805436,-0.018328355521823318,0.002641193435445842,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.3951469679854334,0.6273200123019083,-2.326746905584824,0.19277625007221547,1.7495767899093264,0.36966051836619107,0.6137136141712698,2.760162848405817,2.940460519756094,2.940460519756094,3.0373600000019114,1,0,-7.399253012660279e-05,-5.778512417126083e-06
+27926,1791619672041171834,24855889000000,1791619672037024828,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6762483476960428,-0.005006636664796094,0.08949368480747776,0.9999999568107761,-5.6546919097015824e-05,0.0002531126886273364,0.00010275078169686444,0.6761,-0.0048,0.08911201075011288,1.0,0.0,0.0,0.0,0.22416902119409637,0.9839036542134224,2.891665130585733,0.0769064451377112,-0.018576955554411603,0.003096998527730095,0.183224899475844,1.04712559503312,2.7626347481225046,0.0759296304012943,-0.018552139332897854,0.002496679120962643,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.3780707522500386,0.6536771624187705,-2.5160027958404725,0.197283552897031,1.8649323864121763,0.38971873336543195,0.6137136141712698,2.891665130585733,3.129716410011742,3.129716410011742,3.2373600000021114,1,0,-7.963988822546466e-05,-6.540387643263478e-05
+28181,1791619674166135329,24858014000000,1791619674161024751,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6762673905012562,-0.005008068671522555,0.0893240812826348,0.9999999494233668,-4.641730768611479e-05,0.00028031069638214214,0.00010893794285024016,0.6761,-0.0048,0.08891938860772584,1.0,0.0,0.0,0.0,0.2827949318038722,0.9981575678487634,3.0426487006212555,0.07714090191546255,-0.022491070514641186,0.002935615346738407,0.24185081008561982,1.061379508668461,2.913618318158027,0.07616408717904566,-0.022466254293127437,0.0023352959399709555,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.390911923183309,0.7105029141630254,-2.683258716414882,0.18900411704007164,1.9802760227818004,0.4281208147537202,0.6137136141712698,3.0426487006212555,3.2969723305861516,3.2969723305861516,3.4073600000022815,1,0,-8.82082706696582e-05,-6.525192049151385e-11
+28512,1791619676925160073,24860773000000,1791619676925024908,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6762828572468582,-0.0050148422931166085,0.08905840545637837,0.9999999421944183,-4.488231645023308e-05,0.0003053504153967039,0.00010863114545322764,0.6761,-0.0048,0.08862913108618493,1.0,0.0,0.0,0.0,0.32585539392556717,0.9609100266837282,3.1644294679858493,0.07454904047070325,-0.02543463654924004,0.002761313836408025,0.28491127220731477,1.0241319675034257,3.035399085522621,0.07357222573428636,-0.02540982032772629,0.0021609944296405734,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.3736206960798283,0.6821957996140271,-2.8704138028568256,0.1983430347155049,2.1039859804735355,0.4070717882062082,0.6137136141712698,3.1644294679858493,3.4841274170280956,3.4841274170280956,3.628080000002502,1,0,-0.00012257750994972626,7.490347040607038e-05
+28836,1791619679625025187,24863473000000,1791619679621025277,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6763052197423358,-0.005018508106068621,0.08873225807462891,0.9999999309529208,-4.128581035690905e-05,0.00033861050805813347,0.00011478424878678286,0.6761,-0.0048,0.08827201749185315,1.0,0.0,0.0,0.0,0.3883834311289742,0.9107252850424264,3.334090358194561,0.0705472817262817,-0.029768214586238538,0.0025186840858099795,0.3474393094107218,0.973947225862124,3.2050599757313325,0.06957046698986481,-0.02974339836472479,0.0019183646790425278,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.280256733945456,0.7292700276135478,-3.0423069634013786,0.2008370316674299,2.19979201961548,0.43637685709059604,0.6137136141712698,3.334090358194561,3.656020577572648,3.656020577572648,3.844080000002718,1,0,-0.00014587872265300596,-4.6149649404545866e-05
+29107,1791619681883053579,24865731000000,1791619681881024083,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6763200695200623,-0.0050135393314991545,0.08839154802669968,0.999999923267912,-3.848674835127716e-05,0.0003608901820211723,0.00011482195426027967,0.6761,-0.0048,0.08790773725032956,1.0,0.0,0.0,0.0,0.44097051374486684,0.8646370154245763,3.4911174852478726,0.0665273078046323,-0.033088563124156416,0.00229845689888807,0.40002639202661444,0.9278589562442738,3.362087102784644,0.0655504930682154,-0.03306374690264267,0.0016981374921206183,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.2146676470334492,0.6797130979890944,-3.25983813038692,0.22413291648796135,2.3349051819274425,0.40152038478833374,0.6137136141712698,3.4911174852478726,3.87355174455819,3.87355174455819,4.024720000002762,1,0,-0.00017414551009978384,9.978774337249802e-05
+29363,1791619684016063440,24867864000000,1791619684013024487,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6763344943152946,-0.005021163020285355,0.08800769612800859,0.9999999153780131,-3.5772068943587515e-05,0.0003795665678675661,0.0001238402629524984,0.6761,-0.0048,0.08750810072828116,1.0,0.0,0.0,0.0,0.4897281180070677,0.8061213593729775,3.680210553263947,0.062488779414387324,-0.03646455709280104,0.003079583921530275,0.4487839962888153,0.869343300192675,3.5511801708007185,0.06151196467797043,-0.03643974087128729,0.002479264514762823,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,1.0857121153866505,0.6934687348028525,-3.316791700521812,0.23419102886227294,2.3549441896385077,0.40934037311731475,0.6137136141712698,3.680210553263947,3.9305053146930815,3.9305053146930815,4.195360000001985,1,0,-0.00020980751994198823,-2.0972003082167946e-05
+29582,1791619685841011367,24869689000000,1791619685841023910,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6763560859096835,-0.005024726148705008,0.08762690116938644,0.9999999012540873,-4.3161986676358464e-05,0.0004151918832421488,0.00012119167811125553,0.6761,-0.0048,0.08708371785665528,1.0,0.0,0.0,0.0,0.518739124569598,0.7862522787306206,3.7901728298762714,0.06048011818907693,-0.038477510099672534,0.002939746762503125,0.47779500285134563,0.8494742195503182,3.661142447413043,0.059503303452660035,-0.038452693878158785,0.002339427355735673,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9815455774009109,0.7284062281124298,-3.387253113312573,0.24318185667092368,2.381556593113929,0.43207186212491433,0.6137136141712698,3.7901728298762714,4.000966727483843,4.000966727483843,4.341360000001321,1,0,-0.00025099551288351583,-9.999986535914047e-05
+29774,1791619687441093700,24871289000000,1791619687441024710,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6763758928233528,-0.005032527419699697,0.08723444975432242,0.9999998853354779,-4.701230882703011e-05,0.00045093720198455565,0.0001233587376365606,0.6761,-0.0048,0.08665953345060017,1.0,0.0,0.0,0.0,0.5236532165221712,0.7351966004726467,3.9096356778617687,0.05739419490323979,-0.03858058960541409,0.00280075246743019,0.4827090948039188,0.7984185412923442,3.7806052953985403,0.0564173801668229,-0.038555773383900344,0.0022004330606627386,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.9253768129198766,0.6714228680526261,-3.5992623201808542,0.2738603457367873,2.5144177871641955,0.3964474620632675,0.6137136141712698,3.9096356778617687,4.212975934352124,4.212975934352124,4.469360000000738,1,0,-0.0002796884835301342,9.99850022483983e-05
+29949,1791619688900049523,24872748000000,1791619688893025307,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6763901596117424,-0.005034600915363453,0.0868336879094675,0.9999998759545833,-4.6166878830490434e-05,0.0004721830343582429,0.00012018936678586664,0.6761,-0.0048,0.08623072125617516,1.0,0.0,0.0,0.0,0.5497158968578483,0.6957315566119812,4.009140269538782,0.05435541618628559,-0.04043809973484693,0.0035563975604399048,0.5087717751395959,0.7589534974316787,3.8801098870755535,0.053378601449868696,-0.04041328351333318,0.0029560781536724532,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8658166298320573,0.60633220463836,-3.5535837212865,0.3069220189199834,2.4830700152274776,0.3562665916351146,0.6137136141712698,4.009140269538782,4.16729733545777,4.16729733545777,4.586080000000207,1,0,-0.00031141849681923093,-9.999999025923074e-05
+30113,1791619690266048338,24874114000000,1791619690261024422,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764048756815534,-0.005039450126868646,0.08641572793702258,0.9999998624689943,-4.5507638179518775e-05,0.0004993019662517387,0.0001230099932567592,0.6761,-0.0048,0.08578563889770523,1.0,0.0,0.0,0.0,0.5707534453808992,0.6804905941273818,4.111060018793891,0.05330845466976732,-0.042437853436323544,0.0035680712431495577,0.5298093236626469,0.7437125349470793,3.9820296363306626,0.05233163993335043,-0.042413037214809796,0.0029677518363821057,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8659208663718653,0.629910989715021,-3.6790822221653423,0.3101061875132869,2.573767478651657,0.3724112991951838,0.6137136141712698,4.111060018793891,4.292795836336612,4.292795836336612,4.6953599999997095,1,0,-0.0003370468962995713,9.999999025923074e-05
+30261,1791619691500076269,24875348000000,1791619691493024802,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764171804744911,-0.005033405725228511,0.08600500505017103,0.9999998526936957,-4.545966243767614e-05,0.0005186636498791347,0.00012238009880302645,0.6761,-0.0048,0.08535903486585251,1.0,0.0,0.0,0.0,0.5819747937179531,0.6106696001752071,4.191199758367491,0.04838518149106431,-0.042522911340208955,0.0034500453127545806,0.5410306719997008,0.6738915409949047,4.062169375904262,0.047408366754647414,-0.042498095118695206,0.0028497259059871286,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8349968253969233,0.5526570126802969,-3.810303346693167,0.3307996410520022,2.6657100979367856,0.31981794635073296,0.6137136141712698,4.191199758367491,4.424016960864437,4.424016960864437,4.79407999999926,1,0,-0.0003552001219722393,9.375000361989123e-05
+30396,1791619692625067218,24876473000000,1791619692625024367,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764212913709602,-0.005035669604542304,0.08560949918164866,0.9999998497607325,-5.2315445021985066e-05,0.000524475161847068,0.00011878668075831079,0.6761,-0.0048,0.08494501591063196,1.0,0.0,0.0,0.0,0.5947801233975124,0.5441372137067076,4.236178101495771,0.044290163447670526,-0.04441427490062204,0.0029236812586165414,0.5538360016792601,0.6073591545264052,4.107147719032542,0.043313348711253634,-0.04438945867910829,0.00232336185184909,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7502937193913755,0.689236291042264,-3.6881784770709363,0.2926665825902706,2.5807741547775978,0.41178341596758095,0.6137136141712698,4.236178101495771,4.301892091242206,4.301892091242206,4.884079999998851,1,0,-0.00038360316686611293,-9.999999025923074e-05
+30528,1791619693725065270,24877573000000,1791619693725024713,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764376919336703,-0.005029686354437026,0.08520097264365561,0.9999998335844406,-4.814315350172373e-05,0.000554707981602275,0.00011939534151109067,0.6761,-0.0048,0.08451359364151574,1.0,0.0,0.0,0.0,0.5976107142969658,0.49626112087996094,4.295650350362325,0.04042938535979938,-0.044274268103421,0.0022190256166874653,0.5566665925787134,0.5594830616996586,4.166619967899097,0.03945257062338249,-0.04424945188190725,0.0016187062099200136,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.8150761779691945,0.6195796910525906,-3.8065347633128233,0.3062583426168283,2.6806625623752693,0.3680362468231512,0.6137136141712698,4.295650350362325,4.420248377484093,4.420248377484093,4.97207999999845,1,0,-0.0004016494620326646,-9.999967107011116e-05
+30660,1791619694824963710,24878673000000,1791619694825024764,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764471270258573,-0.005026883813296632,0.08476726333093561,0.9999998252310562,-4.62604178838077e-05,0.0005696812251154022,0.00011959931810808252,0.6761,-0.0048,0.0840637568951885,1.0,0.0,0.0,0.0,0.5872995261383896,0.40657784079098064,4.371959372416803,0.03393399087283593,-0.04315533625122141,0.00209977301221143,0.5463554044201373,0.46979978161067826,4.242928989953574,0.03295717613641904,-0.04313052002970766,0.001499453605443978,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7581208557222443,0.5088167906165352,-3.9179206488525233,0.3230396670813727,2.7437313116883457,0.29297159975057635,0.6137136141712698,4.371959372416803,4.531634263023793,4.531634263023793,5.06007999999805,1,0,-0.0004156842069917249,-7.143820795636573e-05
+30788,1791619695891035224,24879739000000,1791619695889024343,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764619239915779,-0.0050113673545420625,0.08434434663842048,0.999999809983073,-4.077498533777325e-05,0.000597000448889245,0.00011577800628580334,0.6761,-0.0048,0.0836125384579276,1.0,0.0,0.0,0.0,0.5380199859535092,0.3142967313899588,4.406867640125644,0.026752453022157698,-0.04104788399121161,0.0020164270789312638,0.4970758642352568,0.3775186722096564,4.277837257662416,0.025775638285740806,-0.041023067769697864,0.0014161076721638122,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7114606155818338,0.49588930738540365,-3.9105541423177685,0.308375719650186,2.73570586165544,0.2832585164821444,0.6137136141712698,4.406867640125644,4.524267756489039,4.524267756489039,5.145359999997662,1,0,-0.0004310604504273715,-9.990689805861592e-05
+30915,1791619696949943968,24880798000000,1791619696945024359,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764731985710999,-0.005000190632455046,0.08390576962769272,0.9999997983121767,-4.2610324917491214e-05,0.0006181956460246144,0.00010410078732337063,0.6761,-0.0048,0.08315541872436089,1.0,0.0,0.0,0.0,0.5286271810291737,0.21293449126863268,4.505860759723757,0.019546825183988405,-0.03986349705902211,0.0010636235345388347,0.4876830593109213,0.2761564320883303,4.376830377260529,0.018570010447571512,-0.03983868083750836,0.0004633041277713829,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.7203347517190916,0.35672935596191424,-4.076960742883504,0.3382735764411581,2.8535685403386006,0.191694160788307,0.6137136141712698,4.505860759723757,4.690674357054774,4.690674357054774,5.230079999997276,1,0,-0.00042914704563950173,-2.401483550000137e-05
+31043,1791619698016003281,24881864000000,1791619698013024029,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764884898100032,-0.004981408304848622,0.08347519507723411,0.9999997839149967,-3.170151647064658e-05,0.0006425764068074467,9.850583650108688e-05,0.6761,-0.0048,0.08270872854702321,1.0,0.0,0.0,0.0,0.5076661337549169,0.11679894687841398,4.553402008907493,0.012844038849789071,-0.03872875912879063,0.0007424541928335727,0.46672201203666447,0.1800208876981116,4.424371626444264,0.011867224113372179,-0.038703942907276884,0.00014213478606612092,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6704056194414438,0.3705293608768714,-4.178548701309602,0.3067956374558306,2.9129970375099714,0.198727029753468,0.6137136141712698,4.553402008907493,4.792262315480872,4.792262315480872,5.315359999996888,1,0,-0.00041625757901417705,-2.2429985844807398e-05
+31167,1791619699050045870,24882898000000,1791619699045024670,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764923414527503,-0.004965337683736612,0.08304636908484438,0.999999783217732,-2.3428911454883336e-05,0.0006445644386329085,9.484262784080473e-05,0.6761,-0.0048,0.08227522255299631,1.0,0.0,0.0,0.0,0.4986009859555511,0.0070580362314856815,4.58004715303094,0.005200549319758382,-0.03821004929766241,-0.00038779627354176057,0.4576568642372987,0.07027997705118329,4.451016770567712,0.0042237345833414895,-0.03818523307614866,-0.0009881156803092123,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6279778515369616,0.30764768412166366,-4.206276583860483,0.29734042397760785,2.9360880805102023,0.14847771823290196,0.6137136141712698,4.58004715303094,4.819990198031753,4.819990198031753,5.3980799999965114,1,0,-0.00042331040285145525,-9.996485170050135e-05
+31283,1791619700015932695,24883864000000,1791619700009024647,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.676498907736158,-0.004951408996043837,0.0826279338231369,0.9999997801583933,-1.4257038314083476e-05,0.0006498355714154141,9.293275283952834e-05,0.6761,-0.0048,0.0818608277317229,1.0,0.0,0.0,0.0,0.47607715014706903,-0.1312434563173135,4.636452440562075,-0.0030036149941172017,-0.03741869375930867,-0.0005181668290355518,0.4351330284288166,-0.0680215154976159,4.507422058098847,-0.003980429730534094,-0.03739387753779492,-0.0011184862358030036,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.6062769333553153,0.13984517311692896,-4.298273439943642,0.3145550512193134,3.0035529126176312,0.03800768188225247,0.6137136141712698,4.636452440562075,4.911987054114912,4.911987054114912,5.47535999999616,1,0,-0.00043500379299651746,-9.999999025923074e-05
+31398,1791619700975031634,24884823000000,1791619700973024169,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764994623228703,-0.0049343245731335835,0.08219069709753737,0.9999997808960736,-1.3945029849909289e-05,0.0006496475533962831,8.610610908345519e-05,0.6761,-0.0048,0.08143375490534234,1.0,0.0,0.0,0.0,0.460006842376095,-0.28588612384651885,4.591993222628643,-0.014258828574958745,-0.03617844806655368,-0.0005950991136953281,0.4190627206578426,-0.22266418302682123,4.462962840165415,-0.015235643311375637,-0.03615363184503993,-0.0011954185204627798,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.5463192442887759,0.15132574556481973,-4.319318046949333,0.2931855377338833,3.017136973868999,0.0438088469126168,0.6137136141712698,4.591993222628643,4.933031661120603,4.933031661120603,5.552079999995811,1,0,-0.0004630429653554576,-9.999999025923074e-05
+31502,1791619701841960542,24885689000000,1791619701841024732,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6765012033221741,-0.004916746232976621,0.0817647922868238,0.999999780678776,3.315642292661876e-06,0.0006501110175793909,8.619707383453499e-05,0.6761,-0.0048,0.08101598424937903,1.0,0.0,0.0,0.0,0.44803020999961063,-0.43061490725027574,4.546678760477011,-0.02449431633548732,-0.03495764628822153,-0.0006596249715722208,0.4070860882813582,-0.3673929664305781,4.417648378013783,-0.025471131071904213,-0.03493283006670778,-0.0012599443783396726,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.45258367768196,-0.1056935713678043,-4.27021613026097,0.3268820387878953,2.9752381616676544,-0.12898424203954123,0.6137136141712698,4.546678760477011,4.88392974443224,4.88392974443224,5.621359999995495,1,0,-0.0005032371415511757,-9.999999025923074e-05
+31598,1791619702640927428,24886489000000,1791619702637024780,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764980561458249,-0.004895782537055893,0.0813308031159719,0.9999997857361059,1.1098536293484049e-05,0.0006427999779903932,8.158196783766989e-05,0.6761,-0.0048,0.08059762906466139,1.0,0.0,0.0,0.0,0.4466539265072539,-0.5666703605325093,4.4633225765994196,-0.03466535510837569,-0.03575499798469361,-0.0007234592855308647,0.4057098047890015,-0.5034484197128117,4.334292194136191,-0.035642169844792584,-0.03573018176317986,-0.0013237786922983164,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.36712271466506075,-0.07893897090043459,-4.1907816220010865,0.29128993163120764,2.918900069805262,-0.1199152668355387,0.6137136141712698,4.4633225765994196,4.8044952361723565,4.8044952361723565,5.685359999995204,1,0,-0.0005429492224110197,-9.999999025923074e-05
+31690,1791619703408024422,24887256000000,1791619703405024351,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6764951818156545,-0.004870518069014897,0.08089499056978351,0.999999787746385,2.71885605706849e-05,0.0006400750083591205,7.426180182777273e-05,0.6761,-0.0048,0.08016649896394107,1.0,0.0,0.0,0.0,0.4521412517963088,-0.6987424530635944,4.275505436187464,-0.04379674053267034,-0.03654960490608858,-0.0006904641908614092,0.4111971300780564,-0.6355205122438968,4.146475053724235,-0.04477355526908723,-0.03652478868457483,-0.0012907835976288609,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.3311415590632085,-0.13673759051586726,-3.9999974721631038,0.28517056995211076,2.7988499571083056,-0.1584868381773999,0.6137136141712698,4.275505436187464,4.613711086334374,4.613711086334374,5.746719999994925,1,0,-0.0005812992149398496,-9.999999025923074e-05
+31769,1791619704065948918,24887914000000,1791619704065023798,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764835499122489,-0.004830253753019901,0.0804732654404163,0.9999997983127916,4.417033014468002e-05,0.0006245899246938349,5.247521650596819e-05,0.6761,-0.0048,0.07977319643262255,1.0,0.0,0.0,0.0,0.5541130638191534,-0.7391419977726077,4.089429473471299,-0.04658231895754567,-0.043563531465093216,-0.0006727624412769589,0.513168942100901,-0.6759200569529101,3.9603990910080697,-0.047559133693962564,-0.04353871524357947,-0.0012730818480444106,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.2537623985352719,-0.17173093787966395,-3.8002620522368797,0.30515383046125333,2.6644466633968142,-0.1810906769914442,0.6137136141712698,4.089429473471299,4.41397566640815,4.41397566640815,5.799359999994685,1,0,-0.0006141992085304235,-9.999999025923074e-05
+31849,1791619704732983003,24888581000000,1791619704733024680,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764720597061605,-0.0048092511292645935,0.08002850971046258,0.9999998102484372,5.275551782671865e-05,0.0006051943676918374,4.3618648798047596e-05,0.6761,-0.0048,0.07935242001270279,1.0,0.0,0.0,0.0,0.5188680626852833,-0.8927982950622805,3.7978239789365396,-0.057832512228015345,-0.04223789894933558,-0.0015839000038158299,0.47792394096703095,-0.8295763542425829,3.668793596473311,-0.05880932696443224,-0.04221308272782183,-0.0021842194105832816,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.21004195473405315,-0.18465497095009745,-3.6028729072758647,0.2701097131333924,2.5320715882383795,-0.19260052692500423,0.6137136141712698,3.7978239789365396,4.216586521447135,4.216586521447135,5.852719999994442,1,0,-0.0006475492020333304,-9.999999025923074e-05
+31921,1791619705333016701,24889181000000,1791619705333024715,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6764525857292772,-0.004792863580782594,0.07959795527772341,0.9999998269636232,6.739499923128329e-05,0.0005750190363582994,4.823494618568209e-05,0.6761,-0.0048,0.07895490549323905,1.0,0.0,0.0,0.0,0.4952785504263015,-1.0312665282949662,3.5124824466091216,-0.06869474499371264,-0.03994415416224085,-0.0014427618871419607,0.4543344287080491,-0.9680445874752686,3.383452064145893,-0.06967155973012953,-0.0399193379407271,-0.0020430812939094124,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.10469581237431777,-0.33618521484984937,-3.238726682745742,0.27893712765026446,2.2767838128497724,-0.3015205205485696,0.6137136141712698,3.5124824466091216,3.8524402969170115,3.8524402969170115,5.900719999994224,1,0,-0.0006775491961888688,-9.999999025923074e-05
+31989,1791619705900011087,24889748000000,1791619705897024471,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.676426761080567,-0.0047784598055132,0.0791509085312424,0.99999985123814,7.245365664538124e-05,0.0005304256385121307,4.863817410711435e-05,0.6761,-0.0048,0.0785627120505685,1.0,0.0,0.0,0.0,0.4735370794326258,-1.1631305855882732,3.2026419388612486,-0.0786436773293762,-0.03766157026052722,-0.0012766492978249588,0.4325929577143734,-1.0999086447685755,3.07361155639802,-0.0796204920657931,-0.037636754039013474,-0.0018769687045924106,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.024519193779429353,-0.48759134667428233,-3.0209035539456615,0.28771064930906043,2.122855945207696,-0.4045558356780785,0.6137136141712698,3.2026419388612486,3.6346171681169315,3.6346171681169315,5.9460799999940175,1,0,-0.0007058991906658526,-9.999999025923074e-05
+32053,1791619706432969748,24890281000000,1791619706429024961,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6763982410289423,-0.004759266237594511,0.07872517785469016,0.9999998741059317,8.527465715901236e-05,0.0004838966775727863,4.2464379489768235e-05,0.6761,-0.0048,0.07817937888332982,1.0,0.0,0.0,0.0,0.5381860531351172,-1.1741205485332922,2.817012656134571,-0.08052125544700625,-0.040477624445552515,-0.001024875260657841,0.4972419314168649,-1.1108986077135945,2.687982273671343,-0.08149807018342314,-0.040452808224038767,-0.0016251946674252927,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.040408572777769915,-0.47179732120015877,-2.607439233281457,0.27379380148972926,1.8378444591220249,-0.39563669893703524,0.6137136141712698,2.817012656134571,3.2211528474527267,3.2211528474527267,5.988719999993823,1,0,-0.0007325491854740226,-9.999999025923074e-05
+32113,1791619706932997371,24890781000000,1791619706933023870,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6763579466641876,-0.004737874292736247,0.07828953810019702,0.9999999009366395,9.334354883518433e-05,0.00042365392709303517,3.7066259948829945e-05,0.6761,-0.0048,0.07780686679181284,1.0,0.0,0.0,0.0,0.48283034696193994,-1.2899431320720718,2.4945645321140812,-0.08874167548135937,-0.036140833771157295,-0.0007942740722949983,0.44188622524368754,-1.226721191252374,2.365534149650853,-0.08971849021777627,-0.036116017549643546,-0.00139459347906245,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.01655600505637319,-0.6327081134364744,-2.310695884704627,0.29257350738944937,1.649638629580902,-0.5021186814564728,0.6137136141712698,2.4945645321140812,2.924409498875897,2.924409498875897,6.028719999993641,1,0,-0.000757549180603638,-9.999999025923074e-05
+32169,1791619707399996282,24891248000000,1791619707397024735,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.676316928103808,-0.004737915984410123,0.07785609801264444,0.9999999266175278,9.811960970678406e-05,0.000356127795323737,4.1872892280787765e-05,0.6761,-0.0048,0.07744765077553539,1.0,0.0,0.0,0.0,0.42826822734672326,-1.3248982625323689,2.1291333659642957,-0.09070723690293088,-0.03389196976555556,-0.0004931597532887061,0.38732410562847086,-1.2616763217126712,2.0001029835010673,-0.09168405163934777,-0.03386715354404181,-0.0010934791600561578,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.1556726117893903,-0.6916852159690439,-1.8477217523083063,0.29395168436820723,1.3067429104375328,-0.5394544762016573,0.6137136141712698,2.1291333659642957,2.4614353664795763,2.4614353664795763,6.066079999993471,1,0,-0.0007808991760546988,-9.999999025923074e-05
+32224,1791619707857887691,24891706000000,1791619707853024518,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6762724224387907,-0.004734833252512652,0.07743010543356192,0.999999948652535,9.794610619747073e-05,0.0002871307668288887,4.582875268057215e-05,0.6761,-0.0048,0.0770847663039262,1.0,0.0,0.0,0.0,0.4279490178581981,-1.284477786384336,1.662673317927069,-0.08761503036731427,-0.033493765955333724,-0.00111005481749957,0.3870048961399457,-1.2212558455646383,1.5336429354638406,-0.08859184510373116,-0.033468949733819975,-0.0017103742242670218,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.04741636124540517,-0.6559232241245446,-1.4044381900768645,0.28112798537677763,1.0290452248649524,-0.5201876299225945,0.6137136141712698,1.662673317927069,2.0181518042481343,2.0181518042481343,6.102719999993305,1,0,-0.0008037991715934264,-9.999999025923074e-05
+32277,1791619708299988887,24892148000000,1791619708297024463,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6762056664262973,-0.004763452101164587,0.07696507894682961,0.9999999727272115,8.762725676665769e-05,0.0001860509667587087,6.0786036699349896e-05,0.6761,-0.0048,0.07672461402103556,1.0,0.0,0.0,0.0,0.5125503777058527,-1.1460725955918205,1.122105591250243,-0.07885099843808616,-0.03783714837416192,-0.002677799175598897,0.4716062559876003,-1.0828506547721228,0.9930752087870145,-0.07982781317450305,-0.03781233215264817,-0.0032781185823663487,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.040464209698218796,-0.5011315794069685,-0.8801863940617893,0.2692669536046091,0.6704497893759284,-0.41333167845287333,0.6137136141712698,1.122105591250243,1.4939000082330591,1.4939000082330591,6.138079999993144,1,0,-0.0008258991672880064,-9.999999025923074e-05
+32320,1791619708657907521,24892506000000,1791619708657023849,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6761419097216229,-0.0048033776518158055,0.0765659033655312,0.9999999870815525,6.218318338619688e-05,8.608703078723401e-05,7.747279618725102e-05,0.6761,-0.0048,0.0764257469697724,1.0,0.0,0.0,0.0,0.612130868393023,-0.9798048534949629,0.6432012068273573,-0.06533831668186288,-0.04442648769478196,-0.0032683177001574023,0.5711867466747707,-0.9165829126752654,0.5141708243641288,-0.06631513141827977,-0.04440167147326821,-0.0038686371069248542,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,-0.003618043845201336,-0.29505664829791795,-0.4027916523130382,0.26233596376252666,0.3457460541479005,-0.2668476206514514,0.6137136141712698,0.6432012068273573,1.016505266484308,1.016505266484308,6.166719999993013,1,0,-0.000843799163800811,-9.999999025923074e-05
+32372,1791619709090945980,24892939000000,1791619709085024516,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6760867918000679,-0.004835491898149111,0.0761191713455422,0.9999999907337175,4.4264255048963444e-05,1.8547559056756325e-07,8.953251282777704e-05,0.6761,-0.0048,0.0760557055327619,1.0,0.0,0.0,0.0,0.6775495817823661,-0.8352010994995448,0.2343740018663169,-0.053888368445552164,-0.0494013266883707,-0.002877946524512328,0.6366054600641138,-0.7719791586798472,0.10534361940308844,-0.054865183181969056,-0.049376510466856954,-0.0034782659312797798,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.042229763262189385,-0.18769477503416288,0.029946288269486705,0.2734777989949528,0.05272736281736533,-0.19254105298659058,0.6137136141712698,0.2343740018663169,0.583767325901783,0.583767325901783,6.201359999992856,1,0,-0.0008654491595830579,-9.999999025923074e-05
+32424,1791619709525012643,24893373000000,1791619709525024865,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6760506050002923,-0.0048672957214741484,0.07568195185122094,0.9999999890420652,2.129439904061266e-05,-5.698712023010902e-05,9.827385439301552e-05,0.6761,-0.0048,0.07567540254842234,1.0,0.0,0.0,0.0,0.6885073206572876,-0.6847302029619339,-0.032939089784829595,-0.043730043307817566,-0.04875937167552196,-0.0025399996062203016,0.6475631989390352,-0.6215082621422363,-0.16196947224805808,-0.04470685804423446,-0.04873455545400821,-0.0031403190129877536,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.20671806514396052,-0.024237136754465,0.31339205117749724,0.2519127029489687,-0.11275780818223462,-0.08383284137446817,0.6137136141712698,0.032939089784829595,0.30032156299377255,0.30032156299377255,6.236079999992698,1,0,-0.0008871491553555641,-9.999999025923074e-05
+32476,1791619709957987524,24893806000000,1791619709957024723,DOWN_FORCE_DETACH,10,0.0439,0.04390210658311844,0.6760149377088166,-0.004889535653508568,0.07523621268591221,0.999999983244444,1.2148135961595958e-05,-0.00011490512510670832,0.00010771820391957249,0.6761,-0.0048,0.07528659056506863,1.0,0.0,0.0,0.0,0.6649729296740582,-0.5693433310714878,-0.16333406006320825,-0.03626543253054816,-0.046839596399604284,-0.0023176481049286407,0.6240288079558058,-0.5061213902517903,-0.29236444252643673,-0.03724224726696505,-0.046814780178090536,-0.0029179675116960922,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.28855971316874607,-0.014353731575955849,0.4031548823923292,0.2558288038886213,-0.1743614848602983,-0.07550938644450392,0.6137136141712698,0.16333406006320825,0.21055873177894058,0.21055873177894058,6.27071999999254,1,0,-0.000908799151137811,-9.999999025923074e-05
+32528,1791619710390964792,24894239000000,1791619710389025254,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.675986262000728,-0.004906138723991803,0.07479703498802837,0.9999999766770202,-1.680013499322605e-06,-0.00015872327654012903,0.00011354700593663446,0.6761,-0.0048,0.07488840413354121,1.0,0.0,0.0,0.0,0.6049159042286568,-0.45199927993905603,-0.29177468438580123,-0.02854848229360915,-0.04191723952050853,-0.0020518872743869676,0.5639717825104045,-0.3887773391193584,-0.42080506684902974,-0.029525297030026043,-0.04189242329899478,-0.0026522066811544196,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.36876392697873256,0.14201371015530528,0.5647895896035855,0.20794047344100502,-0.2815880678692535,0.020477135246016256,0.6137136141712698,0.29177468438580123,0.0489240245676843,0.0489240245676843,6.305359999992382,1,0,-0.0009304491469200579,-9.999999025923074e-05
+32580,1791619710824950535,24894673000000,1791619710825025205,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6759582679564685,-0.0049144944926930514,0.07434838727993015,0.9999999684917664,-9.476516535746801e-06,-0.00020289798813118268,0.00011489966414968466,0.6761,-0.0048,0.07447989115469739,1.0,0.0,0.0,0.0,0.5538760455628402,-0.3596384050844973,-0.3677115481801292,-0.02237743972184674,-0.03795187479211608,-0.0018642087276794373,0.5129319238445879,-0.2964164642647997,-0.4967419306433577,-0.023354254458263633,-0.03792705857060233,-0.002464528134446889,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.434926303876568,0.2135543393816823,0.688536831834234,0.19385159633701565,-0.36835175770518885,0.06553023582352248,0.6137136141712698,0.3677115481801292,-0.07482321766296418,-0.07482321766296418,6.340079999992224,1,0,-0.000952149142692564,-9.999999025923074e-05
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+32684,1791619711690976318,24895539000000,1791619711689024959,DOWN_FORCE_DETACH,10,0.0439,0.04390145093202591,0.6759297143964399,-0.0049290180860518855,0.07347803541735505,0.9999999581534423,-1.6827958303036605e-05,-0.0002492780417575477,0.00011275307393356472,0.6761,-0.0048,0.07363660275078242,1.0,0.0,0.0,0.0,0.39815961981880266,-0.19841193297284848,-0.4939711816554315,-0.010397192471041733,-0.02702885634887691,-0.0014690806443532092,0.35721549810055025,-0.13518999215315086,-0.62300156411866,-0.011374007207458625,-0.02700404012736316,-0.002069400051120661,-0.04094412171825239,0.0632219408196976,-0.12903038246322848,-0.0009768147364168924,2.4816221513749964e-05,-0.0006003194067674517,1,0.636795899665032,0.24871055823702176,0.7917591245010316,0.18448857002010619,-0.43149322291858216,0.08769435300718718,0.6137136141712698,0.4939711816554315,-0.1780455103297618,-0.1780455103297618,6.409359999991909,1,0,-0.0009954491342570578,-9.999999025923074e-05
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4785e9e43e9a491e1c5e4a635a197ccae010874e
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1260197df609439643696aa33eebb170afb316b
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,7.066666667e+00,DOWN_FORCE_DETACH,1791619645161205128,1.698611977e-04,-9.484572641e-05,-4.280517327e-04,1.711798344e-04,-9.523688683e-05,-4.244718677e-04,1.761615856e-04,-9.484298036e-05,-4.239244083e-04,7.017077327e-01,-9.329476509e-05,8.403128895e-01,7.017090513e-01,-9.368592550e-05,8.403164693e-01,7.019050953e-01,-9.312384331e-05,8.291486542e-01
+6,8.833333333e+00,DOWN_FORCE_DETACH,1791619648653284478,1.665985277e-04,-8.757382937e-05,-4.374736828e-04,1.711798344e-04,-9.523688683e-05,-4.244718677e-04,1.762290403e-04,-9.484836401e-05,-4.241135517e-04,7.017044700e-01,-8.602286805e-05,8.403034675e-01,7.017090513e-01,-9.368592550e-05,8.403164693e-01,7.019051627e-01,-9.312922696e-05,8.291484651e-01
+7,1.045000000e+01,DOWN_FORCE_DETACH,1791619651711251078,1.725108731e-04,-9.801919801e-05,-4.642328320e-04,1.712317012e-04,-9.116088001e-05,-4.641319726e-04,1.760669542e-04,-9.081338398e-05,-4.632675104e-04,7.017103824e-01,-9.646823669e-05,8.402767084e-01,7.017091032e-01,-8.960991869e-05,8.402768092e-01,7.019050006e-01,-8.909424693e-05,8.291093111e-01
+8,1.236666667e+01,DOWN_FORCE_DETACH,1791619655469789723,1.967476448e-04,-1.012125501e-04,-5.113837520e-04,1.900275129e-04,-9.045437819e-05,-4.967838155e-04,1.951878668e-04,-9.009098643e-05,-4.960558286e-04,7.017346191e-01,-9.966158880e-05,8.402295574e-01,7.017278990e-01,-8.890341687e-05,8.402441574e-01,7.019241216e-01,-8.837184938e-05,8.290765228e-01
+9,1.413333333e+01,DOWN_FORCE_DETACH,1791619658865785201,2.151407662e-04,-9.519072471e-05,-5.800721940e-04,2.117053741e-04,-9.355233446e-05,-5.728387859e-04,2.171909041e-04,-9.317832555e-05,-5.716069278e-04,7.017530122e-01,-9.363976339e-05,8.401608690e-01,7.017495769e-01,-9.200137314e-05,8.401681024e-01,7.019461246e-01,-9.145918851e-05,8.290009717e-01
+10,1.603333333e+01,DOWN_FORCE_DETACH,1791619662521817598,2.338153347e-04,-9.692707248e-05,-6.850714141e-04,2.281370481e-04,-9.943157554e-05,-6.733137498e-04,2.337520502e-04,-9.905662118e-05,-6.719313395e-04,7.017716868e-01,-9.537611115e-05,8.400558698e-01,7.017660085e-01,-9.788061422e-05,8.400676274e-01,7.019626857e-01,-9.733748413e-05,8.289006473e-01
+11,1.790000000e+01,DOWN_FORCE_DETACH,1791619666181768242,2.553076371e-04,-1.003179167e-04,-8.299090722e-04,2.521054742e-04,-1.014395497e-04,-8.119216309e-04,2.578583651e-04,-1.009995602e-04,-8.102273177e-04,7.017931791e-01,-9.876695536e-05,8.399110321e-01,7.017899770e-01,-9.988858839e-05,8.399290196e-01,7.019867921e-01,-9.928042311e-05,8.287623513e-01
+12,1.968333333e+01,DOWN_FORCE_DETACH,1791619669541922835,2.773979141e-04,-1.033710798e-04,-1.005963379e-03,2.772828025e-04,-1.003972464e-04,-1.004557150e-03,2.828415989e-04,-9.997818323e-05,-1.002077091e-03,7.018152694e-01,-1.018201185e-04,8.397349778e-01,7.018151543e-01,-9.884628512e-05,8.397363840e-01,7.020117753e-01,-9.825904619e-05,8.285705016e-01
+13,2.093333333e+01,DOWN_FORCE_DETACH,1791619672038108185,2.941428031e-04,-1.050081396e-04,-1.172052651e-03,2.938681236e-04,-1.050957987e-04,-1.172364852e-03,2.993260461e-04,-1.046684300e-04,-1.169313355e-03,7.018320143e-01,-1.034571783e-04,8.395688885e-01,7.018317396e-01,-1.035448374e-04,8.395685763e-01,7.020282597e-01,-1.029492929e-04,8.284032653e-01
+14,2.203333333e+01,DOWN_FORCE_DETACH,1791619674167319114,3.093655279e-04,-1.131884878e-04,-1.346968440e-03,3.073706955e-04,-1.076497507e-04,-1.332851321e-03,3.126921910e-04,-1.072701352e-04,-1.329823884e-03,7.018472370e-01,-1.116375264e-04,8.393939727e-01,7.018452422e-01,-1.060987894e-04,8.394080899e-01,7.020416259e-01,-1.055509981e-04,8.282427548e-01
+15,2.348333333e+01,DOWN_FORCE_DETACH,1791619676927742888,3.271916975e-04,-1.202039170e-04,-1.610214127e-03,3.263808932e-04,-1.144470108e-04,-1.606270213e-03,3.313524767e-04,-1.139215949e-04,-1.602462279e-03,7.018650632e-01,-1.186529557e-04,8.391307271e-01,7.018642524e-01,-1.128960495e-04,8.391346710e-01,7.020602862e-01,-1.122024579e-04,8.279701164e-01
+16,2.486666667e+01,DOWN_FORCE_DETACH,1791619679621789885,3.489410861e-04,-1.218389764e-04,-1.933359456e-03,3.457763099e-04,-1.193323764e-04,-1.934376043e-03,3.501791081e-04,-1.187695910e-04,-1.929662409e-03,7.018868126e-01,-1.202880151e-04,8.388075817e-01,7.018836478e-01,-1.177814151e-04,8.388065651e-01,7.020791128e-01,-1.170504539e-04,8.276429162e-01
+17,2.601666667e+01,DOWN_FORCE_DETACH,1791619681883971975,3.646882254e-04,-1.260295208e-04,-2.275857360e-03,3.646277014e-04,-1.260188988e-04,-2.275903061e-03,3.682434911e-04,-1.254621150e-04,-2.270302785e-03,7.019025597e-01,-1.244785595e-04,8.384650838e-01,7.019024992e-01,-1.244679374e-04,8.384650381e-01,7.020971772e-01,-1.237429779e-04,8.273022759e-01
+18,2.713333333e+01,DOWN_FORCE_DETACH,1791619684014046328,3.804350956e-04,-1.264188396e-04,-2.655506779e-03,3.796466699e-04,-1.264893429e-04,-2.641004744e-03,3.823487299e-04,-1.259470476e-04,-2.635099254e-03,7.019183066e-01,-1.248678783e-04,8.380854344e-01,7.019175182e-01,-1.249383816e-04,8.380999364e-01,7.021112824e-01,-1.242279105e-04,8.269374794e-01
+19,2.810000000e+01,DOWN_FORCE_DETACH,1791619685841772488,4.003381473e-04,-1.287442438e-04,-3.040249286e-03,4.000339479e-04,-1.286171951e-04,-3.039952942e-03,4.018098904e-04,-1.280164906e-04,-3.033131749e-03,7.019382096e-01,-1.271932825e-04,8.377006919e-01,7.019379054e-01,-1.270662338e-04,8.377009882e-01,7.021307436e-01,-1.262973535e-04,8.265394469e-01
+20,2.891666667e+01,DOWN_FORCE_DETACH,1791619687438248947,4.197224814e-04,-1.342641092e-04,-3.433241784e-03,4.176134828e-04,-1.357030847e-04,-3.415952864e-03,4.186043742e-04,-1.350233937e-04,-3.408697841e-03,7.019575940e-01,-1.327131479e-04,8.373076994e-01,7.019554850e-01,-1.341521234e-04,8.373249883e-01,7.021475381e-01,-1.333042566e-04,8.261638808e-01
+21,2.965000000e+01,DOWN_FORCE_DETACH,1791619688903167805,4.309737721e-04,-1.377360349e-04,-3.838759318e-03,4.326989809e-04,-1.364134765e-04,-3.825240913e-03,4.326595844e-04,-1.357041743e-04,-3.817138845e-03,7.019688453e-01,-1.361850735e-04,8.369021819e-01,7.019705705e-01,-1.348625152e-04,8.369157003e-01,7.021615933e-01,-1.339850373e-04,8.257554398e-01
+22,3.035000000e+01,DOWN_FORCE_DETACH,1791619690265731531,4.491279191e-04,-1.434682220e-04,-4.251422519e-03,4.468308155e-04,-1.387560456e-04,-4.233458235e-03,4.457314045e-04,-1.379435562e-04,-4.225331501e-03,7.019869994e-01,-1.419172607e-04,8.364895187e-01,7.019847023e-01,-1.372050842e-04,8.365074830e-01,7.021746651e-01,-1.362244192e-04,8.253472471e-01
+23,3.100000000e+01,DOWN_FORCE_DETACH,1791619691497709590,4.610255536e-04,-1.389459302e-04,-4.661821349e-03,4.607022302e-04,-1.391132442e-04,-4.661713237e-03,4.585983754e-04,-1.382640223e-04,-4.653011169e-03,7.019988970e-01,-1.373949689e-04,8.360791198e-01,7.019985737e-01,-1.375622829e-04,8.360792280e-01,7.021875321e-01,-1.365448853e-04,8.249195675e-01
+24,3.160000000e+01,DOWN_FORCE_DETACH,1791619692625843267,4.655436086e-04,-1.396876997e-04,-5.057651274e-03,4.684442910e-04,-1.440121369e-04,-5.044012844e-03,4.653275336e-04,-1.432073527e-04,-5.035610774e-03,7.020034151e-01,-1.381367384e-04,8.356832899e-01,7.020063158e-01,-1.424611756e-04,8.356969283e-01,7.021942612e-01,-1.414882156e-04,8.245369679e-01
+25,3.216666667e+01,DOWN_FORCE_DETACH,1791619693726848241,4.796302548e-04,-1.382807602e-04,-5.469533415e-03,4.794115691e-04,-1.386720374e-04,-5.469772045e-03,4.750755676e-04,-1.377903330e-04,-5.460722041e-03,7.020175017e-01,-1.367297989e-04,8.352714078e-01,7.020172831e-01,-1.371210760e-04,8.352711691e-01,7.022040093e-01,-1.360711959e-04,8.241118566e-01
+26,3.275000000e+01,DOWN_FORCE_DETACH,1791619694823584081,4.927520869e-04,-1.305539118e-04,-5.896406584e-03,4.927461415e-04,-1.305800814e-04,-5.896054015e-03,4.872220187e-04,-1.297161756e-04,-5.887207153e-03,7.020306236e-01,-1.290029505e-04,8.348445346e-01,7.020306176e-01,-1.290291201e-04,8.348448872e-01,7.022161557e-01,-1.279970386e-04,8.236853715e-01
+27,3.328333333e+01,DOWN_FORCE_DETACH,1791619695887616933,5.040576713e-04,-1.121203710e-04,-6.323221539e-03,5.038939225e-04,-1.121389800e-04,-6.323356800e-03,4.973786834e-04,-1.114492232e-04,-6.314666936e-03,7.020419292e-01,-1.105694097e-04,8.344177196e-01,7.020417654e-01,-1.105880187e-04,8.344175844e-01,7.022263124e-01,-1.097300862e-04,8.232579117e-01
+28,3.381666667e+01,DOWN_FORCE_DETACH,1791619696951602145,5.199811118e-04,-1.021252158e-04,-6.757923785e-03,5.197683492e-04,-1.021985527e-04,-6.758150825e-03,5.120547191e-04,-1.014585151e-04,-6.749930484e-03,7.020578526e-01,-1.005742545e-04,8.339830174e-01,7.020576398e-01,-1.006475914e-04,8.339827904e-01,7.022409884e-01,-9.973937803e-05,8.228226482e-01
+29,3.435000000e+01,DOWN_FORCE_DETACH,1791619698015799437,5.327420476e-04,-8.542639998e-05,-7.191955379e-03,5.325025318e-04,-8.551409586e-05,-7.191703586e-03,5.236732158e-04,-8.493359393e-05,-7.183956122e-03,7.020706135e-01,-8.387543866e-05,8.335489858e-01,7.020703740e-01,-8.396313453e-05,8.335492376e-01,7.022526069e-01,-8.321445689e-05,8.223886225e-01
+30,3.490000000e+01,DOWN_FORCE_DETACH,1791619699045776474,5.344316656e-04,-7.375772398e-05,-7.619983460e-03,5.342218191e-04,-7.367513268e-05,-7.619937801e-03,5.242161290e-04,-7.317730217e-05,-7.613119455e-03,7.020723031e-01,-7.220676266e-05,8.331209577e-01,7.020720933e-01,-7.212417136e-05,8.331210034e-01,7.022531498e-01,-7.145816512e-05,8.219594592e-01
+31,3.540000000e+01,DOWN_FORCE_DETACH,1791619700013788754,5.436311672e-04,-5.373288481e-05,-8.036363370e-03,5.434083772e-04,-5.372589551e-05,-8.022193408e-03,5.321837302e-04,-5.329061187e-05,-8.016036013e-03,7.020815026e-01,-5.218192349e-05,8.327045778e-01,7.020812799e-01,-5.217493419e-05,8.327187478e-01,7.022611174e-01,-5.157147483e-05,8.215565426e-01
+32,3.591666667e+01,DOWN_FORCE_DETACH,1791619700975912910,5.470264809e-04,-4.407020685e-05,-8.471752974e-03,5.466939168e-04,-4.390895130e-05,-8.471704178e-03,5.340205273e-04,-4.348443326e-05,-8.465886935e-03,7.020848980e-01,-4.251924553e-05,8.322691882e-01,7.020845654e-01,-4.235798998e-05,8.322692370e-01,7.022629542e-01,-4.176529621e-05,8.211066917e-01
+33,3.636666667e+01,DOWN_FORCE_DETACH,1791619701841576420,5.434290491e-04,-2.063333831e-05,-8.904328021e-03,5.431274124e-04,-2.073496697e-05,-8.904247479e-03,5.289766005e-04,-2.045757663e-05,-8.898897872e-03,7.020813005e-01,-1.908237699e-05,8.318366132e-01,7.020809989e-01,-1.918400565e-05,8.318366937e-01,7.022579103e-01,-1.873843958e-05,8.206736808e-01
+34,3.678333333e+01,DOWN_FORCE_DETACH,1791619702639690822,5.430009598e-04,2.077801000e-06,-9.335375874e-03,5.429657455e-04,2.089303249e-06,-9.335101977e-03,5.273123622e-04,2.149776162e-06,-9.330664268e-03,7.020808724e-01,3.628762321e-06,8.314055653e-01,7.020808372e-01,3.640264570e-06,8.314058392e-01,7.022562461e-01,3.868913208e-06,8.202419144e-01
+35,3.718333333e+01,DOWN_FORCE_DETACH,1791619703405725139,5.393393741e-04,2.753085687e-05,-9.772065411e-03,5.391544670e-04,2.770792754e-05,-9.771456069e-03,5.217755457e-04,2.787380659e-05,-9.767641795e-03,7.020772109e-01,2.908181819e-05,8.309688758e-01,7.020770259e-01,2.925888886e-05,8.309694851e-01,7.022507092e-01,2.959294364e-05,8.198049369e-01
+36,3.751666667e+01,DOWN_FORCE_DETACH,1791619704069622324,5.303253653e-04,6.782781790e-05,-1.019452696e-02,5.302296103e-04,6.788512320e-05,-1.019441050e-02,5.112161288e-04,6.765637312e-05,-1.019093928e-02,7.020681968e-01,6.937877922e-05,8.305464142e-01,7.020681011e-01,6.943608452e-05,8.305465307e-01,7.022401498e-01,6.937551016e-05,8.193816394e-01
+37,3.785000000e+01,DOWN_FORCE_DETACH,1791619704735625035,5.164349914e-04,8.753071359e-05,-1.064007290e-02,5.161330222e-04,8.784860577e-05,-1.064016395e-02,4.951318882e-04,8.740868372e-05,-1.063770077e-02,7.020543065e-01,8.908167491e-05,8.301008683e-01,7.020540045e-01,8.939956709e-05,8.301007772e-01,7.022240656e-01,8.912782077e-05,8.189348779e-01
+38,3.815000000e+01,DOWN_FORCE_DETACH,1791619705333618622,4.973927885e-04,1.006467458e-04,-1.107163283e-02,4.973694985e-04,1.004164432e-04,-1.107156069e-02,4.742914360e-04,1.000463313e-04,-1.106972141e-02,7.020352643e-01,1.021977071e-04,8.296693084e-01,7.020352410e-01,1.019674045e-04,8.296693805e-01,7.022032251e-01,1.017654684e-04,8.185028572e-01
+39,3.843333333e+01,DOWN_FORCE_DETACH,1791619705901672300,4.715415158e-04,1.207980713e-04,-1.151635667e-02,4.713574621e-04,1.205023597e-04,-1.151675771e-02,4.458972524e-04,1.202876001e-04,-1.151541791e-02,7.020094130e-01,1.223490326e-04,8.292245845e-01,7.020092289e-01,1.220533210e-04,8.292241835e-01,7.021748309e-01,1.220067372e-04,8.180571607e-01
+40,3.870000000e+01,DOWN_FORCE_DETACH,1791619706433958668,4.424932665e-04,1.367156673e-04,-1.194197260e-02,4.423103193e-04,1.368372499e-04,-1.194222486e-02,4.143801894e-04,1.364731968e-04,-1.194155076e-02,7.019803647e-01,1.382666286e-04,8.287989686e-01,7.019801818e-01,1.383882112e-04,8.287987163e-01,7.021433139e-01,1.381923339e-04,8.176310279e-01
+41,3.896666667e+01,DOWN_FORCE_DETACH,1791619706929605344,4.025469349e-04,1.519819955e-04,-1.237436361e-02,4.024021883e-04,1.521278483e-04,-1.237428896e-02,3.716103245e-04,1.520835018e-04,-1.237421472e-02,7.019404184e-01,1.535329568e-04,8.283665776e-01,7.019402737e-01,1.536788096e-04,8.283666522e-01,7.021005440e-01,1.538026388e-04,8.171983639e-01
+42,3.921666667e+01,DOWN_FORCE_DETACH,1791619707395640012,3.632687069e-04,1.629062198e-04,-1.280435346e-02,3.632914017e-04,1.629617377e-04,-1.280407798e-02,3.299655067e-04,1.636298230e-04,-1.280445129e-02,7.019011402e-01,1.644571812e-04,8.279365877e-01,7.019011629e-01,1.645126991e-04,8.279368632e-01,7.020588992e-01,1.653489600e-04,8.167681274e-01
+43,3.945000000e+01,DOWN_FORCE_DETACH,1791619707861636684,3.144634383e-04,1.590909106e-04,-1.324450110e-02,3.142245665e-04,1.589767483e-04,-1.324433384e-02,2.778909139e-04,1.601060016e-04,-1.324492138e-02,7.018523349e-01,1.606418719e-04,8.274964401e-01,7.018520960e-01,1.605277096e-04,8.274966073e-01,7.020068246e-01,1.618251386e-04,8.163276573e-01
+44,3.968333333e+01,DOWN_FORCE_DETACH,1791619708295623580,2.485674077e-04,1.340060273e-04,-1.370184169e-02,2.482683964e-04,1.339742146e-04,-1.370205814e-02,2.084732371e-04,1.349643514e-04,-1.370271520e-02,7.017864389e-01,1.355569886e-04,8.270390995e-01,7.017861399e-01,1.355251759e-04,8.270388830e-01,7.019374069e-01,1.366834885e-04,8.158698635e-01
+45,3.988333333e+01,DOWN_FORCE_DETACH,1791619708659894776,1.861242567e-04,9.341309516e-05,-1.410284193e-02,1.861770777e-04,9.336985417e-05,-1.410317084e-02,1.432694970e-04,9.409245981e-05,-1.410385771e-02,7.017239957e-01,9.496405648e-05,8.266380993e-01,7.017240486e-01,9.492081549e-05,8.266377703e-01,7.018722032e-01,9.581159685e-05,8.154687209e-01
+46,4.010000000e+01,DOWN_FORCE_DETACH,1791619709093711158,1.311384835e-04,5.787465389e-05,-1.455000346e-02,1.310671697e-04,5.763860950e-05,-1.454974344e-02,8.507131704e-05,5.815808020e-05,-1.455043965e-02,7.016690100e-01,5.942561521e-05,8.261909377e-01,7.016689387e-01,5.918957082e-05,8.261911977e-01,7.018140050e-01,5.987721724e-05,8.150221390e-01
+47,4.033333333e+01,DOWN_FORCE_DETACH,1791619709525888289,9.485723788e-05,2.868618339e-05,-1.498519860e-02,9.471903934e-05,2.884189236e-05,-1.498497171e-02,4.624160803e-05,2.915796678e-05,-1.498571362e-02,7.016327287e-01,3.023714471e-05,8.257557426e-01,7.016325905e-01,3.039285368e-05,8.257559695e-01,7.017751753e-01,3.087710383e-05,8.145868650e-01
+48,4.056666667e+01,DOWN_FORCE_DETACH,1791619709957610495,6.091533337e-05,5.349841703e-06,-1.542887459e-02,6.095396057e-05,5.649819726e-06,-1.542817423e-02,1.007502103e-05,5.832777749e-06,-1.542899740e-02,7.015987868e-01,6.900803024e-06,8.253120666e-01,7.015988254e-01,7.200781047e-06,8.253127670e-01,7.017390087e-01,7.551914795e-06,8.141435812e-01
+49,4.078333333e+01,DOWN_FORCE_DETACH,1791619710389612880,2.920356753e-05,-1.046695773e-05,-1.587003161e-02,2.898651480e-05,-1.055180114e-05,-1.587011207e-02,-2.421086020e-05,-1.046655884e-05,-1.587095932e-02,7.015670750e-01,-8.915996411e-06,8.248709096e-01,7.015668580e-01,-9.000839816e-06,8.248708291e-01,7.017047228e-01,-8.747421796e-06,8.137016193e-01
+50,4.101666667e+01,DOWN_FORCE_DETACH,1791619710823660905,4.833052496e-06,-2.434054819e-05,-1.631367224e-02,4.822209527e-06,-2.446302501e-05,-1.631338961e-02,-5.045073213e-05,-2.446641753e-05,-1.631422065e-02,7.015427045e-01,-2.278958686e-05,8.244272690e-01,7.015426937e-01,-2.291206369e-05,8.244275516e-01,7.016784830e-01,-2.274728049e-05,8.132583580e-01
+51,4.125000000e+01,DOWN_FORCE_DETACH,1791619711255639302,-1.865927481e-05,-2.537954587e-05,-1.675959460e-02,-1.878984562e-05,-2.525587367e-05,-1.675928453e-02,-7.610932335e-05,-2.527121715e-05,-1.676015818e-02,7.015192122e-01,-2.382858455e-05,8.239813466e-01,7.015190816e-01,-2.370491235e-05,8.239816567e-01,7.016528244e-01,-2.355208010e-05,8.128124205e-01
+52,4.146666667e+01,DOWN_FORCE_DETACH,1791619711690649353,-2.622515305e-05,-3.274963988e-05,-1.718977507e-02,-2.644041843e-05,-3.272628810e-05,-1.718949979e-02,-8.527944670e-05,-3.278232811e-05,-1.719038721e-02,7.015116463e-01,-3.119867856e-05,8.235511661e-01,7.015114311e-01,-3.117532678e-05,8.235514414e-01,7.016436542e-01,-3.106319107e-05,8.123821914e-01
+53,4.168333333e+01,DOWN_FORCE_DETACH,1791619712119817051,-3.739317239e-05,-3.743889874e-05,-1.763006037e-02,-3.777984608e-05,-3.749374622e-05,-1.762974127e-02,-9.825674739e-05,-3.757477194e-05,-1.763063467e-02,7.015004783e-01,-3.588793742e-05,8.231108808e-01,7.015000916e-01,-3.594278490e-05,8.231111999e-01,7.016306769e-01,-3.585563489e-05,8.119419440e-01
+54,4.191666667e+01,DOWN_FORCE_DETACH,1791619712585936847,-4.050249631e-05,-4.770477640e-05,-1.809334921e-02,-4.052892272e-05,-4.741602108e-05,-1.809302605e-02,-1.024818614e-04,-4.757063869e-05,-1.809390802e-02,7.014973690e-01,-4.615381508e-05,8.226475920e-01,7.014973426e-01,-4.586505976e-05,8.226479151e-01,7.016264518e-01,-4.585150164e-05,8.114786706e-01
+55,4.213333333e+01,DOWN_FORCE_DETACH,1791619713017685624,-3.818948298e-05,-4.486346609e-05,-1.854244947e-02,-3.827436145e-05,-4.474984488e-05,-1.854210137e-02,-1.014588971e-04,-4.488111304e-05,-1.854304028e-02,7.014996820e-01,-4.331250477e-05,8.221984917e-01,7.014995971e-01,-4.319888356e-05,8.221988398e-01,7.016274748e-01,-4.316197599e-05,8.110295384e-01
+56,4.233333333e+01,DOWN_FORCE_DETACH,1791619713418050727,-3.353873953e-05,-4.539396668e-05,-1.895824536e-02,-3.383382963e-05,-4.561040192e-05,-1.895807679e-02,-9.812756208e-05,-4.573154696e-05,-1.895899422e-02,7.015043327e-01,-4.384300536e-05,8.217826958e-01,7.015040377e-01,-4.405944060e-05,8.217828644e-01,7.016308061e-01,-4.401240992e-05,8.106135844e-01
+57,4.255000000e+01,DOWN_FORCE_DETACH,1791619713849713570,-2.608747662e-05,-2.535082599e-05,-1.940789824e-02,-2.637652832e-05,-2.543482856e-05,-1.940766784e-02,-9.169901571e-05,-2.542958657e-05,-1.940862339e-02,7.015117840e-01,-2.379986467e-05,8.213330430e-01,7.015114950e-01,-2.388386723e-05,8.213332733e-01,7.016372347e-01,-2.371044953e-05,8.101639553e-01
+58,4.275000000e+01,DOWN_FORCE_DETACH,1791619714249659401,-1.880401193e-05,-2.411609529e-05,-1.984639976e-02,-1.911835447e-05,-2.413999620e-05,-1.984658562e-02,-8.550793101e-05,-2.413243210e-05,-1.984758113e-02,7.015190675e-01,-2.256513397e-05,8.208945414e-01,7.015187531e-01,-2.258903488e-05,8.208943556e-01,7.016434258e-01,-2.241329505e-05,8.097249975e-01
+59,4.315000000e+01,DOWN_SETTLE,1791619715013734297,-1.251791139e-05,-1.439797364e-05,-2.028958415e-02,-1.047939607e-05,-2.004990007e-05,-2.027345300e-02,-7.784741902e-05,-2.001317880e-05,-2.027446376e-02,7.015253536e-01,-1.284701232e-05,8.204513570e-01,7.015273921e-01,-1.849893875e-05,8.204674882e-01,7.016510863e-01,-1.829404175e-05,8.092981149e-01
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..773302173a2d07fb7352b97c9916c09c5ce1c869
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-3.6356e-02,-3.1572e-04,2.4425e+00,-3.6755e-02,3.4191e-02,3.4908e-06,6.9375e-04,4.8783e-06,3.2139e-04,-2.5332e-07,4.6194e-05,1.1240e-07,7.6459e-04,4.6194e-05
+1,1.6500e+00,DOWN_FORCE_DETACH,4.4583e-04,1.8163e-02,2.1054e-02,2.5545e+00,-3.8224e-02,3.7958e-02,8.1185e-05,5.5213e-02,2.1374e-02,1.1225e-01,-1.4695e-03,3.8124e-03,7.7806e-05,1.2691e-01,4.0866e-03
+2,2.1167e+00,DOWN_FORCE_DETACH,8.9311e-04,-1.0893e-02,2.8445e-02,2.5528e+00,-3.8718e-02,3.5928e-02,1.0588e-04,2.6157e-02,2.8765e-02,1.1062e-01,-1.9631e-03,1.7831e-03,1.0250e-04,1.1725e-01,2.6540e-03
+3,3.2833e+00,DOWN_FORCE_DETACH,1.3384e-03,-3.6959e-02,3.1561e-02,2.5901e+00,-3.8839e-02,3.4086e-02,1.4222e-04,9.0510e-05,3.1882e-02,1.4784e-01,-2.0841e-03,-5.9314e-05,1.3884e-04,1.5124e-01,2.0896e-03
+4,5.1167e+00,DOWN_FORCE_DETACH,1.7815e-03,2.4921e-03,5.0088e-02,2.5029e+00,-4.0217e-02,3.6870e-02,1.6548e-04,3.9542e-02,5.0408e-02,6.0648e-02,-3.4624e-03,2.7251e-03,1.6210e-04,8.8220e-02,4.4092e-03
+5,7.0667e+00,DOWN_FORCE_DETACH,2.2271e-03,3.0430e-02,5.0150e-02,2.4694e+00,-4.0328e-02,3.8912e-02,6.4386e-05,6.7480e-02,5.0471e-02,2.7125e-02,-3.5727e-03,4.7664e-03,6.1007e-05,8.8524e-02,5.9571e-03
+6,8.8333e+00,DOWN_FORCE_DETACH,2.6731e-03,3.3732e-02,5.0242e-02,2.4589e+00,-4.0371e-02,3.9158e-02,2.7330e-05,7.0782e-02,5.0563e-02,1.6679e-02,-3.6164e-03,5.0127e-03,2.3951e-05,8.8571e-02,6.1811e-03
+7,1.0450e+01,DOWN_FORCE_DETACH,3.1153e-03,3.2727e-02,4.8315e-02,2.4875e+00,-4.0234e-02,3.9088e-02,1.8043e-05,6.9777e-02,4.8636e-02,4.5301e-02,-3.4787e-03,4.9430e-03,1.4665e-05,9.6366e-02,6.0444e-03
+8,1.2367e+01,DOWN_FORCE_DETACH,3.5601e-03,2.4865e-02,4.7910e-02,2.4806e+00,-4.0206e-02,3.8517e-02,2.9404e-05,6.1915e-02,4.8230e-02,3.8374e-02,-3.4512e-03,4.3715e-03,2.6026e-05,8.7362e-02,5.5697e-03
+9,1.4133e+01,DOWN_FORCE_DETACH,4.0105e-03,2.1745e-02,4.9565e-02,2.5073e+00,-4.0304e-02,3.8288e-02,5.0853e-05,5.8795e-02,4.9886e-02,6.5057e-02,-3.5493e-03,4.1424e-03,4.7474e-05,1.0089e-01,5.4552e-03
+10,1.6033e+01,DOWN_FORCE_DETACH,4.4538e-03,2.3628e-02,5.1860e-02,2.5160e+00,-4.0449e-02,3.8406e-02,6.8355e-05,6.0678e-02,5.2181e-02,7.3788e-02,-3.6936e-03,4.2608e-03,6.4976e-05,1.0885e-01,5.6392e-03
+11,1.7900e+01,DOWN_FORCE_DETACH,4.8986e-03,1.9494e-02,5.4243e-02,2.5280e+00,-4.0530e-02,3.8087e-02,4.5125e-05,5.6544e-02,5.4564e-02,8.5808e-02,-3.7748e-03,3.9417e-03,4.1747e-05,1.1635e-01,5.4578e-03
+12,1.9683e+01,DOWN_FORCE_DETACH,5.3425e-03,1.3977e-02,5.5437e-02,2.5518e+00,-4.0498e-02,3.7682e-02,1.3560e-05,5.1027e-02,5.5758e-02,1.0954e-01,-3.7429e-03,3.5368e-03,1.0182e-05,1.3309e-01,5.1496e-03
+13,2.0933e+01,DOWN_FORCE_DETACH,5.7891e-03,1.3216e-02,5.2638e-02,2.5746e+00,-4.0368e-02,3.7606e-02,2.5684e-05,5.0266e-02,5.2958e-02,1.3233e-01,-3.6135e-03,3.4606e-03,2.2305e-05,1.5114e-01,5.0034e-03
+14,2.2033e+01,DOWN_FORCE_DETACH,6.2340e-03,1.2198e-02,5.4555e-02,2.5941e+00,-4.0520e-02,3.7519e-02,5.2814e-05,4.9248e-02,5.4876e-02,1.5187e-01,-3.7650e-03,3.3737e-03,4.9436e-05,1.6882e-01,5.0556e-03
+15,2.3483e+01,DOWN_FORCE_DETACH,6.6774e-03,1.7940e-02,6.2469e-02,2.6120e+00,-4.0952e-02,3.7880e-02,9.5247e-05,5.4990e-02,6.2790e-02,1.6978e-01,-4.1970e-03,3.7345e-03,9.1869e-05,1.8919e-01,5.6187e-03
+16,2.4867e+01,DOWN_FORCE_DETACH,7.1249e-03,1.8216e-02,6.4611e-02,2.6574e+00,-4.1031e-02,3.7873e-02,1.2391e-04,5.5266e-02,6.4932e-02,2.1516e-01,-4.2763e-03,3.7274e-03,1.2053e-04,2.3144e-01,5.6741e-03
+17,2.6017e+01,DOWN_FORCE_DETACH,7.5707e-03,1.9881e-02,6.5002e-02,2.6986e+00,-4.0999e-02,3.7949e-02,1.3623e-04,5.6931e-02,6.5323e-02,2.5639e-01,-4.2444e-03,3.8041e-03,1.3285e-04,2.7064e-01,5.7012e-03
+18,2.7133e+01,DOWN_FORCE_DETACH,8.0176e-03,1.5294e-02,6.5769e-02,2.7258e+00,-4.0945e-02,3.7620e-02,1.5724e-04,5.2344e-02,6.6089e-02,2.8360e-01,-4.1903e-03,3.4745e-03,1.5386e-04,2.9586e-01,5.4456e-03
+19,2.8100e+01,DOWN_FORCE_DETACH,8.4624e-03,1.2376e-02,6.8099e-02,2.7500e+00,-4.1059e-02,3.7376e-02,1.5275e-04,4.9426e-02,6.8420e-02,3.0778e-01,-4.3043e-03,3.2306e-03,1.4937e-04,3.1915e-01,5.3838e-03
+20,2.8917e+01,DOWN_FORCE_DETACH,8.9027e-03,1.6698e-02,7.2049e-02,2.7900e+00,-4.1267e-02,3.7626e-02,1.3269e-04,5.3748e-02,7.2370e-02,3.4780e-01,-4.5118e-03,3.4805e-03,1.2932e-04,3.5929e-01,5.6997e-03
+21,2.9650e+01,DOWN_FORCE_DETACH,9.3513e-03,1.7526e-02,7.6517e-02,2.8270e+00,-4.1438e-02,3.7643e-02,1.1221e-04,5.4576e-02,7.6838e-02,3.8475e-01,-4.6834e-03,3.4979e-03,1.0883e-04,3.9612e-01,5.8465e-03
+22,3.0350e+01,DOWN_FORCE_DETACH,9.7910e-03,1.6860e-02,7.9627e-02,2.8486e+00,-4.1553e-02,3.7576e-02,1.0401e-04,5.3910e-02,7.9947e-02,4.0638e-01,-4.7985e-03,3.4303e-03,1.0064e-04,4.1766e-01,5.8994e-03
+23,3.1000e+01,DOWN_FORCE_DETACH,1.0238e-02,2.0696e-02,8.0350e-02,2.8524e+00,-4.1542e-02,3.7810e-02,1.0501e-04,5.7746e-02,8.0670e-02,4.1021e-01,-4.7875e-03,3.6652e-03,1.0163e-04,4.2203e-01,6.0303e-03
+24,3.1600e+01,DOWN_FORCE_DETACH,1.0689e-02,2.6750e-02,7.6831e-02,2.8562e+00,-4.1306e-02,3.8205e-02,9.2837e-05,6.3800e-02,7.7152e-02,4.1396e-01,-4.5510e-03,4.0596e-03,8.9458e-05,4.2590e-01,6.0991e-03
+25,3.2167e+01,DOWN_FORCE_DETACH,1.1138e-02,2.3956e-02,7.8186e-02,2.8618e+00,-4.1310e-02,3.8007e-02,8.4953e-05,6.1006e-02,7.8507e-02,4.1956e-01,-4.5555e-03,3.8617e-03,8.1575e-05,4.3118e-01,5.9726e-03
+26,3.2750e+01,DOWN_FORCE_DETACH,1.1584e-02,2.3988e-02,7.2263e-02,2.8627e+00,-4.0941e-02,3.8001e-02,7.9576e-05,6.1038e-02,7.2583e-02,4.2049e-01,-4.1862e-03,3.8562e-03,7.6197e-05,4.3105e-01,5.6922e-03
+27,3.3283e+01,DOWN_FORCE_DETACH,1.2024e-02,3.0101e-02,6.3221e-02,2.8572e+00,-4.0383e-02,3.8399e-02,6.5784e-05,6.7151e-02,6.3541e-02,4.1493e-01,-3.6283e-03,4.2534e-03,6.2405e-05,4.2511e-01,5.5910e-03
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diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..bf482175b9674d3f1202ea2a61580f92636f93fc
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f016d9a0fcdaaf865532738870d2bd10b591ef84961978e7dbb9c98f69cf4080
+size 95477760
diff --git a/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/fem_node.csv b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dc992eba2e3a93641642d4e2da2b8282fb8dc494
--- /dev/null
+++ b/Part2/Fixed/s2/ball_PLA_17.5/press_depth_10/up/fem_node.csv
@@ -0,0 +1,18961 @@
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