diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e18e13fb946941893e9901c6cd54f3ba4db0be4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25099f06626613042f3c98c99b9e3843991d141b
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/franka_data.csv
@@ -0,0 +1,61 @@
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+30823,1792648803327094969,17343640000000,1792648803324668304,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760105108227431,-0.004464930846548341,0.09090235215367079,0.999999984910701,2.5701229308768148e-05,-0.00013681355042765043,4.735991471430235e-05,0.6761,-0.0045,0.09099650031761004,1.0,0.0,0.0,0.0,-0.05204709008102715,0.008595566742252675,0.032060303633017595,0.0009015579009354104,0.004080542434367413,4.304133471728932e-05,0.20138619404338615,-0.22437489737045674,0.3196494725601813,-0.00888474178920295,-0.01407332318043333,-0.0005575998626618875,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.4454893600232296,-0.2945958191483789,0.8624046178982759,0.36028622835836394,-0.4556794455946525,-0.22399554783289224,0.9848723482038328,0.032060303633017595,0.12246773030555691,0.12246773030555691,0.1707934961893008,0,0,-6.886436167168003e-06,-9.793433705518879e-05
+30943,1792648804327155329,17344640000000,1792648804324669081,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760104383886109,-0.00446509272603924,0.09089820105305477,0.9999999848517676,2.5415374389506772e-05,-0.00013700615190956417,4.81944215052641e-05,0.6761,-0.0045,0.09098299315125587,1.0,0.0,0.0,0.0,-0.05212617110399448,0.0034096543712654748,0.05859775145042556,0.0008955200387887954,0.004076074182462672,2.160033318822992e-05,0.20130711302041882,-0.22956080974144394,0.34618692037758925,-0.008890779651349564,-0.01407779143233807,-0.000579040864190947,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.5098422077910371,-0.43037777405701977,0.7491313327639183,0.39950690289260943,-0.36901894951505065,-0.31478569264874495,0.9848723482038328,0.05859775145042556,0.23574101543991455,0.23574101543991455,0.24079349618928753,0,0,-1.628703296255451e-05,9.999936575877939e-05
+31063,1792648805327140035,17345640000000,1792648805324658556,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760124417167924,-0.004465673808938929,0.09088272621377967,0.9999999845739602,3.414353767084854e-05,-0.00013553830650291204,5.2521710712235903e-05,0.6761,-0.0045,0.09096169317517983,1.0,0.0,0.0,0.0,-0.05616101615262101,0.013850046421231638,0.1010888456611575,0.0018584376521082607,0.0040780721451459615,-1.4023652369713748e-06,0.1972722679717923,-0.21912041769147778,0.3886780145883212,-0.007927862038030099,-0.014075793469654782,-0.0006020435626161482,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.5373821864904728,-0.28853308643944875,0.6195296936556982,0.3882111771095227,-0.2872771058390108,-0.21625490442721274,0.9848723482038328,0.1010888456611575,0.36534265454813464,0.36534265454813464,0.31079349618929836,0,0,-2.269995318518602e-05,8.850346430578355e-05
+31188,1792648806368054838,17346681000000,1792648806360668781,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760127923254282,-0.004467475331184732,0.0908576902189505,0.999999977903823,0.00012183311682479278,-0.00013388966103539514,5.353006769318701e-05,0.6761,-0.0045,0.09093754321667154,1.0,0.0,0.0,0.0,-0.07163392614695241,0.01602073336420673,0.1610806759755133,0.0018697970138729734,0.0050478976456779685,-3.625962073137642e-05,0.18179935797746088,-0.21694973074850268,0.448669844902677,-0.007916502676265386,-0.013105967969122775,-0.0006369008181105533,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6178480544217483,-0.25641996479170603,0.6149152373704647,0.36434149427904516,-0.2591323858709438,-0.24294612163815174,0.9848723482038328,0.1610806759755133,0.36995711083336813,0.36995711083336813,0.38366349618931345,0,0,-2.4617680703638338e-05,9.999900493629638e-05
+31311,1792648807393076756,17347705999999,1792648807392668628,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760176083923776,-0.004464156118700373,0.09083903458096325,0.9999999797321648,0.00011587209844950948,-0.00012540516171673954,5.3157657956826e-05,0.6761,-0.0045,0.09091206138365414,1.0,0.0,0.0,0.0,-0.0896251998962867,0.027355402489689318,0.20152480035183318,0.0018370683300369273,0.006051934609602254,-8.350875685503604e-05,0.1638080842281266,-0.2056150616230201,0.48911396927899686,-0.007949231360101432,-0.012101931005198489,-0.0006841499542342129,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.5831491465732915,-0.27384583013147534,0.6676622442478597,0.37789623214025175,-0.30859024114564904,-0.2515210521245813,0.9848723482038328,0.20152480035183318,0.31721010395597316,0.31721010395597316,0.4554134961893283,0,0,-2.4538974154079913e-05,-9.969134825838494e-05
+31437,1792648808443122284,17348756000000,1792648808440659109,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760237528546704,-0.004467426981271527,0.09082269186687736,0.9999999819125035,0.00010615652767572156,-0.00011637991606311484,5.295624555428731e-05,0.6761,-0.0045,0.09087951982785979,1.0,0.0,0.0,0.0,-0.09128830787195583,0.03144146861767655,0.2419861394197047,0.00282293923749245,0.006988373635702464,-6.185348314148792e-05,0.16214497625245747,-0.20152899549503286,0.5295753083468684,-0.0069633604526459095,-0.01116549197909828,-0.0006624946805206648,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6341743702458774,-0.28097757906241083,0.5622656088909501,0.39591078142196057,-0.2325542679763751,-0.24332174708106666,0.9848723482038328,0.2419861394197047,0.42260673931288273,0.42260673931288273,0.5289134961893435,0,0,-3.779085173546826e-05,-9.546070464517271e-05
+31570,1792648809552098145,17349865000000,1792648809548659135,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.676028726065203,-0.00447172042185479,0.0907904496637872,0.9999999830224103,0.0001009269417985211,-0.00010951059791854616,5.6738213231283506e-05,0.6761,-0.0045,0.09083555631725782,1.0,0.0,0.0,0.0,-0.10125479806757293,0.03713987114222131,0.3125828963447965,0.0038245398685100573,0.00702111859148026,-0.0001075724618857716,0.15217848605684037,-0.1958305929704881,0.6001720652719602,-0.005961759821628302,-0.011132747023320483,-0.0007082136592649485,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6336214892829984,-0.32470631215107515,0.307936424627571,0.42120818228263074,-0.0734379020134878,-0.24353419300555645,0.9848723482038328,0.3125828963447965,0.6769359235762619,0.6769359235762619,0.6065434961893595,0,0,-3.830242884386858e-05,9.961264732372683e-05
+31674,1792648810418105406,17350731000000,1792648810416659144,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760277823894936,-0.00446865492408181,0.09075131780619469,0.999999981974985,0.00010601991886130295,-0.00011117749591776822,6.238778326071388e-05,0.6761,-0.0045,0.09080360167190568,1.0,0.0,0.0,0.0,-0.10115407799938542,0.030777754484860476,0.39636758158412455,0.0027642280493685896,0.008017217802394169,-0.0001713250707222944,0.15227920612502788,-0.20219270962784894,0.6839567505112882,-0.00702207164076977,-0.010136647812406575,-0.0007719662681014713,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6465304689786777,-0.3870869688607923,0.4305644503717378,0.4563380945685459,-0.15124506764036233,-0.2715635032450569,0.9848723482038328,0.39636758158412455,0.554307897832095,0.554307897832095,0.6671634961893721,0,0,-2.893700535719213e-05,-9.998959579616268e-05
+31782,1792648811318133854,17351631000000,1792648811312668601,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760300941878185,-0.004471692448829541,0.09073145365328698,0.9999999759347828,0.00015627198658802445,-0.0001054781356175487,6.345649754994322e-05,0.6761,-0.0045,0.09077742585850651,1.0,0.0,0.0,0.0,-0.11100111974882676,0.031113590179777245,0.42285134044582207,0.0037730170471179294,0.007993663644275104,-0.00018245641096767873,0.14243216437558653,-0.20185687393293217,0.7104405093729858,-0.00601328264302043,-0.01016020197052564,-0.0007830976083468556,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6502629231092631,-0.2956360216850505,0.31256378426993503,0.40665560014052915,-0.07371838270657494,-0.2409922433971923,0.9848723482038328,0.42285134044582207,0.6723085639338978,0.6723085639338978,0.7301634961893851,0,0,-3.261559960847238e-05,-7.96247774784722e-05
+31909,1792648812377038512,17352689999999,1792648812376659168,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760319408567089,-0.004473054976078543,0.09070242391450234,0.9999999763039771,0.00015493076604604274,-9.901256898876345e-05,7.090753378477908e-05,0.6761,-0.0045,0.0907339834746876,1.0,0.0,0.0,0.0,-0.12060394134639424,0.042975025918287724,0.4789128006540917,0.003742748396416833,0.00899534701259006,-0.00021121355770167024,0.13282934277801905,-0.1899954381944217,0.7665019695812554,-0.006043551293721527,-0.009158518602210683,-0.0008118547550808471,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6273796885931842,-0.31288049698158477,0.28923531708633227,0.41958507613889084,-0.0689686100957221,-0.23876607098366062,0.9848723482038328,0.4789128006540917,0.6956370311175006,0.6956370311175006,0.8042934961894005,0,0,-4.558807064766602e-05,-9.372169293276329e-05
+32026,1792648813352123844,17353665000000,1792648813348658615,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760328224691904,-0.004480747517360458,0.09066787343867788,0.9999999770614375,0.00014842140223517684,-9.710678264111469e-05,7.655944686124706e-05,0.6761,-0.0045,0.09068836745696483,1.0,0.0,0.0,0.0,-0.12150700503998871,0.035495039277896906,0.5418376357517655,0.003729755984371987,0.008980875716733007,-0.0002645241027040188,0.13192627908442459,-0.1974754248348125,0.8294268046789292,-0.006056543705766373,-0.009172989898067736,-0.0008651653000831957,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6881542131433146,-0.42752997633794715,0.17671232321055821,0.45999730241609604,0.016655765181902864,-0.3052680800209199,0.9848723482038328,0.5418376357517655,0.8081600249932747,0.8081600249932747,0.8725434961894146,0,0,-4.826263764359002e-05,3.226472531608127e-05
+32146,1792648814352089907,17354665000000,1792648814348659142,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760384676915712,-0.004479178046865801,0.09063429270794612,0.9999999769704014,0.00015251872434015234,-8.485483023218733e-05,8.390326241796224e-05,0.6761,-0.0045,0.09063927460215927,1.0,0.0,0.0,0.0,-0.13089362553303618,0.04984246485390281,0.5936786460870708,0.004710189233526787,0.00996361295012257,-0.000279971628640337,0.12253965859137711,-0.1831279992588066,0.8812678150142345,-0.005076110456611572,-0.008190252664678174,-0.0008806128260195139,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6950853836647259,-0.2658021451563229,0.09535482083135104,0.41590063532635396,0.06967782196143138,-0.19563157869083522,0.9848723482038328,0.5936786460870708,0.8895175273724818,0.8895175273724818,0.9425434961894291,0,0,-4.99902705660985e-05,9.999682612361056e-05
+32257,1792648815277026994,17355590000000,1792648815276658641,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760424267675105,-0.00447087134754066,0.09059909258566526,0.9999999760169203,0.00016012412585749694,-7.629139090725511e-05,8.915666601481433e-05,0.6761,-0.0045,0.09059418270983578,1.0,0.0,0.0,0.0,-0.12331439749216644,0.05461478136819484,0.6406336843269624,0.005752177589119208,0.008922494007180207,-0.0003229473255302399,0.13011888663224686,-0.17835568274451458,0.9282228532541261,-0.004034122101019152,-0.009231371607620536,-0.0009235885229094168,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.6984847070074647,-0.368845045217023,0.10878679252868108,0.4466803940590101,0.05921572003048592,-0.2652805757470125,0.9848723482038328,0.6406336843269624,0.8760855556751518,0.8760855556751518,1.0072934961894424,0,0,-4.8077003249351276e-05,-9.999080316370196e-05
+32334,1792648815918009038,17356231000000,1792648815912668690,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760689256026042,-0.004464942535997134,0.09058846118369163,0.999999975973444,0.00016713952856518786,-5.010213736852778e-05,9.513216779640822e-05,0.6761,-0.0045,0.09055854055907224,1.0,0.0,0.0,0.0,-0.16130735505096272,0.11607358705946422,0.6252695310431513,0.008740898466927194,0.011903996837909506,-0.0002315542930297345,0.09212592907345059,-0.1168968770532452,0.912858699970315,-0.001045401223211166,-0.006249868776891238,-0.0008321954904089114,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8125010204936749,-0.3966586864916149,0.11517350415784713,0.4597601763467977,0.07225844968627877,-0.2828826534272086,0.9848723482038328,0.6252695310431513,0.8696988440459857,0.8696988440459857,1.0521634961894517,0,0,-6.472324414893838e-05,-9.999795022442299e-05
+32446,1792648816852064928,17357165000000,1792648816848659341,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.676071688074204,-0.004466491175248092,0.09053496400462895,0.9999999742706381,0.0001716333818611941,-4.3299597767577326e-05,0.0001075579588881515,0.6761,-0.0045,0.09049462560654907,1.0,0.0,0.0,0.0,-0.1615578774643875,0.09805322455145885,0.7154451942105968,0.008720539230283096,0.01190190477334007,-0.00030442640120133106,0.0918754066600258,-0.13491723956125057,1.0030343631377605,-0.0010657604598552646,-0.006251960841460673,-0.0009050675985805079,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8184036476458363,-0.253631802294887,0.071501108284227,0.4157201641796916,0.10197019838927229,-0.18841069656973816,0.9848723482038328,0.7154451942105968,0.9133712399196059,0.9133712399196059,1.1175434961894652,0,0,-7.094370827884078e-05,-9.999999025923074e-05
+32550,1792648817718114987,17358031000000,1792648817712668619,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760713643874906,-0.004470304823023736,0.09048272733136033,0.999999973516018,0.00017109515462937773,-4.293752191378415e-05,0.00011529806992635166,0.6761,-0.0045,0.09043719839430354,1.0,0.0,0.0,0.0,-0.16127094071751086,0.09954733093783658,0.7853618173680914,0.007692528583685886,0.011889420405833327,-0.0003723874720714186,0.09216234340690242,-0.13342313317487284,1.072950986295255,-0.002093771106452474,-0.006264445208967417,-0.0009730286694505955,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8033423355307909,-0.3010400705313144,-0.10130474566076886,0.42635411154193564,0.2097033363531755,-0.22047584016154723,0.9848723482038328,0.7853618173680914,1.0861770938646016,1.0861770938646016,1.1781634961894778,0,0,-6.130160762063614e-05,-3.120074754320407e-05
+32654,1792648818585018770,17358898000000,1792648818580660159,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760712888924976,-0.004475342892163925,0.09043043941474661,0.9999999741357551,0.00016487030573184437,-4.119869277045892e-05,0.00011954833049966163,0.6761,-0.0045,0.09038567064563814,1.0,0.0,0.0,0.0,-0.15298765716194573,0.10975390683341865,0.8357771173033692,0.008649574725651461,0.011859129944514749,-0.0004007868780918542,0.10044562696246757,-0.12321655727929076,1.123366286230533,-0.0011367249644868985,-0.006294735670285994,-0.001001428075471031,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8156624888769998,-0.3683486788146841,-0.12685145927285849,0.45467289023717095,0.22812449367444684,-0.2644612223293371,0.9848723482038328,0.8357771173033692,1.1117238074766913,1.1117238074766913,1.2388534961894904,0,0,-5.66398002485854e-05,-9.997498248560106e-05
+32744,1792648819335085147,17359648000000,1792648819332669061,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760747887058521,-0.00445412308839631,0.09038405049067731,0.9999999928039196,6.419778074990583e-05,-2.6469071223357585e-05,3.182857894239299e-05,0.6761,-0.0045,0.09033240989861543,1.0,0.0,0.0,0.0,-0.13132036777052394,0.1466174383456376,0.876302326615664,0.010784057134732631,0.009773605747915757,0.0004117079737147094,0.12211291635388935,-0.08635302576707182,1.1638914955428277,0.0009977574445942721,-0.008380259866884987,-0.0001889332236644675,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8844004141241195,-0.302989718523347,-0.2791039517290717,0.3246863498194981,0.36699685225044004,-0.18865231388611464,0.9848723482038328,0.876302326615664,1.2639762999329045,1.2639762999329045,1.2913534961895012,0,0,-8.087490183519985e-05,9.913067175316143e-05
+32864,1792648820335078259,17360648000000,1792648820332659579,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760749081285926,-0.004463313327151657,0.09030642719044497,0.99999999138258,7.146309340455636e-05,-2.881041082565711e-05,5.23516072845524e-05,0.6761,-0.0045,0.09025004201452895,1.0,0.0,0.0,0.0,-0.12567713021932744,0.1352597367109058,0.9472702297574302,0.010768921512447847,0.009764250168447081,0.0005347029435452423,0.12775615390508585,-0.09771072740180363,1.234859398684594,0.0009826218223094874,-0.008389615446353662,-6.59382538339345e-05,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.873966235643319,-0.3321498696000654,-0.26933322255308095,0.38355448791026897,0.35003953476576305,-0.21944434166000776,0.9848723482038328,0.9472702297574302,1.2542055707569137,1.2542055707569137,1.3613534961895157,0,0,-8.04034415452487e-05,5.4544381236639545e-05
+32960,1792648821135068864,17361448000000,1792648821132658780,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760724321419881,-0.004466242819845989,0.09024441676246073,0.9999999891486939,8.49989814463481e-05,-3.470185287509015e-05,6.867627661131968e-05,0.6761,-0.0045,0.09018749453167903,1.0,0.0,0.0,0.0,-0.12492535699103627,0.11710419309377285,0.9666754498559968,0.009769032159288121,0.008765994537637479,0.0004883231423794934,0.12850792713337703,-0.11586627101893657,1.2542646187831605,-1.7267530850238583e-05,-0.009387871077163264,-0.00011231805499968346,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8194806116034726,-0.280407709357616,-0.2905483291584372,0.417505623037124,0.3377636481991801,-0.19524872420286626,0.9848723482038328,0.9666754498559968,1.27542067736227,1.27542067736227,1.4173534961895273,0,0,-7.677070945208276e-05,-9.125114139164054e-05
+33054,1792648821917996094,17362231000000,1792648821912659273,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760747212634505,-0.004474386728938666,0.09018883662982367,0.9999999871841645,9.302182478138958e-05,-3.1592539613673046e-05,8.615907909133287e-05,0.6761,-0.0045,0.09012623093595207,1.0,0.0,0.0,0.0,-0.12518548175001132,0.11720235501642236,0.9770622579898354,0.009749937244795807,0.009647218475370542,-0.0003958206737731708,0.12824780237440198,-0.11576810909628706,1.264651426916999,-3.636244534255246e-05,-0.008506647139430201,-0.0009964618711523477,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8243903707233581,-0.3243407889418189,-0.32967728642770355,0.4475347851565731,0.36025571500183073,-0.23170281880758628,0.9848723482038328,0.9770622579898354,1.3145496346315364,1.3145496346315364,1.4721634961895387,0,0,-8.126499704694113e-05,-9.978402412536553e-05
+33138,1792648822618112759,17362931000000,1792648822616658843,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760770147818038,-0.004479245059422539,0.09012853353752728,0.999999985772648,9.489642612725209e-05,-2.6844163924730587e-05,0.00010085448536801938,0.6761,-0.0045,0.09006552564446627,1.0,0.0,0.0,0.0,-0.12734602718519905,0.11802427926778385,0.9974925860009689,0.009706751934340382,0.009772531159435936,0.00042914044164205263,0.12608725693921424,-0.11494618484492557,1.2850817549281326,-7.954775579797783e-05,-0.008381334455364807,-0.00017150075573712427,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8289885537060186,-0.28824043341418004,-0.4189444889889748,0.44561271262725916,0.41443712349782036,-0.2093805052310097,0.9848723482038328,0.9974925860009689,1.4038168371928077,1.4038168371928077,1.5211634961895488,0,0,-9.205896849409789e-05,9.99107838392021e-05
+33215,1792648823259989087,17363573000000,1792648823256659392,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760784890553008,-0.004468583754854871,0.09006672905487742,0.9999999952719414,-6.701979151970048e-08,-1.8597120588011905e-05,2.3518595273881204e-05,0.6761,-0.0045,0.09000308340900277,1.0,0.0,0.0,0.0,-0.09665665361574652,0.1500191666520425,1.0087516032487323,0.012143397548686886,0.007394759709208793,0.00046067200833081105,0.15677663050866678,-0.0829512974606669,1.296340772175896,0.002357097858548527,-0.01075910590559195,-0.00013996918904836582,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8222729979938732,-0.1558924517242082,-0.3564203590293695,0.37746684825589893,0.3796743651254294,-0.11488811989562814,0.9848723482038328,1.0087516032487323,1.3412927072332024,1.3412927072332024,1.5661034961895581,0,0,-0.00010299359902018879,-9.99908586748532e-05
+33306,1792648824018087640,17364330999999,1792648824016668569,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760829190990383,-0.004472346993562555,0.08998703665557851,0.9999999942797958,2.1777170754053233e-05,-1.6812532777917274e-05,4.611254136497263e-05,0.6761,-0.0045,0.08991346396540946,1.0,0.0,0.0,0.0,-0.12039019352098893,0.13438812966713382,1.0482338747404067,0.011000804502537109,0.008724013348192837,0.0004370011627274238,0.13304309060342437,-0.09858233444557561,1.3358230436675704,0.0012145048123987482,-0.009429852266607907,-0.0001636400346517531,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8935984635757251,-0.24004631325795847,-0.4767779733132711,0.4234374913842803,0.46874691944503033,-0.16785582458977366,0.9848723482038328,1.0482338747404067,1.461650321517104,1.461650321517104,1.6191634961895691,0,0,-0.0001284130068015824,7.365242723900706e-05
+33404,1792648824835053236,17365148000000,1792648824832668680,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760896042586216,-0.0044729553554662465,0.0898906721286451,0.9999999825153615,0.0001488146587655078,-6.913013896980507e-06,6.495035463551126e-05,0.6761,-0.0045,0.08980621793450473,1.0,0.0,0.0,0.0,-0.12622465878133446,0.13444240243021943,1.0755224866126234,0.010751765221563358,0.009740993190404036,-0.0005992160911735655,0.12720862534307883,-0.09852806168248998,1.363111655539787,0.0009654655314249986,-0.008412872424396707,-0.0011998572885527424,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9376683811729845,-0.159953318951446,-0.5151477260398081,0.3986106464621703,0.5031195791365102,-0.1706656783459804,0.9848723482038328,1.0755224866126234,1.500020074243641,1.500020074243641,1.676353496189581,0,0,-0.00013530716061885417,9.233699502087517e-05
+33494,1792648825584991273,17365898000000,1792648825580659132,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760894967620966,-0.004481846013593602,0.08978512577586346,0.9999999839806256,0.0001312656821327208,-8.101782746099561e-06,7.864664407627024e-05,0.6761,-0.0045,0.08970050693434337,1.0,0.0,0.0,0.0,-0.13375093396610843,0.11180230006406926,1.0977575116738627,0.009715900100980397,0.009751887473075968,0.000395209914054482,0.11968235015830486,-0.12116816404864016,1.3853466806010264,-7.03995891579618e-05,-0.008401978141724775,-0.00020543128332469487,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8807865487007633,-0.2391755862760809,-0.5420004762747465,0.45417407532205545,0.49948360756816035,-0.19084956899066557,0.9848723482038328,1.0977575116738627,1.5268728244785792,1.5268728244785792,1.7288534961895918,0,0,-0.00014497291870265745,3.6226752575238335e-05
+33582,1792648826318049020,17366631000000,1792648826312659199,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760933887028726,-0.004482572478914003,0.08967795750980209,0.9999999879274666,0.0001020393986666518,-4.730785385238331e-06,7.178796471694338e-05,0.6761,-0.0045,0.0895910305207411,1.0,0.0,0.0,0.0,-0.13494197241333244,0.12251311772521382,1.1178308844999698,0.009686172014118154,0.010752844553405,0.0003722851086235883,0.11849131171108085,-0.11045734638749559,1.4054200534271335,-0.00010012767602020487,-0.007401021061395743,-0.00022835608875558858,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8959111985510744,-0.3253494225148462,-0.5094055738204853,0.5097555925180408,0.4751202441911141,-0.22441111610220438,0.9848723482038328,1.1178308844999698,1.494277922024318,1.494277922024318,1.7801634961896025,0,0,-0.0001539253853780328,-9.999976821462581e-05
+33666,1792648827017992543,17367330999999,1792648827016659194,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760941100708401,-0.004488375834892121,0.08957217952721817,0.9999999881024202,9.421759894417656e-05,-3.0059310901949393e-06,7.969963844861846e-05,0.6761,-0.0045,0.08948075418674138,1.0,0.0,0.0,0.0,-0.13964255199796388,0.11128393291963722,1.1375016341260635,0.008799855629676992,0.010724380607427917,0.000285809326290844,0.1137907321264494,-0.1216865311930722,1.4250908030532272,-0.000986444060461368,-0.007429485007372826,-0.0003148318710883329,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9303004324306589,-0.33112985079834106,-0.5643403130901208,0.5185578376125456,0.5184079120644806,-0.2241238023945445,0.9848723482038328,1.1375016341260635,1.5492126612939536,1.5492126612939536,1.8291634961896126,0,0,-0.00016138712377186527,-9.905874317895353e-05
+33746,1792648827684980751,17367998000000,1792648827680659141,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760955827232727,-0.004490487676292135,0.08946178582024103,0.9999999893040974,8.18333996774573e-05,-2.3714424697880355e-06,7.830926114738652e-05,0.6761,-0.0045,0.08936779319730774,1.0,0.0,0.0,0.0,-0.13431982809086293,0.10110176109050889,1.158411581675926,0.008683384690045074,0.009757839307268607,0.0003368080699484496,0.11911345603355036,-0.13186870302220052,1.4460007506030896,-0.001102915000093286,-0.008396026307532136,-0.00026383312743072726,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8727651595364023,-0.3217853640527563,-0.5682507702335621,0.5299449838198927,0.5049509046041722,-0.21560964688717538,0.9848723482038328,1.158411581675926,1.5531231184373948,1.5531231184373948,1.8758534961896223,0,0,-0.00017633685086701346,-9.999968494789897e-05
+33822,1792648828318066755,17368631000000,1792648828316659627,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760963700241833,-0.004492242239529888,0.08934769345486532,0.9999999899786313,8.113262733265771e-05,2.86708329130237e-07,7.002154302547193e-05,0.6761,-0.0045,0.08925263246861646,1.0,0.0,0.0,0.0,-0.12496254027207554,0.10443187685774946,1.177646786931838,0.008074280643294235,0.00975463012534201,0.0003186355070106351,0.12847074385233775,-0.12853858725495995,1.4652359558590018,-0.001712019046844125,-0.008399235489458734,-0.0002820056903685418,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9004113041162481,-0.36330635317336846,-0.6241917649413333,0.5493834008252487,0.5454348182344763,-0.24363254877605356,0.9848723482038328,1.177646786931838,1.6090641131451662,1.6090641131451662,1.9201634961896314,0,0,-0.0001890203776236651,-8.089303812764399e-05
+33890,1792648828884973084,17369198000000,1792648828884659073,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760945482436881,-0.004494000847685607,0.08923214485812034,0.9999999909820352,7.125039794298493e-05,-3.4875415668581103e-06,6.625716514851432e-05,0.6761,-0.0045,0.08914203983488553,1.0,0.0,0.0,0.0,-0.10736474033442689,0.09628716707147122,1.2111680512294563,0.008239476074004144,0.008751976129377585,0.00027665220346673007,0.1460685437899864,-0.1366832970412382,1.49875722015662,-0.0015468236161342163,-0.009401889485423158,-0.0003239889939124468,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8604497312593455,-0.39087378953681656,-0.6788149074332025,0.5664350855877915,0.5713822061291168,-0.2613551832048754,0.9848723482038328,1.2111680512294563,1.6636872556370355,1.6636872556370355,1.9598534961896397,0,0,-0.0001989097486564999,-8.491535081134386e-05
+33952,1792648829401998354,17369715000000,1792648829400658894,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760936530345961,-0.0045022178148013785,0.08912339893539013,0.9999999891957262,8.036705262151832e-05,-7.928155215022053e-06,8.08065165964162e-05,0.6761,-0.0045,0.08903750386910762,1.0,0.0,0.0,0.0,-0.12412947325731466,0.08687091432234267,1.2273864848884448,0.007648188672016713,0.00976348346494641,-0.0005216629872059157,0.12930381086709863,-0.14609954979036674,1.5149756538156085,-0.002138111018121647,-0.008390382149854334,-0.0011223041845850926,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8636604496126646,-0.3698472523481251,-0.7224674528290598,0.5600710681386845,0.5978856250592783,-0.2469348515792526,0.9848723482038328,1.2273864848884448,1.7073398010328926,1.7073398010328926,1.9960434961896472,0,0,-0.00020658882741941812,4.5416573835251885e-05
+34022,1792648829985035762,17370297999999,1792648829980659158,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.676093525029061,-0.004504114046215553,0.08900271142922792,0.9999999886312366,8.32752754624325e-05,-7.402699483924924e-06,8.479870056064633e-05,0.6761,-0.0045,0.08891252133700968,1.0,0.0,0.0,0.0,-0.12704351306643583,0.08012534569431143,1.2270259188481416,0.007655110827348783,0.009768056158893026,-0.0007099456160515251,0.12638977105797747,-0.15284511841839798,1.5146150877753053,-0.0021311888627895768,-0.008385809455907717,-0.001310586813430702,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8938328652892028,-0.42446379234901466,-0.7120360980344129,0.5864553004631283,0.5978656762483846,-0.28194538714565476,0.9848723482038328,1.2270259188481416,1.6969084462382458,1.6969084462382458,2.0368534961896554,0,0,-0.00022040483882021367,-9.96745700129253e-05
+34084,1792648830501984247,17370814999999,1792648830500659294,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760912500719553,-0.004505089284270674,0.08888329073197844,0.9999999903654818,6.799689127754105e-05,-1.268941968105302e-05,7.69889744588404e-05,0.6761,-0.0045,0.08879643286287259,1.0,0.0,0.0,0.0,-0.12475461918680919,0.07328358907853497,1.2338295950616653,0.007644763156795376,0.00976188461303364,0.0002655133937213795,0.1286786649376041,-0.15968687503417445,1.521418763988829,-0.002141536533342984,-0.008391981001767104,-0.0003351278036577974,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9163536987384456,-0.3092098111529503,-0.7660308718837374,0.5640817449031433,0.6286689518590903,-0.2090283905758305,0.9848723482038328,1.2338295950616653,1.7509032200875703,1.7509032200875703,2.073043496189663,0,0,-0.00023103435058538657,5.4092379213282984e-05
+34142,1792648830984993808,17371297999999,1792648830984658567,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760946994395401,-0.004507468897520295,0.08876911047107106,0.9999999908691861,6.391743527516151e-05,-8.097782782706177e-06,7.452167241245014e-05,0.6761,-0.0045,0.08868279730994946,1.0,0.0,0.0,0.0,-0.13383214055651454,0.07871627115912758,1.267615087834637,0.007616220129378543,0.010632183994296277,0.00025076934205827317,0.11960114356789875,-0.15425419295358184,1.5552042567618007,-0.0021700795607598163,-0.007521681620504467,-0.0003498718553209037,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8979576187107753,-0.4521092545687388,-0.72156533937893,0.6197386676174466,0.5950566230180623,-0.3012021969342572,0.9848723482038328,1.267615087834637,1.706437687582763,1.706437687582763,2.10685349618967,0,0,-0.00024082999452587484,-9.999552161155662e-05
+34202,1792648831484964109,17371797999999,1792648831480659660,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760975629185899,-0.004506649084104168,0.08864719963562052,0.9999999901261698,6.995612107451714e-05,-3.8119951862323596e-06,7.925991780337716e-05,0.6761,-0.0045,0.08856098122088306,1.0,0.0,0.0,0.0,-0.1342564127674543,0.07724265603475208,1.2871400148454217,0.007632451514113585,0.010366251306753841,-0.0007778016102007776,0.11917687135695901,-0.15572780807795733,1.5747291837725854,-0.002153848176024774,-0.007787614308046901,-0.0013784428075799544,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8943931120951726,-0.4441393954886875,-0.7689425979150922,0.6195010290314545,0.6168276311122197,-0.2949768110286502,0.9848723482038328,1.2871400148454217,1.7538149461189252,1.7538149461189252,2.141853496189677,0,0,-0.00024667117087403954,-8.890875122092296e-05
+34262,1792648831984959196,17372297999999,1792648831984658330,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760938643527471,-0.004516339736963495,0.08852411745537564,0.9999999893997081,7.081663032378025e-05,-1.023821646327335e-05,8.673887195062216e-05,0.6761,-0.0045,0.08843507756528454,1.0,0.0,0.0,0.0,-0.13433142895484632,0.08229706156992525,1.278372710028088,0.007620111060418704,0.010642181120628758,-0.0004981443095791209,0.11910185516956698,-0.15067340254278416,1.5659618789552516,-0.0021661886297196565,-0.0075116844941719866,-0.0010987855069582977,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8723304341068654,-0.3631522891146234,-0.7678015598956031,0.608758311735364,0.6082803007857822,-0.23939485063674093,0.9848723482038328,1.278372710028088,1.7526739080994358,1.7526739080994358,2.1768534961896844,0,0,-0.000257300520982466,-9.999999025923074e-05
+34318,1792648832452055305,17372765000000,1792648832444659330,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760968516861142,-0.004520849517665771,0.08840830012535877,0.9999999894056312,6.847868656649427e-05,-4.60749049627821e-06,8.900023771725241e-05,0.6761,-0.0045,0.08831189531833794,1.0,0.0,0.0,0.0,-0.13433703231976016,0.07257752457451505,1.2787209305164922,0.007609433244454796,0.010766376145918166,0.0002343893719447004,0.11909625180465314,-0.16039293953819436,1.5663100994436558,-0.0021768664456835634,-0.007387489468882577,-0.00036625182543447647,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8702854700983634,-0.39549318287250435,-0.7412867909228343,0.6295326092158957,0.585343830139703,-0.26088930596252347,0.9848723482038328,1.2787209305164922,1.726159139126667,1.726159139126667,2.209543496189691,0,0,-0.0002714157653169443,-9.999999025923074e-05
+34375,1792648832927061607,17373240000000,1792648832920659511,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760955486194908,-0.004519194040586719,0.0882742083520758,0.9999999896335185,6.70864560861696e-05,-9.238050622152612e-06,8.711999323552581e-05,0.6761,-0.0045,0.0881800315029525,1.0,0.0,0.0,0.0,-0.1343966245736507,0.0669291229782992,1.2975251996622805,0.007604579127905203,0.010762691250634957,0.00022857831292110586,0.1190366595507626,-0.16604134113441021,1.5851143685894442,-0.0021817205622331566,-0.007391174364165786,-0.000372062884458071,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8914850840255699,-0.42210849661975014,-0.8659015592413932,0.6377989368592638,0.6646977556515752,-0.27841900801943403,0.9848723482038328,1.2975251996622805,1.850773907445226,1.850773907445226,2.242793496189698,0,0,-0.00028107562105997443,6.582421693679947e-05
+34430,1792648833385020644,17373698000000,1792648833380659248,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760937638749341,-0.004519240481391887,0.08813385057865587,0.9999999882805636,7.536307169840861e-05,-1.3256286716573133e-05,9.50074491709096e-05,0.6761,-0.0045,0.08804936040756697,1.0,0.0,0.0,0.0,-0.13386640084083565,0.06760038692068265,1.3173045123636407,0.0066327278388673225,0.01076626802490148,-0.00033928393412833676,0.11956688328357765,-0.16537007719202676,1.6048936812908043,-0.0031535718512710376,-0.007387597589899263,-0.0009399251315075136,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8658893811475983,-0.3551055709253739,-0.7520669380932118,0.6351079872489462,0.5812544792489373,-0.23369925063479272,0.9848723482038328,1.3173045123636407,1.7369392862970447,1.7369392862970447,2.2748534961897047,0,0,-0.0002861475951007871,-9.999924085868912e-05
+34482,1792648833818020923,17374131000000,1792648833816659141,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760935890869859,-0.0045149794970776634,0.08801143436558267,0.9999999873667688,8.473637746294116e-05,-1.509251021479448e-05,9.644319108627258e-05,0.6761,-0.0045,0.08792337190378487,1.0,0.0,0.0,0.0,-0.12336162300608694,0.07439785070237007,1.3277436585317697,0.007627629068739263,0.009741933740728806,0.00018980968792581547,0.13007166111832635,-0.15857261341033935,1.6153328274589334,-0.0021586706213990972,-0.008411931874071937,-0.0004108315094533614,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8427700267108476,-0.3607347981487047,-0.8219839609163061,0.6388954660984295,0.6166578503815688,-0.2399195667041429,0.9848723482038328,1.3277436585317697,1.806856309120139,1.806856309120139,2.305163496189711,0,0,-0.0002968970464576045,-9.999999025923074e-05
+34533,1792648834243012524,17374556000000,1792648834240659387,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760927409393688,-0.00451485512730382,0.08788151894939676,0.9999999869675239,8.611958250058423e-05,-1.5048737653993788e-05,9.932154532133235e-05,0.6761,-0.0045,0.08779516501869974,1.0,0.0,0.0,0.0,-0.111979557396364,0.0787920330557749,1.3377003353367465,0.00764786918304078,0.009344541566556648,-0.00041201333238241144,0.1414537267280493,-0.15417843105693452,1.6252895042639102,-0.00213843050709758,-0.008809324048244095,-0.0010126545297615883,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8954725444172653,-0.40817563384983646,-0.9022822447985516,0.6622471623963272,0.6777061424137326,-0.2707053863329454,0.9848723482038328,1.3377003353367465,1.8871545930023843,1.8871545930023843,2.334913496189717,0,0,-0.0003063767262348734,-6.926310500000028e-05
+34587,1792648834692958976,17375006000000,1792648834688659577,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760890158647987,-0.004514933687332763,0.08773287062413983,0.9999999860419867,9.13763289036801e-05,-2.34415636956386e-05,0.00010227292124954694,0.6761,-0.0045,0.08765417167658,1.0,0.0,0.0,0.0,-0.1151331892890437,0.07536318119154162,1.3539378140995693,0.007649853293751334,0.008723144859266901,0.0001364413154060273,0.1383000948353696,-0.1576072829211678,1.641526983026733,-0.0021364463963870262,-0.009430720755533842,-0.00046419988197314956,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8638072099867743,-0.3687434905930794,-0.8602102870506507,0.6639639600409343,0.6379970546351051,-0.24088467547360506,0.9848723482038328,1.3539378140995693,1.8450826352544836,1.8450826352544836,2.3664134961897236,0,0,-0.0003188735501577763,-9.999999025923074e-05
+34638,1792648835118051006,17375431000000,1792648835116658976,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760928174478398,-0.0045176146914825445,0.08760547624555515,0.9999999860958617,9.26419586281516e-05,-1.5563398060697705e-05,0.00010210969123261719,0.6761,-0.0045,0.08751568783482905,1.0,0.0,0.0,0.0,-0.11567689784174726,0.07570183813421441,1.3599380114511486,0.0076242856933166625,0.009705946114496353,-5.635715657763469e-05,0.13775638628266604,-0.157268625978495,1.6475271803783123,-0.0021620139968216968,-0.00844791950030439,-0.0006569983539568116,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9016226770895025,-0.3728869811210205,-0.9487753375526484,0.6792335883045179,0.7007513040938421,-0.24272127109731867,0.9848723482038328,1.3599380114511486,1.9336476857564813,1.9336476857564813,2.39616349618973,0,0,-0.00033120300287484285,4.127880956351078e-05
+34686,1792648835518010229,17375830999999,1792648835516659317,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760935720625606,-0.004520584275693298,0.08747298023554576,0.9999999855791974,9.40066405833157e-05,-1.5367805973143735e-05,0.00010588225194548615,0.6761,-0.0045,0.08738088289442751,1.0,0.0,0.0,0.0,-0.11778121701943409,0.08524279538955176,1.3670254867616007,0.0076210741018497945,0.009733733734184982,-0.0006345557314848781,0.1356520671049792,-0.14772766872315765,1.6546146556887644,-0.0021652255882885657,-0.008420131880615762,-0.001235196928864055,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8511345265684402,-0.3171688160514102,-0.9058437132066856,0.6701028813847809,0.6568575783795184,-0.20777809806264994,0.9848723482038328,1.3670254867616007,1.8907160614105183,1.8907160614105183,2.4241634961897356,0,0,-0.00034278875108847826,-9.999906044744761e-05
+34730,1792648835885013368,17376198000000,1792648835884659021,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760913629759231,-0.00452343076015681,0.08734683570919269,0.999999985203849,9.239111445766419e-05,-1.9649648025239644e-05,0.00011005880042106585,0.6761,-0.0045,0.08725343549882228,1.0,0.0,0.0,0.0,-0.12167573537766174,0.08261177025596944,1.3779283224356103,0.007619256745530403,0.009730358601115142,0.00014948113949501415,0.13175754874675155,-0.15035869385673997,1.665517491362774,-0.0021670429446079575,-0.008423507013685601,-0.0004511600578841627,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8819844592426829,-0.43144164940646573,-0.8878325515886057,0.7096772300153359,0.6502077058671266,-0.28218891098182847,0.9848723482038328,1.3779283224356103,1.8727048997924385,1.8727048997924385,2.449853496189741,0,0,-0.00035106120535174776,-9.999999025923074e-05
+34778,1792648836284949517,17376598000000,1792648836284658881,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760888336681089,-0.004525778654745467,0.08720749667209386,0.9999999862536034,8.403812627062016e-05,-2.264183358767867e-05,0.00010658610652342151,0.6761,-0.0045,0.08711109712161964,1.0,0.0,0.0,0.0,-0.10865548304444744,0.07629610531345352,1.3801931381390087,0.0076445717530281235,0.00874639922315871,0.00013395967744190895,0.14477780107996585,-0.1566743587992559,1.6677823070661724,-0.0021417279371102366,-0.009407466391642033,-0.0004666815199372679,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8886655861302079,-0.3067311048870581,-0.9744638287838057,0.6862120766079146,0.7087732393339863,-0.19899071604601556,0.9848723482038328,1.3801931381390087,1.9593361769876385,1.9593361769876385,2.4778534961897467,0,0,-0.0003621215045494911,-8.491099919036922e-06
+34826,1792648836684955418,17376998000000,1792648836680658914,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760903865249712,-0.004526552585613049,0.08706366713029068,0.9999999852290737,9.460878138430825e-05,-1.8848723312965898e-05,0.00010806766800067965,0.6761,-0.0045,0.08696350247286337,1.0,0.0,0.0,0.0,-0.12466186488689726,0.06788244000377544,1.3879763824860134,0.007615046987653605,0.009729558691728273,0.00014100264807422822,0.12877141923751603,-0.16508802410893397,1.675565551413177,-0.002171252702484754,-0.00842430692307247,-0.00045963854930494865,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9109744205840822,-0.3342122937324951,-0.9614664129499231,0.697768766703767,0.7035702185574787,-0.214979525950037,0.9848723482038328,1.3879763824860134,1.946338761153756,1.946338761153756,2.5058534961897525,0,0,-0.0003760947719186599,-9.999996250365512e-05
+34868,1792648837035050805,17377348000000,1792648837032658334,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.676093827556699,-0.004530652756559493,0.08693007806314589,0.9999999850228336,9.28094840612864e-05,-1.362298886028949e-05,0.00011224086097840578,0.6761,-0.0045,0.08682996277489469,1.0,0.0,0.0,0.0,-0.12538023833125025,0.09187946795902668,1.4057525078669795,0.007586849158666153,0.010737182511291271,0.0001422706917734321,0.12805304579316304,-0.14109099615368273,1.6933416767941432,-0.0021994505314722065,-0.007416683103509472,-0.00045837050560574476,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9394509104499158,-0.4480854277789849,-0.9912811813450364,0.7414382720977388,0.7298430447256372,-0.2880742032043149,0.9848723482038328,1.4057525078669795,1.9761535295488692,1.9761535295488692,2.5303534961897576,0,0,-0.00038590828739112757,-1.5867122919682688e-05
+34914,1792648837418005094,17377731000000,1792648837412659336,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760968924902035,-0.0045275746409533454,0.08678896832320093,0.999999985451803,8.822926731965403e-05,-7.465428104886016e-06,0.00011269038116675961,0.6761,-0.0045,0.08667959980258812,1.0,0.0,0.0,0.0,-0.13458930514541168,0.09016411129912458,1.4079117864270265,0.0075890839693640655,0.010751228381609454,2.187851945557786e-06,0.1188439789790016,-0.14280635281358484,1.6955009553541902,-0.002197215720774294,-0.007402637233191288,-0.0005984533454336191,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.944385754225379,-0.35137453271784885,-0.9940436240745124,0.7112244302520403,0.7325898147725297,-0.22892224437823896,0.9848723482038328,1.4079117864270265,1.9789159722783451,1.9789159722783451,2.557163496189763,0,0,-0.0004001677787755803,-4.652008042840654e-05
+34952,1792648837735045481,17378047999999,1792648837728659005,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760941060076932,-0.004530569728083184,0.08665768942503821,0.99999998629603,7.551750352324326e-05,-1.107987740764041e-05,0.0001141277667649288,0.6761,-0.0045,0.08655125484891367,1.0,0.0,0.0,0.0,-0.12656716425534728,0.08554664664520162,1.4179850994267884,0.00758458372244853,0.010734833985177557,0.00013224149115878135,0.126866119869066,-0.1474238174675078,1.705574268353952,-0.00220171596768983,-0.0074190316296231865,-0.0004683997062203955,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9430659592321096,-0.37735363699562063,-0.9013069378246672,0.721693779438705,0.6766910214594964,-0.24762128918645845,0.9848723482038328,1.4179850994267884,1.8861792860285,1.8861792860285,2.5793534961897677,0,0,-0.00041092173702214483,-9.999999025923074e-05
+34994,1792648838084940771,17378398000000,1792648838084658580,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760879964135553,-0.00453579858229314,0.0865059631040676,0.999999986201413,6.846479415989571e-05,-1.818780098056071e-05,0.00011841374144405141,0.6761,-0.0045,0.08640612853472607,1.0,0.0,0.0,0.0,-0.11963182001147668,0.07846338749257173,1.4380847071206655,0.00760691206684384,0.009717442354864096,0.0001015468050698696,0.1338014641129366,-0.15450707662013768,1.7256738760478292,-0.00217938762329452,-0.008436423259936647,-0.0004990943923093073,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9521145857444865,-0.395416760457908,-0.9431329805529225,0.7307374960275912,0.7093508643894946,-0.25950291961162414,0.9848723482038328,1.4380847071206655,1.9280053287567553,1.9280053287567553,2.603853496189773,0,0,-0.00041912839549992773,-9.999999025923074e-05
+35037,1792648838443040898,17378756000000,1792648838436659151,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.6760964401805252,-0.004532205118254908,0.08637000765377326,0.999999987250582,6.12819568231902e-05,-7.713423606608884e-06,0.00011457192097034497,0.6761,-0.0045,0.08625322217904643,1.0,0.0,0.0,0.0,-0.12560125284990267,0.1006911108170237,1.4276417887944828,0.00795264295864017,0.010723470835682621,0.00012355168660835975,0.12783203127451062,-0.13227935329568571,1.7152309577216465,-0.0018336567314981888,-0.007430394779118122,-0.0004770895107708171,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9856221038374542,-0.3495673147964666,-0.9274957445050926,0.7344138653023743,0.705957546721439,-0.22496841724235753,0.9848723482038328,1.4276417887944828,1.9123680927089255,1.9123680927089255,2.628913496189778,0,0,-0.00043494866902168825,-9.98336927279297e-05
+35074,1792648838752024726,17379064999999,1792648838744659288,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760957469216554,-0.004539843604422521,0.08623825695714557,0.9999999863084295,5.975464192550562e-05,-4.620197190270169e-06,0.00012342626044480325,0.6761,-0.0045,0.08611684126674163,1.0,0.0,0.0,0.0,-0.1346678792881506,0.08870466062202212,1.4444327611522156,0.007580376852256163,0.010728643438787613,0.0001127979768190969,0.1187654048362627,-0.1442658034906873,1.7320219300793793,-0.0022059228378821967,-0.007425222176013131,-0.00048784322056008,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.9631354673802383,-0.48463247490373745,-1.0262728972985407,0.7723700117911161,0.7688815949164254,-0.3129831282324541,0.9848723482038328,1.4444327611522156,2.0111452455023735,2.0111452455023735,2.6505434961897825,0,0,-0.00044774313799631155,1.6602274255074706e-06
+35108,1792648839034964254,17379348000000,1792648839032658235,DOWN_FORCE_DETACH,3,0.0537,0.05370154231786728,0.6760876482639387,-0.004538889927773125,0.08610297359700177,0.9999999858345149,6.689200630221783e-05,-1.2943435675663806e-05,0.00012301122424722484,0.6761,-0.0045,0.08598852385209682,1.0,0.0,0.0,0.0,-0.11630745167148848,0.08396920740722594,1.468252589279733,0.007599289819615242,0.00984540801919901,7.937418146049106e-05,0.1371258324529248,-0.14900125670548348,1.7558417582068966,-0.002187009870523117,-0.008308457595601733,-0.0005212670159186858,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,0.8801867839878686,-0.3191936465347399,-0.9012405908400207,0.7340977614006504,0.6674741676113959,-0.20258703583044688,0.9848723482038328,1.468252589279733,1.8861129390438536,1.8861129390438536,2.6703534961897866,0,0,-0.0004577847839235246,-9.998781943932328e-05
+35147,1792648839359998299,17379672999999,1792648839352659040,DOWN_FORCE_DETACH,3,0.0537,0.05370220169425011,0.676087181472178,-0.004544482490893327,0.08595270351616006,0.9999999725977843,0.00017218135693147213,-8.117694236240036e-06,0.0001285884070699623,0.6761,-0.0045,0.08583777853082158,1.0,0.0,0.0,0.0,-0.11019216357547881,0.08048778542579663,1.4778605306041612,0.007608252286141103,0.009713794531213904,-0.0009267742549394589,0.14324112054893448,-0.1524826786869128,1.765449699531325,-0.002178047403997256,-0.00844007108358684,-0.0015274154523186357,0.2534332841244133,-0.2329704641127094,0.2875891689271637,-0.00978629969013836,-0.018153865614800743,-0.0006006411973791769,1,1.0353373780224155,-0.25753919270357506,-0.9410394747444385,0.6798428052097256,0.7505367605058091,-0.21164066897126305,0.9848723482038328,1.4778605306041612,1.9259118229482715,1.9259118229482715,2.6931034961897913,0,0,-0.0004693804688635491,-9.964630095916078e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6d12eb7a58c7fd3fe674c68d0b23d917bf211687
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1109de39ab67ec0a7f62852ca02a6ebdc251a566
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792648801447394894,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.487403338e-09,2.857704923e-10,1.025593166e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017256896e-01,1.587646771e-06,8.297806410e-01
+1,5.666666667e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1792648802315531214,-1.452782480e-06,4.656682530e-06,-2.468527542e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.152708349e-07,7.742044859e-09,3.046720598e-08,7.015364187e-01,6.207643851e-06,8.407384727e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258004e-01,1.595103046e-06,8.297806705e-01
+2,1.250000000e+00,DOWN_FORCE_DETACH,1792648803330390530,-2.736503929e-06,4.189654803e-06,-2.254175709e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.812975676e-07,1.273290519e-08,5.448536733e-08,7.015351350e-01,5.740616124e-06,8.407386870e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258664e-01,1.600093906e-06,8.297806945e-01
+3,1.916666667e+00,DOWN_FORCE_DETACH,1792648804330878153,-2.470985167e-06,2.195663543e-07,-6.119294732e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.118480140e-07,1.535531199e-08,6.944730480e-08,7.015354005e-01,1.770527675e-06,8.407348219e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017258970e-01,1.602716313e-06,8.297807095e-01
+4,2.583333333e+00,DOWN_FORCE_DETACH,1792648805330297119,3.284665405e-07,-1.840859000e-06,-2.313052253e-05,-3.776304478e-06,-1.801504800e-06,-2.041475131e-05,-3.776462810e-06,-1.739802307e-06,-2.009515072e-05,7.015381999e-01,-2.898976790e-07,8.407178107e-01,7.015340952e-01,-2.505434787e-07,8.407205264e-01,7.017219087e-01,-1.524413057e-07,8.297605449e-01
+5,3.283333333e+00,DOWN_FORCE_DETACH,1792648806370414722,9.322096344e-07,-1.986422789e-06,-4.718870076e-05,-2.026984588e-06,-4.546520505e-06,-4.116191424e-05,-2.056998790e-06,-4.474848658e-06,-4.076604089e-05,7.015388037e-01,-4.354614682e-07,8.406937525e-01,7.015358445e-01,-2.995559184e-06,8.406997793e-01,7.017236281e-01,-2.887487657e-06,8.297398740e-01
+6,3.966666667e+00,DOWN_FORCE_DETACH,1792648807395255545,5.780076107e-06,-2.771997629e-06,-6.716825553e-05,2.305056835e-06,-1.669627130e-06,-6.165705594e-05,2.252203924e-06,-1.650821383e-06,-6.119882992e-05,7.015436516e-01,-1.221036308e-06,8.406737729e-01,7.015401765e-01,-1.186658085e-07,8.406792841e-01,7.017279373e-01,-6.346038162e-08,8.297194412e-01
+7,4.666666667e+00,DOWN_FORCE_DETACH,1792648808447193564,1.134079549e-05,-2.754544466e-06,-8.419924291e-05,7.971045622e-06,-9.720359089e-07,-8.280235663e-05,7.956857241e-06,-9.464110032e-07,-8.230518369e-05,7.015492123e-01,-1.203583145e-06,8.406567419e-01,7.015458425e-01,5.789254121e-07,8.406581388e-01,7.017336420e-01,6.409499977e-07,8.296983348e-01
+8,5.383333333e+00,DOWN_FORCE_DETACH,1792648809548720024,1.708145609e-05,-5.792089844e-06,-1.136729504e-04,1.319117178e-05,-2.471814412e-06,-1.038309762e-04,1.325577729e-05,-2.458228912e-06,-1.033256816e-04,7.015549529e-01,-4.241128523e-06,8.406272682e-01,7.015510627e-01,-9.208530907e-07,8.406371102e-01,7.017389409e-01,-8.708679107e-07,8.296773143e-01
+9,5.966666667e+00,DOWN_FORCE_DETACH,1792648810419070652,1.597720880e-05,-3.568659586e-06,-1.533670832e-04,1.702488992e-05,-5.411394579e-06,-1.444275433e-04,1.703432907e-05,-5.363832574e-06,-1.437565830e-04,7.015538487e-01,-2.017698264e-06,8.405875741e-01,7.015548964e-01,-3.860433258e-06,8.405965136e-01,7.017427195e-01,-3.776471573e-06,8.296368834e-01
+10,6.566666667e+00,DOWN_FORCE_DETACH,1792648811317899674,2.007090797e-05,-6.025050348e-06,-1.702537814e-04,1.504022999e-05,-9.322681690e-06,-1.641784180e-04,1.497527378e-05,-9.207389910e-06,-1.635710076e-04,7.015579424e-01,-4.474089027e-06,8.405706874e-01,7.015529117e-01,-7.771720369e-06,8.405767628e-01,7.017406604e-01,-7.620028909e-06,8.296170690e-01
+11,7.266666667e+00,DOWN_FORCE_DETACH,1792648812379431675,2.233574439e-05,-8.008713373e-06,-2.001241695e-04,2.050486964e-05,-8.673336082e-06,-1.831177126e-04,2.048914967e-05,-8.562758522e-06,-1.827189178e-04,7.015602072e-01,-6.457752052e-06,8.405408170e-01,7.015583764e-01,-7.122374761e-06,8.405578235e-01,7.017461743e-01,-6.975397521e-06,8.295979211e-01
+12,7.916666667e+00,DOWN_FORCE_DETACH,1792648813349832588,2.096235340e-05,-1.525860897e-05,-2.370054810e-04,1.852062096e-05,-9.267033326e-06,-2.288714939e-04,1.838278641e-05,-9.146853283e-06,-2.282593049e-04,7.015588338e-01,-1.370764764e-05,8.405039357e-01,7.015563921e-01,-7.716072005e-06,8.405120697e-01,7.017440679e-01,-7.559492282e-06,8.295523807e-01
+13,8.583333333e+00,DOWN_FORCE_DETACH,1792648814349284884,2.506601661e-05,-1.572960271e-05,-2.717618338e-04,2.454260784e-05,-9.540828492e-06,-2.693389375e-04,2.438675159e-05,-9.405646488e-06,-2.685744023e-04,7.015629375e-01,-1.417864139e-05,8.404691794e-01,7.015624141e-01,-7.989867170e-06,8.404716023e-01,7.017500719e-01,-7.818285487e-06,8.295120656e-01
+14,9.200000000e+00,DOWN_FORCE_DETACH,1792648815279756770,2.906426560e-05,-9.894241320e-07,-3.089644787e-04,2.638882081e-05,-9.843514642e-06,-3.111977335e-04,2.621810939e-05,-9.671002801e-06,-3.102974922e-04,7.015669357e-01,5.615371891e-07,8.404319767e-01,7.015642603e-01,-8.292553321e-06,8.404297435e-01,7.017519033e-01,-8.083641800e-06,8.294703425e-01
+15,9.633333333e+00,DOWN_FORCE_DETACH,1792648815917664279,5.521986439e-05,-4.285634345e-06,-3.205459230e-04,5.143085409e-05,-1.190973676e-06,-3.020716838e-04,5.179656855e-05,-1.052916921e-06,-3.016040738e-04,7.015930913e-01,-2.734673024e-06,8.404203953e-01,7.015893023e-01,3.599876448e-07,8.404388695e-01,7.017774817e-01,5.344440799e-07,8.294790359e-01
+16,1.025000000e+01,DOWN_FORCE_DETACH,1792648816849729364,5.992877133e-05,-3.790407562e-06,-3.690452349e-04,5.910955317e-05,-1.222846351e-06,-3.613178547e-04,5.956815064e-05,-1.073648277e-06,-3.604873104e-04,7.015978003e-01,-2.239446241e-06,8.403718960e-01,7.015969810e-01,3.281149696e-07,8.403796233e-01,7.017852533e-01,5.137127235e-07,8.294201527e-01
+17,1.083333333e+01,DOWN_FORCE_DETACH,1792648817715889119,5.960357051e-05,-3.469088322e-06,-4.230280281e-04,5.793534085e-05,-1.122963986e-05,-4.249596819e-04,5.831817777e-05,-1.097411418e-05,-4.237920296e-04,7.015974751e-01,-1.918127001e-06,8.403179132e-01,7.015958068e-01,-9.678678535e-06,8.403159815e-01,7.017840033e-01,-9.386753174e-06,8.293568480e-01
+18,1.141666667e+01,DOWN_FORCE_DETACH,1792648818585453949,5.647539119e-05,-9.678657904e-06,-4.773541378e-04,5.910764423e-05,-1.197102167e-05,-4.668814952e-04,5.943259472e-05,-1.172983123e-05,-4.656932783e-04,7.015943469e-01,-8.127696583e-06,8.402635870e-01,7.015969791e-01,-1.042006035e-05,8.402740597e-01,7.017851177e-01,-1.014247023e-05,8.293149467e-01
+19,1.191666667e+01,DOWN_FORCE_DETACH,1792648819336969663,6.450569793e-05,7.079407729e-06,-5.214526685e-04,6.437284845e-05,1.162106658e-05,-5.171925530e-04,6.469962512e-05,1.170062504e-05,-5.159071656e-04,7.016023772e-01,8.630369050e-06,8.402194885e-01,7.016022443e-01,1.317202790e-05,8.402237486e-01,7.017903848e-01,1.328798604e-05,8.292647329e-01
+20,1.258333333e+01,DOWN_FORCE_DETACH,1792648820335879036,6.505471662e-05,9.190341485e-07,-5.947752388e-04,6.276135158e-05,6.458890020e-06,-5.840573531e-04,6.278545302e-05,6.576833703e-06,-5.827075708e-04,7.016029262e-01,2.469995470e-06,8.401461659e-01,7.016006328e-01,8.009851341e-06,8.401568838e-01,7.017884706e-01,8.164194704e-06,8.291979325e-01
+21,1.311666667e+01,DOWN_FORCE_DETACH,1792648821135907412,6.054856969e-05,-5.013734369e-06,-6.621042120e-04,6.188730671e-05,1.056480193e-06,-6.481151900e-04,6.174345760e-05,1.136246952e-06,-6.467619536e-04,7.015984201e-01,-3.462773048e-06,8.400788370e-01,7.015997588e-01,2.607441514e-06,8.400928260e-01,7.017874286e-01,2.723607953e-06,8.291338781e-01
+22,1.363333333e+01,DOWN_FORCE_DETACH,1792648821915887237,6.192735131e-05,-7.042462756e-06,-7.187805634e-04,5.942264255e-05,-3.868365435e-06,-7.103310015e-04,5.892283327e-05,-3.800614793e-06,-7.089271700e-04,7.015997988e-01,-5.491501435e-06,8.400221606e-01,7.015972941e-01,-2.317404114e-06,8.400306102e-01,7.017846080e-01,-2.213253792e-06,8.290717129e-01
+23,1.410000000e+01,DOWN_FORCE_DETACH,1792648822616098940,6.329883466e-05,-1.149180050e-05,-7.787254091e-04,6.127155762e-05,-1.449384917e-05,-7.714531789e-04,6.054154514e-05,-1.439201611e-05,-7.698775605e-04,7.016011703e-01,-9.940839176e-06,8.399622158e-01,7.015991430e-01,-1.294288785e-05,8.399694880e-01,7.017862267e-01,-1.280465510e-05,8.290107625e-01
+24,1.453333333e+01,DOWN_FORCE_DETACH,1792648823257108407,6.499476761e-05,2.203021056e-10,-8.393646327e-04,6.624126345e-05,7.029141037e-06,-8.369149168e-04,6.535582012e-05,6.984620851e-06,-8.352219231e-04,7.016028662e-01,1.551181623e-06,8.399015766e-01,7.016041127e-01,8.580102358e-06,8.399040263e-01,7.017910410e-01,8.571981852e-06,8.289454181e-01
+25,1.503333333e+01,DOWN_FORCE_DETACH,1792648824015637139,6.994244218e-05,-7.159413099e-06,-9.176305180e-04,7.173802696e-05,-3.796359585e-06,-9.015383162e-04,7.075182657e-05,-3.754957503e-06,-8.998871957e-04,7.016078139e-01,-5.608451778e-06,8.398233107e-01,7.016096095e-01,-2.245398264e-06,8.398394029e-01,7.017964370e-01,-2.167596502e-06,8.288807528e-01
+26,1.558333333e+01,DOWN_FORCE_DETACH,1792648824836339386,7.506253040e-05,-9.114212239e-06,-1.018056236e-03,7.389788617e-05,-9.063972840e-06,-1.011563381e-03,7.257665768e-05,-8.903828427e-06,-1.009498606e-03,7.016129340e-01,-7.563250918e-06,8.397228850e-01,7.016117694e-01,-7.513011519e-06,8.397293778e-01,7.017982618e-01,-7.316467426e-06,8.287711414e-01
+27,1.608333333e+01,DOWN_FORCE_DETACH,1792648825587219200,7.659032751e-05,-1.657242074e-05,-1.121442584e-03,7.545390405e-05,-1.784392043e-05,-1.113361018e-03,7.386151161e-05,-1.755311863e-05,-1.111205907e-03,7.016144618e-01,-1.502145942e-05,8.396194986e-01,7.016133254e-01,-1.629295911e-05,8.396275802e-01,7.017995467e-01,-1.596575763e-05,8.286694341e-01
+28,1.656666667e+01,DOWN_FORCE_DETACH,1792648826319247565,8.083592608e-05,-1.857281377e-05,-1.225285176e-03,8.132298933e-05,-1.749878453e-05,-1.220326636e-03,7.940797455e-05,-1.722840461e-05,-1.218099135e-03,7.016187074e-01,-1.702185244e-05,8.395156560e-01,7.016191945e-01,-1.594782321e-05,8.395206146e-01,7.018050931e-01,-1.564104361e-05,8.285625409e-01
+29,1.701666667e+01,DOWN_FORCE_DETACH,1792648827017258973,8.293410683e-05,-2.137449769e-05,-1.331938050e-03,8.282726290e-05,-2.139000173e-05,-1.331784973e-03,8.055084842e-05,-2.108099941e-05,-1.329406016e-03,7.016208056e-01,-1.982353637e-05,8.394090031e-01,7.016206987e-01,-1.983904041e-05,8.394091562e-01,7.018062360e-01,-1.949363841e-05,8.284512340e-01
+30,1.746666667e+01,DOWN_FORCE_DETACH,1792648827688715318,8.379993986e-05,-2.475584148e-05,-1.443021425e-03,8.327309062e-05,-2.425404345e-05,-1.431321020e-03,8.072315339e-05,-2.391529101e-05,-1.429066844e-03,7.016216714e-01,-2.320488016e-05,8.392979198e-01,7.016211446e-01,-2.270308213e-05,8.393096202e-01,7.018064083e-01,-2.232793001e-05,8.283515732e-01
+31,1.788333333e+01,DOWN_FORCE_DETACH,1792648828317401597,8.352468469e-05,-2.954811453e-05,-1.558513649e-03,8.221521039e-05,-2.564113409e-05,-1.546966501e-03,7.926863616e-05,-2.530011663e-05,-1.544472427e-03,7.016213962e-01,-2.799715321e-05,8.391824275e-01,7.016200867e-01,-2.409017277e-05,8.391939747e-01,7.018049538e-01,-2.371275563e-05,8.282361676e-01
+32,1.826666667e+01,DOWN_FORCE_DETACH,1792648828884090644,8.244033229e-05,-2.991841316e-05,-1.673827645e-03,8.236949476e-05,-2.772782772e-05,-1.659505019e-03,7.895803641e-05,-2.736781615e-05,-1.656741674e-03,7.016203118e-01,-2.836745184e-05,8.390671135e-01,7.016202410e-01,-2.617686640e-05,8.390814362e-01,7.018046432e-01,-2.578045515e-05,8.281238983e-01
+33,1.861666667e+01,DOWN_FORCE_DETACH,1792648829403540791,8.026568765e-05,-3.824277985e-05,-1.780826954e-03,8.027161040e-05,-2.992474913e-05,-1.774498956e-03,7.644375928e-05,-2.958384602e-05,-1.771390962e-03,7.016181372e-01,-3.669181853e-05,8.389601142e-01,7.016181431e-01,-2.837378781e-05,8.389664422e-01,7.018021289e-01,-2.799648502e-05,8.280092491e-01
+34,1.900000000e+01,DOWN_FORCE_DETACH,1792648829983639185,8.405064559e-05,-3.653227687e-05,-1.898533637e-03,8.237621724e-05,-3.550519503e-05,-1.886550640e-03,7.821934842e-05,-3.516444411e-05,-1.883394392e-03,7.016219221e-01,-3.498131555e-05,8.388424076e-01,7.016202477e-01,-3.395423371e-05,8.388543905e-01,7.018039045e-01,-3.357708311e-05,8.278972456e-01
+35,1.935000000e+01,DOWN_FORCE_DETACH,1792648830503792484,7.945846121e-05,-3.863440642e-05,-2.020950666e-03,8.082701554e-05,-4.175505519e-05,-2.001898674e-03,7.624285503e-05,-4.130754140e-05,-1.998667016e-03,7.016173299e-01,-3.708344510e-05,8.387199905e-01,7.016186985e-01,-4.020409386e-05,8.387390425e-01,7.018019280e-01,-3.972018040e-05,8.277819730e-01
+36,1.966666667e+01,DOWN_FORCE_DETACH,1792648830983698431,8.309430321e-05,-3.728611688e-05,-2.134631510e-03,8.289480485e-05,-3.743941622e-05,-2.134585841e-03,7.786387923e-05,-3.700954309e-05,-2.130936187e-03,7.016209658e-01,-3.573515556e-05,8.386063097e-01,7.016207663e-01,-3.588845490e-05,8.386063553e-01,7.018035490e-01,-3.542218209e-05,8.276497038e-01
+37,2.000000000e+01,DOWN_FORCE_DETACH,1792648831483918241,8.452188108e-05,-4.284649305e-05,-2.255525360e-03,8.408929024e-05,-4.284128910e-05,-2.255526434e-03,7.865423716e-05,-4.237816275e-05,-2.251709030e-03,7.016223934e-01,-4.129553173e-05,8.384854158e-01,7.016219608e-01,-4.129032778e-05,8.384854148e-01,7.018043394e-01,-4.079080174e-05,8.275289310e-01
+38,2.033333333e+01,DOWN_FORCE_DETACH,1792648831983696951,8.480065159e-05,-4.699760592e-05,-2.377713860e-03,8.457032931e-05,-4.694293932e-05,-2.377485076e-03,7.876863677e-05,-4.647598881e-05,-2.373492095e-03,7.016226721e-01,-4.544664460e-05,8.383632273e-01,7.016224418e-01,-4.539197800e-05,8.383634561e-01,7.018044538e-01,-4.488862781e-05,8.274071479e-01
+39,2.065000000e+01,DOWN_FORCE_DETACH,1792648832453361206,8.260668278e-05,-5.634985909e-05,-2.499489474e-03,8.487865688e-05,-4.987292212e-05,-2.489304759e-03,7.868946980e-05,-4.938748858e-05,-2.485251121e-03,7.016204782e-01,-5.479889777e-05,8.382414517e-01,7.016227501e-01,-4.832196080e-05,8.382516364e-01,7.018043746e-01,-4.780012758e-05,8.272953889e-01
+40,2.096666667e+01,DOWN_FORCE_DETACH,1792648832923814367,8.323563566e-05,-5.180798729e-05,-2.629853393e-03,8.218524293e-05,-5.107916544e-05,-2.616346450e-03,7.547872554e-05,-5.056941641e-05,-2.612198942e-03,7.016211071e-01,-5.025702597e-05,8.381110878e-01,7.016200567e-01,-4.952820412e-05,8.381245947e-01,7.018011639e-01,-4.898205540e-05,8.271684411e-01
+41,2.126666667e+01,DOWN_FORCE_DETACH,1792648833383811750,8.162446740e-05,-5.436161072e-05,-2.770579992e-03,8.213275796e-05,-5.634078952e-05,-2.759299090e-03,7.497732857e-05,-5.574455717e-05,-2.754895270e-03,7.016194959e-01,-5.281064940e-05,8.379703612e-01,7.016200042e-01,-5.478982820e-05,8.379816421e-01,7.018006625e-01,-5.415719617e-05,8.270257448e-01
+42,2.155000000e+01,DOWN_FORCE_DETACH,1792648833819059332,8.172897119e-05,-4.949058868e-05,-2.893444554e-03,8.158817246e-05,-5.323394370e-05,-2.880544920e-03,7.392307073e-05,-5.263552273e-05,-2.876182101e-03,7.016196005e-01,-4.793962736e-05,8.378474966e-01,7.016194597e-01,-5.168298238e-05,8.378603963e-01,7.017996082e-01,-5.104816173e-05,8.269044579e-01
+43,2.183333333e+01,DOWN_FORCE_DETACH,1792648834245163922,7.989610836e-05,-4.716300549e-05,-3.025424369e-03,8.125568248e-05,-4.622757235e-05,-3.016698989e-03,7.310082937e-05,-4.575339391e-05,-3.012333383e-03,7.016177676e-01,-4.561204417e-05,8.377155168e-01,7.016191272e-01,-4.467661103e-05,8.377242422e-01,7.017987860e-01,-4.416603291e-05,8.267683066e-01
+44,2.203333333e+01,DOWN_FORCE_DETACH,1792648834686743331,7.846421546e-05,-5.175905768e-05,-3.166402164e-03,7.849659775e-05,-5.193170880e-05,-3.166341663e-03,6.972861337e-05,-5.142638319e-05,-3.161251573e-03,7.016163357e-01,-5.020809636e-05,8.375745390e-01,7.016163681e-01,-5.038074748e-05,8.375745995e-01,7.017954138e-01,-4.983902219e-05,8.266193884e-01
+45,2.231666667e+01,DOWN_FORCE_DETACH,1792648835115949532,8.000186604e-05,-5.290185209e-05,-3.298390097e-03,7.990062514e-05,-4.937762182e-05,-3.281972726e-03,7.068609804e-05,-4.893438690e-05,-3.277234543e-03,7.016178733e-01,-5.135089077e-05,8.374425511e-01,7.016177721e-01,-4.782666050e-05,8.374589685e-01,7.017963712e-01,-4.734702590e-05,8.265034055e-01
+46,2.258333333e+01,DOWN_FORCE_DETACH,1792648835515757140,8.449956622e-05,-5.424533815e-05,-3.428397052e-03,7.928651721e-05,-5.349898698e-05,-3.424149821e-03,6.947602943e-05,-5.303646551e-05,-3.419265609e-03,7.016223710e-01,-5.269437683e-05,8.373125441e-01,7.016171580e-01,-5.194802566e-05,8.373167914e-01,7.017951612e-01,-5.144910451e-05,8.263613744e-01
+47,2.283333333e+01,DOWN_FORCE_DETACH,1792648835886942066,8.042326841e-05,-5.661094366e-05,-3.559878142e-03,8.025306161e-05,-5.650792534e-05,-3.559880213e-03,6.995477511e-05,-5.597415792e-05,-3.554819873e-03,7.016182947e-01,-5.505998233e-05,8.371810630e-01,7.016181245e-01,-5.495696402e-05,8.371810610e-01,7.017956399e-01,-5.438679692e-05,8.262258201e-01
+48,2.310000000e+01,DOWN_FORCE_DETACH,1792648836287026625,7.868579903e-05,-5.974844763e-05,-3.699657494e-03,7.835275424e-05,-5.972310117e-05,-3.684291398e-03,6.759219939e-05,-5.907482610e-05,-3.679513332e-03,7.016165573e-01,-5.819748631e-05,8.370412837e-01,7.016162242e-01,-5.817213985e-05,8.370566498e-01,7.017932773e-01,-5.748746509e-05,8.261011267e-01
+49,2.336666667e+01,DOWN_FORCE_DETACH,1792648836685942830,7.624430798e-05,-5.865077203e-05,-3.845244558e-03,7.626766299e-05,-5.880501958e-05,-3.845021811e-03,6.491850044e-05,-5.822413578e-05,-3.839898648e-03,7.016141158e-01,-5.709981071e-05,8.368956966e-01,7.016141391e-01,-5.725405826e-05,8.368959194e-01,7.017906036e-01,-5.663677478e-05,8.259407414e-01
+50,2.360000000e+01,DOWN_FORCE_DETACH,1792648837037386355,8.302031148e-05,-6.296625546e-05,-3.973158373e-03,8.189057829e-05,-6.620369828e-05,-3.966893557e-03,7.022847879e-05,-6.564681023e-05,-3.961830672e-03,7.016208918e-01,-6.141529414e-05,8.367677828e-01,7.016197621e-01,-6.465273696e-05,8.367740476e-01,7.017959136e-01,-6.405944923e-05,8.258188094e-01
+51,2.385000000e+01,DOWN_FORCE_DETACH,1792648837415671393,8.602460107e-05,-6.564965268e-05,-4.115085319e-03,8.449889729e-05,-6.279922623e-05,-4.106728747e-03,7.240924806e-05,-6.225087746e-05,-4.101443147e-03,7.016238961e-01,-6.409869135e-05,8.366258559e-01,7.016223704e-01,-6.124826491e-05,8.366342124e-01,7.017980944e-01,-6.066351646e-05,8.256791969e-01
+52,2.406666667e+01,DOWN_FORCE_DETACH,1792648837735925531,8.089628102e-05,-6.534905166e-05,-4.253871230e-03,8.410077068e-05,-7.116400762e-05,-4.238050247e-03,7.161191368e-05,-7.054228607e-05,-4.232692075e-03,7.016187678e-01,-6.379809033e-05,8.364870700e-01,7.016219723e-01,-6.961304630e-05,8.365028909e-01,7.017972971e-01,-6.895492507e-05,8.255479479e-01
+53,2.430000000e+01,DOWN_FORCE_DETACH,1792648838085021783,7.666325260e-05,-7.131433731e-05,-4.397799694e-03,7.636444783e-05,-7.122317359e-05,-4.397551493e-03,6.314755651e-05,-7.053134556e-05,-4.391943696e-03,7.016145347e-01,-6.976337599e-05,8.363431415e-01,7.016142359e-01,-6.967221227e-05,8.363433897e-01,7.017888327e-01,-6.894398456e-05,8.253886963e-01
+54,2.453333333e+01,DOWN_FORCE_DETACH,1792648838439324621,8.649702895e-05,-7.368805437e-05,-4.532622767e-03,8.634209241e-05,-7.342824710e-05,-4.532343715e-03,7.285279855e-05,-7.267698960e-05,-4.526941677e-03,7.016243685e-01,-7.213709305e-05,8.362083184e-01,7.016242136e-01,-7.187728578e-05,8.362085975e-01,7.017985379e-01,-7.108962860e-05,8.252536983e-01
+55,2.475000000e+01,DOWN_FORCE_DETACH,1792648838755911068,8.168933975e-05,-7.328852728e-05,-4.667444051e-03,8.270100601e-05,-7.459725397e-05,-4.664871250e-03,6.870294461e-05,-7.386171034e-05,-4.659504488e-03,7.016195608e-01,-7.173756596e-05,8.360734971e-01,7.016205725e-01,-7.304629265e-05,8.360760699e-01,7.017943881e-01,-7.227434934e-05,8.251211355e-01
+56,2.493333333e+01,DOWN_FORCE_DETACH,1792648839035760101,7.395237700e-05,-7.240776784e-05,-4.810551815e-03,7.384858246e-05,-7.213522456e-05,-4.810421834e-03,5.923937054e-05,-7.146985710e-05,-4.804574632e-03,7.016118239e-01,-7.085680652e-05,8.359303894e-01,7.016117201e-01,-7.058426324e-05,8.359305194e-01,7.017849245e-01,-6.988249610e-05,8.249760654e-01
+57,2.515000000e+01,DOWN_FORCE_DETACH,1792648839356686207,7.244287511e-05,-7.640399583e-05,-4.951958106e-03,7.393333766e-05,-7.550775485e-05,-4.941679681e-03,5.881282972e-05,-7.486875723e-05,-4.935882710e-03,7.016103144e-01,-7.485303451e-05,8.357889831e-01,7.016118048e-01,-7.395679353e-05,8.357992615e-01,7.017844980e-01,-7.328139622e-05,8.248447573e-01
+58,2.531666667e+01,DOWN_SETTLE,1792648839615801301,9.497864198e-05,-7.877413444e-05,-5.051881293e-03,9.614169066e-05,-7.735975223e-05,-5.043200466e-03,8.113906420e-05,-7.669250655e-05,-5.037455551e-03,7.016328501e-01,-7.722317312e-05,8.356890599e-01,7.016340132e-01,-7.580879090e-05,8.356977407e-01,7.018068242e-01,-7.510514555e-05,8.247431845e-01
+59,2.586666667e+01,DOWN_PEAK_HOLD,1792648840421067057,8.482838409e-05,-7.696445212e-05,-5.102278254e-03,8.885345039e-05,-7.748381372e-05,-5.085394602e-03,7.371224794e-05,-7.669834328e-05,-5.082392727e-03,7.016226999e-01,-7.541349080e-05,8.356386629e-01,7.016267249e-01,-7.593285239e-05,8.356555466e-01,7.017993974e-01,-7.511098228e-05,8.246982473e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ae73ff43514405eaed9c2c4fc993860ca99c15de
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-4.3856e-03,-5.6207e-03,2.4526e+00,-3.6336e-02,3.6483e-02,-1.8572e-04,1.0496e-04,-3.9269e-06,2.1458e-05,2.0862e-07,6.8434e-06,-2.3545e-08,1.0720e-04,6.8466e-06
+1,5.6667e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.4675e-04,5.2568e-03,-5.4544e-03,2.4544e+00,-3.6365e-02,3.7197e-02,-2.0453e-04,9.7473e-03,1.6240e-04,1.8687e-03,-2.9337e-05,7.2073e-04,-1.8836e-05,9.9262e-03,7.2157e-04
+2,1.2500e+00,DOWN_FORCE_DETACH,2.9630e-04,7.4353e-03,-5.6306e-03,2.4557e+00,-3.6356e-02,3.7323e-02,-2.3855e-04,1.1926e-02,-1.3807e-05,3.1161e-03,-1.9465e-05,8.4636e-04,-5.2852e-05,1.2326e-02,8.4823e-04
+3,1.9167e+00,DOWN_FORCE_DETACH,4.4177e-04,8.7306e-03,-5.5600e-03,2.4563e+00,-3.6368e-02,3.7420e-02,-2.4001e-04,1.3221e-02,5.6808e-05,3.6902e-03,-3.1739e-05,9.4348e-04,-5.4316e-05,1.3727e-02,9.4558e-04
+4,2.5833e+00,DOWN_FORCE_DETACH,5.9108e-04,1.1921e-02,-4.5119e-03,2.4681e+00,-3.6440e-02,3.7628e-02,-2.4059e-04,1.6411e-02,1.1049e-03,1.5570e-02,-1.0414e-04,1.1512e-03,-5.4894e-05,2.2649e-02,1.1572e-03
+5,3.2833e+00,DOWN_FORCE_DETACH,7.3674e-04,9.9853e-03,-3.1763e-03,2.4742e+00,-3.6529e-02,3.7502e-02,-2.4069e-04,1.4476e-02,2.4405e-03,2.1644e-02,-1.9320e-04,1.0257e-03,-5.4993e-05,2.6153e-02,1.0452e-03
+6,3.9667e+00,DOWN_FORCE_DETACH,8.8782e-04,9.1490e-03,-3.6887e-03,2.4725e+00,-3.6496e-02,3.7446e-02,-2.4093e-04,1.3640e-02,1.9281e-03,1.9944e-02,-1.5994e-04,9.6947e-04,-5.5239e-05,2.4239e-02,9.8413e-04
+7,4.6667e+00,DOWN_FORCE_DETACH,1.0350e-03,7.8410e-03,-4.0838e-03,2.4714e+00,-3.6465e-02,3.7358e-02,-2.4154e-04,1.2332e-02,1.5330e-03,1.8890e-02,-1.2921e-04,8.8126e-04,-5.5843e-05,2.2611e-02,8.9243e-04
+8,5.3833e+00,DOWN_FORCE_DETACH,1.1833e-03,6.1468e-03,-3.8041e-03,2.4728e+00,-3.6474e-02,3.7242e-02,-2.4237e-04,1.0637e-02,1.8127e-03,2.0256e-02,-1.3756e-04,7.6550e-04,-5.6673e-05,2.2951e-02,7.7982e-04
+9,5.9667e+00,DOWN_FORCE_DETACH,1.3262e-03,5.3323e-03,-2.8151e-03,2.4754e+00,-3.6529e-02,3.7183e-02,-2.4290e-04,9.8228e-03,2.8017e-03,2.2842e-02,-1.9293e-04,7.0706e-04,-5.7210e-05,2.5022e-02,7.3514e-04
+10,6.5667e+00,DOWN_FORCE_DETACH,1.4776e-03,5.9872e-03,-1.2536e-03,2.4780e+00,-3.6620e-02,3.7220e-02,-2.4321e-04,1.0478e-02,4.3632e-03,2.5474e-02,-2.8417e-04,7.4404e-04,-5.7515e-05,2.7888e-02,7.9854e-04
+11,7.2667e+00,DOWN_FORCE_DETACH,1.6231e-03,6.1685e-03,2.7330e-04,2.4763e+00,-3.6704e-02,3.7227e-02,-2.4326e-04,1.0659e-02,5.8901e-03,2.3742e-02,-3.6778e-04,7.5108e-04,-5.7564e-05,2.6683e-02,8.3827e-04
+12,7.9167e+00,DOWN_FORCE_DETACH,1.7760e-03,7.2630e-03,1.3991e-03,2.4781e+00,-3.6758e-02,3.7293e-02,-2.4269e-04,1.1754e-02,7.0159e-03,2.5507e-02,-4.2183e-04,8.1660e-04,-5.6992e-05,2.8948e-02,9.2089e-04
+13,8.5833e+00,DOWN_FORCE_DETACH,1.9241e-03,8.4392e-03,1.8973e-03,2.4793e+00,-3.6773e-02,3.7366e-02,-2.4126e-04,1.2930e-02,7.5141e-03,2.6703e-02,-4.3653e-04,8.8952e-04,-5.5566e-05,3.0606e-02,9.9241e-04
+14,9.2000e+00,DOWN_FORCE_DETACH,2.0712e-03,9.1177e-03,3.6624e-03,2.4810e+00,-3.6870e-02,3.7408e-02,-2.3856e-04,1.3608e-02,9.2792e-03,2.8460e-02,-5.3410e-04,9.3136e-04,-5.2862e-05,3.2882e-02,1.0749e-03
+15,9.6333e+00,DOWN_FORCE_DETACH,2.2186e-03,6.4106e-03,2.6231e-03,2.4806e+00,-3.6794e-02,3.7231e-02,-2.3652e-04,1.0901e-02,8.2399e-03,2.8030e-02,-4.5778e-04,7.5471e-04,-5.0829e-05,3.1183e-02,8.8415e-04
+16,1.0250e+01,DOWN_FORCE_DETACH,2.3669e-03,5.2882e-03,1.6504e-03,2.4819e+00,-3.6721e-02,3.7155e-02,-2.3343e-04,9.7787e-03,7.2672e-03,2.9315e-02,-3.8474e-04,6.7846e-04,-4.7733e-05,3.1745e-02,7.8142e-04
+17,1.0833e+01,DOWN_FORCE_DETACH,2.5118e-03,7.7840e-03,2.3573e-03,2.4866e+00,-3.6760e-02,3.7312e-02,-2.2965e-04,1.2275e-02,7.9741e-03,3.4024e-02,-4.2419e-04,8.3608e-04,-4.3959e-05,3.7039e-02,9.3856e-04
+18,1.1417e+01,DOWN_FORCE_DETACH,2.6586e-03,1.1097e-02,3.2203e-03,2.4922e+00,-3.6817e-02,3.7525e-02,-2.2543e-04,1.5587e-02,8.8371e-03,3.9624e-02,-4.8061e-04,1.0484e-03,-3.9740e-05,4.3487e-02,1.1540e-03
+19,1.1917e+01,DOWN_FORCE_DETACH,2.8054e-03,1.2691e-02,-1.9155e-03,2.4962e+00,-3.6491e-02,3.7628e-02,-2.2226e-04,1.7181e-02,3.7013e-03,4.3643e-02,-1.5466e-04,1.1513e-03,-3.6567e-05,4.7048e-02,1.1622e-03
+20,1.2583e+01,DOWN_FORCE_DETACH,2.9528e-03,1.5189e-02,-4.5545e-03,2.5031e+00,-3.6337e-02,3.7790e-02,-2.1797e-04,1.9679e-02,1.0623e-03,5.0502e-02,-1.3672e-06,1.3136e-03,-3.2275e-05,5.4211e-02,1.3140e-03
+21,1.3117e+01,DOWN_FORCE_DETACH,3.1027e-03,1.6971e-02,-5.9106e-03,2.5080e+00,-3.6272e-02,3.7907e-02,-2.1480e-04,2.1462e-02,-2.9385e-04,5.5421e-02,6.3814e-05,1.4304e-03,-2.9106e-05,5.9432e-02,1.4321e-03
+22,1.3633e+01,DOWN_FORCE_DETACH,3.2522e-03,1.8272e-02,-6.8522e-03,2.5112e+00,-3.6237e-02,3.7993e-02,-2.1221e-04,2.2763e-02,-1.2354e-03,5.8639e-02,9.9044e-05,1.5167e-03,-2.6518e-05,6.2914e-02,1.5201e-03
+23,1.4100e+01,DOWN_FORCE_DETACH,3.3982e-03,1.7674e-02,-6.2042e-03,2.5123e+00,-3.6301e-02,3.7956e-02,-2.1034e-04,2.2165e-02,-5.8740e-04,5.9766e-02,3.5305e-05,1.4800e-03,-2.4652e-05,6.3746e-02,1.4807e-03
+24,1.4533e+01,DOWN_FORCE_DETACH,3.5490e-03,1.6996e-02,-5.3033e-03,2.5145e+00,-3.6374e-02,3.7913e-02,-2.0886e-04,2.1487e-02,3.1347e-04,6.1925e-02,-3.8303e-05,1.4366e-03,-2.3168e-05,6.5547e-02,1.4373e-03
+25,1.5033e+01,DOWN_FORCE_DETACH,3.6911e-03,1.5474e-02,-6.5556e-03,2.5182e+00,-3.6305e-02,3.7813e-02,-2.0766e-04,1.9965e-02,-9.3880e-04,6.5655e-02,3.1561e-05,1.3366e-03,-2.1967e-05,6.8630e-02,1.3372e-03
+26,1.5583e+01,DOWN_FORCE_DETACH,3.8416e-03,1.4773e-02,-3.1972e-03,2.5251e+00,-3.6521e-02,3.7762e-02,-2.0572e-04,1.9264e-02,2.4196e-03,7.2552e-02,-1.8498e-04,1.2860e-03,-2.0023e-05,7.5105e-02,1.2994e-03
+27,1.6083e+01,DOWN_FORCE_DETACH,3.9865e-03,1.3974e-02,1.3233e-03,2.5328e+00,-3.6805e-02,3.7703e-02,-2.0330e-04,1.8465e-02,6.9401e-03,8.0276e-02,-4.6920e-04,1.2266e-03,-1.7610e-05,8.2664e-02,1.3134e-03
+28,1.6567e+01,DOWN_FORCE_DETACH,4.1334e-03,1.3364e-02,4.8795e-03,2.5384e+00,-3.7027e-02,3.7655e-02,-2.0020e-04,1.7855e-02,1.0496e-02,8.5807e-02,-6.9110e-04,1.1791e-03,-1.4508e-05,8.8271e-02,1.3668e-03
+29,1.7017e+01,DOWN_FORCE_DETACH,4.2862e-03,1.2435e-02,6.5768e-03,2.5414e+00,-3.7138e-02,3.7589e-02,-1.9646e-04,1.6926e-02,1.2194e-02,8.8871e-02,-8.0237e-04,1.1127e-03,-1.0766e-05,9.1286e-02,1.3719e-03
+30,1.7467e+01,DOWN_FORCE_DETACH,4.4317e-03,1.3064e-02,7.2890e-03,2.5448e+00,-3.7195e-02,3.7625e-02,-1.9184e-04,1.7555e-02,1.2906e-02,9.2275e-02,-8.5900e-04,1.1482e-03,-6.1426e-06,9.4812e-02,1.4339e-03
+31,1.7883e+01,DOWN_FORCE_DETACH,4.5794e-03,1.3746e-02,8.1977e-03,2.5494e+00,-3.7265e-02,3.7665e-02,-1.8723e-04,1.8237e-02,1.3814e-02,9.6808e-02,-9.2847e-04,1.1885e-03,-1.5405e-06,9.9475e-02,1.5081e-03
+32,1.8267e+01,DOWN_FORCE_DETACH,4.7266e-03,1.4648e-02,9.2735e-03,2.5564e+00,-3.7341e-02,3.7719e-02,-1.8290e-04,1.9138e-02,1.4890e-02,1.0383e-01,-1.0053e-03,1.2427e-03,2.7973e-06,1.0662e-01,1.5984e-03
+33,1.8617e+01,DOWN_FORCE_DETACH,4.8752e-03,1.5503e-02,1.0656e-02,2.5648e+00,-3.7435e-02,3.7770e-02,-1.7911e-04,1.9993e-02,1.6273e-02,1.1222e-01,-1.0987e-03,1.2933e-03,6.5866e-06,1.1514e-01,1.6970e-03
+34,1.9000e+01,DOWN_FORCE_DETACH,5.0194e-03,1.6603e-02,1.2151e-02,2.5737e+00,-3.7533e-02,3.7835e-02,-1.7550e-04,2.1094e-02,1.7768e-02,1.2117e-01,-1.1973e-03,1.3582e-03,1.0198e-05,1.2427e-01,1.8106e-03
+35,1.9350e+01,DOWN_FORCE_DETACH,5.1721e-03,1.7935e-02,1.4511e-02,2.5818e+00,-3.7683e-02,3.7915e-02,-1.7253e-04,2.2425e-02,2.0127e-02,1.2921e-01,-1.3474e-03,1.4382e-03,1.3165e-05,1.3268e-01,1.9708e-03
+36,1.9667e+01,DOWN_FORCE_DETACH,5.3168e-03,1.8620e-02,1.6371e-02,2.5877e+00,-3.7797e-02,3.7954e-02,-1.6998e-04,2.3111e-02,2.1988e-02,1.3513e-01,-1.4614e-03,1.4774e-03,1.5714e-05,1.3884e-01,2.0781e-03
+37,2.0000e+01,DOWN_FORCE_DETACH,5.4679e-03,1.9548e-02,1.8317e-02,2.5944e+00,-3.7914e-02,3.8009e-02,-1.6688e-04,2.4038e-02,2.3933e-02,1.4182e-01,-1.5777e-03,1.5323e-03,1.8813e-05,1.4582e-01,2.1994e-03
+38,2.0333e+01,DOWN_FORCE_DETACH,5.6122e-03,1.9987e-02,1.9715e-02,2.6012e+00,-3.7996e-02,3.8032e-02,-1.6345e-04,2.4478e-02,2.5332e-02,1.4861e-01,-1.6600e-03,1.5555e-03,2.2241e-05,1.5272e-01,2.2750e-03
+39,2.0650e+01,DOWN_FORCE_DETACH,5.7612e-03,2.0367e-02,2.0875e-02,2.6088e+00,-3.8064e-02,3.8051e-02,-1.6027e-04,2.4858e-02,2.6492e-02,1.5628e-01,-1.7277e-03,1.5745e-03,2.5423e-05,1.6044e-01,2.3376e-03
+40,2.0967e+01,DOWN_FORCE_DETACH,5.9094e-03,2.1010e-02,2.2314e-02,2.6169e+00,-3.8145e-02,3.8086e-02,-1.5815e-04,2.5501e-02,2.7931e-02,1.6431e-01,-1.8093e-03,1.6097e-03,2.7540e-05,1.6860e-01,2.4219e-03
+41,2.1267e+01,DOWN_FORCE_DETACH,6.0600e-03,2.1924e-02,2.4575e-02,2.6242e+00,-3.8276e-02,3.8138e-02,-1.5722e-04,2.6415e-02,3.0192e-02,1.7167e-01,-1.9397e-03,1.6613e-03,2.8472e-05,1.7629e-01,2.5540e-03
+42,2.1550e+01,DOWN_FORCE_DETACH,6.2019e-03,2.2962e-02,2.5864e-02,2.6294e+00,-3.8349e-02,3.8198e-02,-1.5720e-04,2.7452e-02,3.1481e-02,1.7684e-01,-2.0132e-03,1.7211e-03,2.8489e-05,1.8170e-01,2.6488e-03
+43,2.1833e+01,DOWN_FORCE_DETACH,6.3563e-03,2.3351e-02,2.5195e-02,2.6327e+00,-3.8306e-02,3.8216e-02,-1.5732e-04,2.7841e-02,3.0812e-02,1.8014e-01,-1.9704e-03,1.7395e-03,2.8378e-05,1.8486e-01,2.6286e-03
+44,2.2033e+01,DOWN_FORCE_DETACH,6.5061e-03,2.3429e-02,2.4057e-02,2.6358e+00,-3.8237e-02,3.8217e-02,-1.5710e-04,2.7919e-02,2.9673e-02,1.8322e-01,-1.9012e-03,1.7404e-03,2.8596e-05,1.8769e-01,2.5777e-03
+45,2.2317e+01,DOWN_FORCE_DETACH,6.6486e-03,2.3418e-02,2.3107e-02,2.6427e+00,-3.8181e-02,3.8211e-02,-1.5629e-04,2.7908e-02,2.8724e-02,1.9016e-01,-1.8450e-03,1.7341e-03,2.9399e-05,1.9433e-01,2.5322e-03
+46,2.2583e+01,DOWN_FORCE_DETACH,6.7946e-03,2.1870e-02,2.2775e-02,2.6478e+00,-3.8161e-02,3.8106e-02,-1.5529e-04,2.6361e-02,2.8392e-02,1.9519e-01,-1.8247e-03,1.6293e-03,3.0407e-05,1.9900e-01,2.4464e-03
+47,2.2833e+01,DOWN_FORCE_DETACH,6.9400e-03,2.0138e-02,2.3531e-02,2.6510e+00,-3.8205e-02,3.7989e-02,-1.5418e-04,2.4629e-02,2.9148e-02,1.9847e-01,-1.8691e-03,1.5128e-03,3.1510e-05,2.0210e-01,2.4048e-03
+48,2.3100e+01,DOWN_FORCE_DETACH,7.0939e-03,1.8907e-02,2.5866e-02,2.6540e+00,-3.8345e-02,3.7905e-02,-1.5263e-04,2.3398e-02,3.1482e-02,2.0147e-01,-2.0091e-03,1.4282e-03,3.3068e-05,2.0525e-01,2.4652e-03
+49,2.3367e+01,DOWN_FORCE_DETACH,7.2429e-03,1.8345e-02,2.8012e-02,2.6568e+00,-3.8471e-02,3.7863e-02,-1.5078e-04,2.2835e-02,3.3629e-02,2.0425e-01,-2.1345e-03,1.3865e-03,3.4913e-05,2.0826e-01,2.5455e-03
+50,2.3600e+01,DOWN_FORCE_DETACH,7.3834e-03,1.8296e-02,2.9019e-02,2.6596e+00,-3.8527e-02,3.7854e-02,-1.4907e-04,2.2787e-02,3.4636e-02,2.0701e-01,-2.1906e-03,1.3775e-03,3.6621e-05,2.1112e-01,2.5880e-03
+51,2.3850e+01,DOWN_FORCE_DETACH,7.5350e-03,1.7917e-02,2.9235e-02,2.6630e+00,-3.8535e-02,3.7823e-02,-1.4771e-04,2.2407e-02,3.4852e-02,2.1041e-01,-2.1989e-03,1.3469e-03,3.7986e-05,2.1446e-01,2.5789e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..98b4a945997c4ee9f8e893201380a43659f78f9c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..92224d5df1351fb6b379339b29c41d268280c615
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ecc6299666385e9e88ccb63e57278d93f7b6da31
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+7,2.350000000e+00,UP_FORCE_RAMP,1792648774014355514,6.478228630e-06,-1.767002241e-05,1.137427713e-05,3.039876561e-06,-1.945555634e-05,7.588161972e-06,3.346670368e-06,-1.926695071e-05,7.606666669e-06,7.015443497e-01,-1.611906108e-05,8.407523155e-01,7.015409114e-01,-1.790459502e-05,8.407485293e-01,7.017290318e-01,-1.767958975e-05,8.297882467e-01
+8,2.666666667e+00,UP_FORCE_RAMP,1792648774494904970,6.808602261e-06,-1.529511511e-05,1.217805013e-05,3.039876561e-06,-1.945555634e-05,7.588161972e-06,3.357824591e-06,-1.926599086e-05,7.624740923e-06,7.015446801e-01,-1.374415379e-05,8.407531192e-01,7.015409114e-01,-1.790459502e-05,8.407485293e-01,7.017290430e-01,-1.767862990e-05,8.297882648e-01
+9,3.016666667e+00,UP_FORCE_RAMP,1792648775014094228,5.188180735e-06,-1.562511500e-05,2.444700636e-05,8.211723376e-06,-1.233211461e-05,2.681742929e-05,8.676746391e-06,-1.222122245e-05,2.661931180e-05,7.015430597e-01,-1.407415368e-05,8.407653882e-01,7.015460832e-01,-1.078115329e-05,8.407677586e-01,7.017343619e-01,-1.063386149e-05,8.298072593e-01
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+12,4.000000000e+00,UP_FORCE_RAMP,1792648776495180596,4.592952142e-06,-2.951360925e-06,9.913609640e-05,7.155996564e-06,-5.472628880e-06,9.033045225e-05,7.904846208e-06,-5.386177546e-06,8.979616833e-05,7.015424644e-01,-1.400399604e-06,8.408400773e-01,7.015450275e-01,-3.921667559e-06,8.408312716e-01,7.017335900e-01,-3.798816587e-06,8.298704362e-01
+13,4.383333333e+00,UP_FORCE_RAMP,1792648777074994340,1.845769729e-06,-1.675971145e-06,1.175998295e-04,6.366511121e-06,-2.808118534e-06,1.103655571e-04,7.215522340e-06,-2.715837374e-06,1.097952238e-04,7.015397173e-01,-1.250098242e-07,8.408585410e-01,7.015442380e-01,-1.257157213e-06,8.408513067e-01,7.017329007e-01,-1.128476415e-06,8.298904352e-01
+14,4.683333333e+00,UP_FORCE_RAMP,1792648777513292055,-1.097695339e-06,-1.446228605e-06,1.374830125e-04,3.020354694e-06,-2.528975988e-06,1.309845255e-04,3.866931703e-06,-2.423011327e-06,1.303869178e-04,7.015367738e-01,1.047327160e-07,8.408784242e-01,7.015408918e-01,-9.780146674e-07,8.408719257e-01,7.017295521e-01,-8.356503690e-07,8.299110269e-01
+15,4.966666667e+00,UP_FORCE_RAMP,1792648777943971987,-1.760364412e-06,1.642509346e-07,1.700173197e-04,4.429931018e-07,-1.771881777e-06,1.532784649e-04,1.348261978e-06,-1.699887340e-06,1.526146907e-04,7.015361111e-01,1.715212256e-06,8.409109585e-01,7.015383145e-01,-2.209204563e-07,8.408942197e-01,7.017270334e-01,-1.125263815e-07,8.299332547e-01
+16,5.316666667e+00,UP_FORCE_RAMP,1792648778577527676,-2.448436062e-06,-4.066978875e-07,1.965421945e-04,-2.192389167e-06,6.827031426e-06,1.949541958e-04,-1.147358110e-06,6.854134837e-06,1.940265370e-04,7.015354230e-01,1.144263434e-06,8.409374834e-01,7.015356791e-01,8.377992747e-06,8.409358954e-01,7.017245378e-01,8.441495795e-06,8.299746666e-01
+17,5.633333333e+00,UP_FORCE_RAMP,1792648779063331103,-4.941320518e-06,6.447414376e-06,2.130854517e-04,-2.192389167e-06,6.827031426e-06,1.949541958e-04,-1.124123075e-06,6.867129250e-06,1.943243756e-04,7.015329302e-01,7.998375697e-06,8.409540266e-01,7.015356791e-01,8.377992747e-06,8.409358954e-01,7.017245610e-01,8.454490209e-06,8.299749644e-01
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+19,6.216666667e+00,UP_FORCE_RAMP,1792648779984554548,-8.605843332e-06,1.143733015e-05,2.481356318e-04,-1.025912893e-05,5.580864011e-06,2.369022006e-04,-9.143591450e-06,5.681759140e-06,2.362003385e-04,7.015292656e-01,1.298829147e-05,8.409890768e-01,7.015276124e-01,7.131825332e-06,8.409778434e-01,7.017165415e-01,7.269120099e-06,8.300168404e-01
+20,6.450000000e+00,UP_FORCE_RAMP,1792648780344359854,-1.068197077e-05,5.748724520e-06,2.632511002e-04,-6.273161050e-06,9.682069059e-06,2.605393342e-04,-4.999829370e-06,9.746518314e-06,2.597733473e-04,7.015271895e-01,7.299685841e-06,8.410041923e-01,7.015315983e-01,1.123303038e-05,8.410014805e-01,7.017206853e-01,1.133387927e-05,8.300404134e-01
+21,6.783333333e+00,UP_FORCE_RAMP,1792648780844036292,-9.566872021e-06,1.007782420e-05,2.902505191e-04,-1.059719345e-05,5.784232125e-06,2.818104513e-04,-9.308386374e-06,5.897468664e-06,2.810234463e-04,7.015283046e-01,1.162878552e-05,8.410311917e-01,7.015272743e-01,7.335193447e-06,8.410227516e-01,7.017163768e-01,7.484829622e-06,8.300616635e-01
+22,7.133333333e+00,UP_FORCE_RAMP,1792648781363865492,-1.321091802e-05,1.184612990e-05,3.103621990e-04,-8.978309124e-06,7.269261806e-06,3.032291944e-04,-7.537482969e-06,7.374284892e-06,3.025198359e-04,7.015246606e-01,1.339709122e-05,8.410513034e-01,7.015288932e-01,8.820223128e-06,8.410441704e-01,7.017181477e-01,8.961645850e-06,8.300831599e-01
+23,7.250000000e+00,UP_FORCE_RAMP,1792648781543109681,-2.207229097e-05,-2.048963472e-05,3.202677502e-04,-2.130794273e-05,-2.053287683e-05,3.202866522e-04,-2.005392713e-05,-2.019447765e-05,3.194417358e-04,7.015157992e-01,-1.893867340e-05,8.410612089e-01,7.015165635e-01,-1.898191551e-05,8.410612278e-01,7.017056312e-01,-1.860711669e-05,8.301000818e-01
+24,7.550000000e+00,UP_FORCE_RAMP,1792648781982508984,-2.257430359e-05,-1.400767606e-05,3.432191308e-04,-2.092421907e-05,-1.083205935e-05,3.384202349e-04,-1.964078683e-05,-1.056595396e-05,3.375511774e-04,7.015152972e-01,-1.245671474e-05,8.410841603e-01,7.015169473e-01,-9.281098029e-06,8.410793614e-01,7.017060444e-01,-8.978592999e-06,8.301181912e-01
+25,7.800000000e+00,UP_FORCE_RAMP,1792648782362930789,-2.586581745e-05,-5.952023669e-06,3.674889141e-04,-2.231828002e-05,-7.613255894e-06,3.616728241e-04,-2.092262054e-05,-7.360093961e-06,3.607733614e-04,7.015120057e-01,-4.401062348e-06,8.411084301e-01,7.015155532e-01,-6.062294573e-06,8.411026140e-01,7.017047625e-01,-5.772733003e-06,8.301414134e-01
+26,8.083333333e+00,UP_FORCE_RAMP,1792648782784217733,-2.304800239e-05,-1.097182461e-05,3.911310449e-04,-2.183555652e-05,-7.482466707e-06,3.842784626e-04,-2.034812235e-05,-7.233406177e-06,3.833412948e-04,7.015148235e-01,-9.420863286e-06,8.411320722e-01,7.015160359e-01,-5.931505386e-06,8.411252197e-01,7.017053370e-01,-5.646045219e-06,8.301639813e-01
+27,8.400000000e+00,UP_FORCE_RAMP,1792648783332250602,-2.410813120e-05,-6.116139308e-06,4.143287196e-04,-2.169229302e-05,-5.500630701e-06,4.040203215e-04,-2.017691281e-05,-5.276707063e-06,4.031045011e-04,7.015137634e-01,-4.565177987e-06,8.411552699e-01,7.015161792e-01,-3.949669380e-06,8.411449615e-01,7.017055082e-01,-3.689346105e-06,8.301837445e-01
+28,8.716666667e+00,UP_FORCE_RAMP,1792648783811079933,-2.401132917e-05,-1.679874807e-06,4.379871408e-04,-2.281881693e-05,-7.748223759e-06,4.267986302e-04,-2.129065133e-05,-7.506111401e-06,4.258543082e-04,7.015138602e-01,-1.289134861e-07,8.411789283e-01,7.015150527e-01,-6.197262438e-06,8.411677398e-01,7.017043945e-01,-5.918750442e-06,8.302064943e-01
+29,9.000000000e+00,UP_FORCE_RAMP,1792648784231401574,-2.087903284e-05,7.305647902e-07,4.708572190e-04,-2.191367251e-05,1.060620195e-06,4.670000773e-04,-2.026749920e-05,1.233382226e-06,4.657364376e-04,7.015169924e-01,2.281526111e-06,8.412117984e-01,7.015159578e-01,2.611581516e-06,8.412079413e-01,7.017054176e-01,2.820743185e-06,8.302463765e-01
+30,9.316666667e+00,UP_FORCE_RAMP,1792648784711050130,-2.182440923e-05,-3.622739691e-07,4.977968002e-04,-1.958554940e-05,5.852306587e-07,4.868721154e-04,-1.780879661e-05,7.602857988e-07,4.857092802e-04,7.015160471e-01,1.188687352e-06,8.412387380e-01,7.015182859e-01,2.136191980e-06,8.412278133e-01,7.017078763e-01,2.347646757e-06,8.302663493e-01
+31,9.650000000e+00,UP_FORCE_RAMP,1792648785211052727,-2.482166989e-05,8.842368569e-07,5.249841030e-04,-2.119743248e-05,2.195603164e-08,5.070831849e-04,-1.936430299e-05,2.096216331e-07,5.059822508e-04,7.015130498e-01,2.435198178e-06,8.412659253e-01,7.015166740e-01,1.572917353e-06,8.412480244e-01,7.017063208e-01,1.796982591e-06,8.302866223e-01
+32,9.883333333e+00,UP_FORCE_RAMP,1792648785681516596,-6.218352757e-05,3.414565902e-07,5.274938794e-04,-6.200176380e-05,2.222357890e-07,5.275819404e-04,-6.074553991e-05,4.535430817e-07,5.264862081e-04,7.014756880e-01,1.892417911e-06,8.412684351e-01,7.014758697e-01,1.773197110e-06,8.412685231e-01,7.016649396e-01,2.040904040e-06,8.303071262e-01
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+41,1.181666667e+01,UP_FORCE_RAMP,1792648788764006992,-3.793504442e-05,-1.074795239e-05,4.542547802e-04,-3.603309027e-05,-1.077602215e-05,4.553620023e-04,-3.500459506e-05,-1.051892951e-05,4.562590672e-04,7.014999364e-01,-9.196991071e-06,8.411951960e-01,7.015018384e-01,-9.225060828e-06,8.411963032e-01,7.016906805e-01,-8.931568550e-06,8.302368991e-01
+42,1.210000000e+01,UP_FORCE_RAMP,1792648789183160597,-4.480603637e-05,-7.277115490e-06,4.723643022e-04,-3.603309027e-05,-1.077602215e-05,4.553620023e-04,-3.495726959e-05,-1.051616198e-05,4.559529284e-04,7.014930654e-01,-5.726154169e-06,8.412133055e-01,7.015018384e-01,-9.225060828e-06,8.411963032e-01,7.016907279e-01,-8.928801025e-06,8.302365930e-01
+43,1.225000000e+01,UP_FORCE_RAMP,1792648789412890066,-6.744336559e-05,2.108834861e-06,5.111771257e-04,-6.729708192e-05,2.167984535e-06,5.107974591e-04,-6.652883849e-05,2.379350117e-06,5.105342848e-04,7.014704281e-01,3.659796182e-06,8.412521183e-01,7.014705744e-01,3.718945856e-06,8.412517386e-01,7.016591563e-01,3.966711075e-06,8.302911743e-01
+44,1.238333333e+01,UP_FORCE_RAMP,1792648789613005787,-5.733914608e-05,4.938382023e-06,5.625118083e-04,-5.730060269e-05,4.989812049e-06,5.621954574e-04,-5.624057244e-05,5.179200901e-06,5.613104147e-04,7.014805323e-01,6.489343344e-06,8.413034530e-01,7.014805709e-01,6.540773370e-06,8.413031366e-01,7.016694446e-01,6.766561859e-06,8.303419504e-01
+45,1.256666667e+01,UP_FORCE_RAMP,1792648789884542648,-5.714604703e-05,9.034657176e-06,6.291517838e-04,-5.668747663e-05,8.980763317e-06,6.286979426e-04,-5.533441055e-05,9.097351532e-06,6.270420583e-04,7.014807254e-01,1.058561850e-05,8.413700930e-01,7.014811840e-01,1.053172464e-05,8.413696391e-01,7.016703507e-01,1.068471249e-05,8.304076821e-01
+46,1.266666667e+01,UP_FORCE_RAMP,1792648790043594746,-5.825742074e-05,1.494020974e-05,6.537987261e-04,-4.424138048e-05,1.192359378e-05,6.598903818e-04,-4.256272415e-05,1.204266570e-05,6.580550219e-04,7.014796141e-01,1.649117106e-05,8.413947399e-01,7.014936301e-01,1.347455510e-05,8.414008316e-01,7.016831224e-01,1.363002665e-05,8.304386950e-01
+47,1.290000000e+01,UP_FORCE_RAMP,1792648790383942295,-6.596676132e-05,1.824945108e-05,7.064172980e-04,-6.571071439e-05,1.828324907e-05,6.913965261e-04,-6.430531664e-05,1.834228300e-05,6.895199327e-04,7.014719047e-01,1.980041241e-05,8.414473585e-01,7.014721608e-01,1.983421039e-05,8.414323377e-01,7.016613798e-01,1.992964396e-05,8.304701600e-01
+48,1.303333333e+01,UP_FORCE_HOLD,1792648790582403232,-7.030407127e-05,4.904597388e-06,7.517131433e-04,-6.999414627e-05,5.057731315e-06,7.519713624e-04,-6.843720084e-05,5.227038230e-06,7.495028449e-04,7.014675674e-01,6.455558709e-06,8.414926543e-01,7.014678773e-01,6.608692636e-06,8.414929126e-01,7.016572479e-01,6.814399188e-06,8.305301429e-01
+49,1.325000000e+01,UP_FORCE_HOLD,1792648790912670459,-7.524700092e-05,1.064051398e-05,8.071725025e-04,-7.751660342e-05,9.047334564e-06,7.952349041e-04,-7.597694281e-05,9.153620738e-06,7.927660774e-04,7.014626245e-01,1.219147530e-05,8.415481137e-01,7.014603549e-01,1.059829588e-05,8.415361761e-01,7.016497082e-01,1.074098170e-05,8.305734061e-01
+50,1.345000000e+01,UP_SETTLE,1792648791212524858,-7.402107232e-05,1.493525083e-05,8.577044695e-04,-7.256088541e-05,8.939604744e-06,8.460725691e-04,-7.080179928e-05,9.012391529e-06,8.434758374e-04,7.014638504e-01,1.648621216e-05,8.415986457e-01,7.014653106e-01,1.049056607e-05,8.415870138e-01,7.016548833e-01,1.059975249e-05,8.306241159e-01
+51,1.371666667e+01,UP_SETTLE,1792648791612584915,-8.115284961e-05,1.563799528e-05,9.205329264e-04,-8.011843566e-05,1.728767972e-05,9.107469112e-04,-7.833438281e-05,1.729399600e-05,9.080548899e-04,7.014567186e-01,1.718895660e-05,8.416614741e-01,7.014577530e-01,1.883864104e-05,8.416516881e-01,7.016473508e-01,1.888135695e-05,8.306886949e-01
+52,1.390000000e+01,UP_SETTLE,1792648791881507852,-8.262137178e-05,1.612668957e-05,9.655392420e-04,-7.908804011e-05,2.059073610e-05,9.589416656e-04,-7.707627659e-05,2.054342563e-05,9.561784591e-04,7.014552501e-01,1.767765090e-05,8.417064804e-01,7.014587834e-01,2.214169742e-05,8.416998829e-01,7.016486089e-01,2.213078659e-05,8.307368185e-01
+53,1.415000000e+01,UP_SETTLE,1792648792262809830,-8.306916643e-05,1.636558319e-05,1.017592518e-03,-8.534636211e-05,1.488200459e-05,1.001913523e-03,-8.338440353e-05,1.487829726e-05,9.993061963e-04,7.014548023e-01,1.791654451e-05,8.417585337e-01,7.014525251e-01,1.643296591e-05,8.417428547e-01,7.016423007e-01,1.646565821e-05,8.307799462e-01
+54,1.440000000e+01,UP_SETTLE,1792648792643116837,-8.568590950e-05,1.503211004e-05,1.056440686e-03,-8.285029468e-05,1.333809829e-05,1.047133823e-03,-8.073740026e-05,1.335809788e-05,1.044763142e-03,7.014521856e-01,1.658307136e-05,8.417973819e-01,7.014550212e-01,1.488905962e-05,8.417880750e-01,7.016449477e-01,1.494545884e-05,8.308254032e-01
+55,1.470000000e+01,UP_SETTLE,1792648793080545853,-8.256356133e-05,2.066447462e-05,1.111602118e-03,-8.235039144e-05,2.070841669e-05,1.111726224e-03,-8.001959015e-05,2.067058678e-05,1.109332424e-03,7.014553079e-01,2.221543595e-05,8.418525433e-01,7.014555211e-01,2.225937801e-05,8.418526674e-01,7.016456656e-01,2.225794773e-05,8.308899724e-01
+56,1.495000000e+01,UP_SETTLE,1792648793462853693,-7.892108591e-05,1.998141833e-05,1.148927391e-03,-7.921083751e-05,1.853982938e-05,1.135419855e-03,-7.683822832e-05,1.849908857e-05,1.133390526e-03,7.014589504e-01,2.153237965e-05,8.418898686e-01,7.014586606e-01,2.009079070e-05,8.418763610e-01,7.016488469e-01,2.008644953e-05,8.309140305e-01
+57,1.528333333e+01,UP_SETTLE,1792648793964066549,-7.779818881e-05,2.298112970e-05,1.184010654e-03,-7.858495860e-05,1.980835758e-05,1.176337022e-03,-7.602875030e-05,1.979947276e-05,1.174601243e-03,7.014600733e-01,2.453209102e-05,8.419249518e-01,7.014592865e-01,2.135931890e-05,8.419172782e-01,7.016496564e-01,2.138683372e-05,8.309552413e-01
+58,1.560000000e+01,UP_SETTLE,1792648794443082965,-7.539153392e-05,2.156598875e-05,1.210172750e-03,-7.777366076e-05,2.261336938e-05,1.196022680e-03,-7.511590403e-05,2.258090586e-05,1.194718829e-03,7.014624799e-01,2.311695007e-05,8.419511139e-01,7.014600978e-01,2.416433071e-05,8.419369639e-01,7.016505692e-01,2.416826682e-05,8.309753589e-01
+59,1.581666667e+01,UP_SETTLE,1792648794748638940,-7.739286517e-05,2.146675336e-05,1.214162870e-03,-7.655965657e-05,2.338452640e-05,1.216723438e-03,-7.375491519e-05,2.335327332e-05,1.215510168e-03,7.014604786e-01,2.301771468e-05,8.419551041e-01,7.014613118e-01,2.493548772e-05,8.419576646e-01,7.016519302e-01,2.494063428e-05,8.309961502e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6c843c2d3b9753b81337fa06eb5abd222fca861
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_03/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-4.3858e-03,-5.6209e-03,2.4526e+00,-3.6336e-02,3.6483e-02,-1.8572e-04,1.0497e-04,-3.9251e-06,2.1458e-05,2.1979e-07,6.8396e-06,-2.3516e-08,1.0721e-04,6.8432e-06
+1,3.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,7.5268e-05,3.2094e-03,-5.8467e-03,2.4543e+00,-3.6325e-02,3.6984e-02,-1.8834e-04,7.7001e-03,-2.2977e-04,1.7643e-03,1.0733e-05,5.0742e-04,-2.6523e-06,7.9030e-03,5.0754e-04
+2,7.1667e-01,WAIT_W2,1.5167e-04,5.3283e-03,-5.4667e-03,2.4545e+00,-3.6365e-02,3.7201e-02,-2.0480e-04,9.8190e-03,1.5025e-04,1.9464e-03,-2.8472e-05,7.2441e-04,-1.9104e-05,1.0011e-02,7.2522e-04
+3,1.0333e+00,WAIT_W2,2.2930e-04,6.0692e-03,-5.5748e-03,2.4551e+00,-3.6358e-02,3.7234e-02,-2.3840e-04,1.0560e-02,4.2149e-05,2.5792e-03,-2.1748e-05,7.5758e-04,-5.2712e-05,1.0870e-02,7.5972e-04
+4,1.3833e+00,WAIT_W2,3.0510e-04,7.7401e-03,-5.4819e-03,2.4560e+00,-3.6371e-02,3.7355e-02,-2.3965e-04,1.2231e-02,1.3511e-04,3.3998e-03,-3.5096e-05,8.7878e-04,-5.3962e-05,1.2695e-02,8.8113e-04
+5,1.7333e+00,WAIT_W2,3.8137e-04,6.8686e-03,5.0384e-03,2.4525e+00,-3.7129e-02,3.7295e-02,-2.3356e-04,1.1359e-02,1.0655e-02,-1.0467e-04,-7.9261e-04,8.1876e-04,-4.7869e-05,1.5575e-02,1.1406e-03
+6,2.0500e+00,WAIT_W2,4.5827e-04,7.0909e-03,4.8932e-03,2.4526e+00,-3.7119e-02,3.7310e-02,-2.3338e-04,1.1582e-02,1.0510e-02,8.0109e-05,-7.8283e-04,8.3311e-04,-4.7686e-05,1.5640e-02,1.1442e-03
+7,2.3500e+00,UP_FORCE_RAMP,5.3618e-04,7.4325e-03,4.7922e-03,2.4531e+00,-3.7112e-02,3.7332e-02,-2.3327e-04,1.1923e-02,1.0409e-02,5.2595e-04,-7.7620e-04,8.5523e-04,-4.7579e-05,1.5836e-02,1.1559e-03
+8,2.6667e+00,UP_FORCE_RAMP,6.0954e-04,8.5469e-03,4.5320e-03,2.4547e+00,-3.7095e-02,3.7405e-02,-2.3294e-04,1.3038e-02,1.0149e-02,2.1801e-03,-7.5934e-04,9.2815e-04,-4.7247e-05,1.6665e-02,1.2001e-03
+9,3.0167e+00,UP_FORCE_RAMP,6.8346e-04,9.1198e-03,4.3515e-03,2.4558e+00,-3.7085e-02,3.7445e-02,-2.3268e-04,1.3610e-02,9.9685e-03,3.2849e-03,-7.4855e-04,9.6823e-04,-4.6984e-05,1.7187e-02,1.2247e-03
+10,3.3500e+00,UP_FORCE_RAMP,7.6147e-04,6.1133e-03,6.3573e-04,2.4442e+00,-3.6844e-02,3.7255e-02,-2.3310e-04,1.0604e-02,6.2527e-03,-8.3899e-03,-5.0771e-04,7.7823e-04,-4.7404e-05,1.4897e-02,9.3041e-04
+11,3.7167e+00,UP_FORCE_RAMP,8.3795e-04,7.1792e-03,5.3499e-05,2.4402e+00,-3.6805e-02,3.7325e-02,-2.3313e-04,1.1670e-02,5.6705e-03,-1.2385e-02,-4.6930e-04,8.4847e-04,-4.7439e-05,1.7937e-02,9.7077e-04
+12,4.0000e+00,UP_FORCE_RAMP,9.1449e-04,7.7919e-03,-5.9228e-04,2.4376e+00,-3.6764e-02,3.7366e-02,-2.3309e-04,1.2283e-02,5.0247e-03,-1.4963e-02,-4.2775e-04,8.8953e-04,-4.7399e-05,2.0000e-02,9.8817e-04
+13,4.3833e+00,UP_FORCE_RAMP,9.9184e-04,8.6416e-03,-1.5708e-03,2.4352e+00,-3.6702e-02,3.7423e-02,-2.3292e-04,1.3132e-02,4.0461e-03,-1.7353e-02,-3.6579e-04,9.4667e-04,-4.7225e-05,2.2135e-02,1.0160e-03
+14,4.6833e+00,UP_FORCE_RAMP,1.0682e-03,9.7557e-03,-2.2917e-03,2.4335e+00,-3.6657e-02,3.7497e-02,-2.3262e-04,1.4246e-02,3.3252e-03,-1.9022e-02,-3.2125e-04,1.0211e-03,-4.6924e-05,2.3997e-02,1.0714e-03
+15,4.9667e+00,UP_FORCE_RAMP,1.1451e-03,1.1092e-02,-2.8700e-03,2.4314e+00,-3.6623e-02,3.7587e-02,-2.3218e-04,1.5583e-02,2.7470e-03,-2.1133e-02,-2.8663e-04,1.1103e-03,-4.6493e-05,2.6401e-02,1.1476e-03
+16,5.3167e+00,UP_FORCE_RAMP,1.2211e-03,1.3036e-02,-4.1608e-03,2.4289e+00,-3.6544e-02,3.7717e-02,-2.3146e-04,1.7527e-02,1.4561e-03,-2.3623e-02,-2.0750e-04,1.2403e-03,-4.5768e-05,2.9451e-02,1.2584e-03
+17,5.6333e+00,UP_FORCE_RAMP,1.2963e-03,1.4332e-02,-5.4473e-03,2.4269e+00,-3.6465e-02,3.7805e-02,-2.3063e-04,1.8822e-02,1.6963e-04,-2.5614e-02,-1.2883e-04,1.3283e-03,-4.4942e-05,3.1786e-02,1.3353e-03
+18,5.8667e+00,UP_FORCE_RAMP,1.3692e-03,1.5561e-02,-5.8559e-03,2.4259e+00,-3.6443e-02,3.7888e-02,-2.2976e-04,2.0052e-02,-2.3899e-04,-2.6644e-02,-1.0643e-04,1.4113e-03,-4.4069e-05,3.3347e-02,1.4160e-03
+19,6.2167e+00,UP_FORCE_RAMP,1.4493e-03,1.7732e-02,-6.3874e-03,2.4252e+00,-3.6415e-02,3.8034e-02,-2.2818e-04,2.2223e-02,-7.7045e-04,-2.7338e-02,-7.8749e-05,1.5572e-03,-4.2491e-05,3.5239e-02,1.5598e-03
+20,6.4500e+00,UP_FORCE_RAMP,1.5231e-03,1.8763e-02,-7.0041e-03,2.4246e+00,-3.6380e-02,3.8104e-02,-2.2696e-04,2.3254e-02,-1.3872e-03,-2.7986e-02,-4.3925e-05,1.6277e-03,-4.1263e-05,3.6413e-02,1.6288e-03
+21,6.7833e+00,UP_FORCE_RAMP,1.6007e-03,2.0024e-02,-7.5058e-03,2.4241e+00,-3.6355e-02,3.8191e-02,-2.2500e-04,2.4515e-02,-1.8889e-03,-2.8468e-02,-1.9297e-05,1.7151e-03,-3.9312e-05,3.7616e-02,1.7157e-03
+22,7.1333e+00,UP_FORCE_RAMP,1.6757e-03,2.1379e-02,-7.6262e-03,2.4231e+00,-3.6356e-02,3.8285e-02,-2.2267e-04,2.5870e-02,-2.0093e-03,-2.9464e-02,-2.0400e-05,1.8088e-03,-3.6980e-05,3.9261e-02,1.8093e-03
+23,7.2500e+00,UP_FORCE_RAMP,1.7527e-03,2.2079e-02,-6.5912e-03,2.4228e+00,-3.6428e-02,3.8333e-02,-2.2167e-04,2.6570e-02,-9.7420e-04,-2.9731e-02,-9.1840e-05,1.8570e-03,-3.5974e-05,3.9886e-02,1.8597e-03
+24,7.5500e+00,UP_FORCE_RAMP,1.8316e-03,3.2632e-02,1.0234e-02,2.4256e+00,-3.7861e-02,3.9218e-02,-1.5107e-04,3.7123e-02,1.5851e-02,-2.6936e-02,-1.5249e-03,2.7418e-03,3.4624e-05,4.8527e-02,3.1376e-03
+25,7.8000e+00,UP_FORCE_RAMP,1.9065e-03,3.2560e-02,9.2032e-03,2.4237e+00,-3.7788e-02,3.9210e-02,-1.4980e-04,3.7051e-02,1.4820e-02,-2.8836e-02,-1.4517e-03,2.7334e-03,3.5891e-05,4.9233e-02,3.0952e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..61304b41e464b22a5d664fd9e92e9068c7939cbf
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:04b89960c3efaa36eed9dab2244e6c9f843073286e904022c425cd713a954c26
+size 2652160
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b447b8c481eef0f08df852c5a6af269edea5e9cf
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2bdd5c3603d4ba89706f3b71683ab19a3ac00ec6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+47921,1792648945769535395,17486082999999,1792648945768659237,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760146259272749,-0.004456984276425503,0.0908385041150112,0.9999999837553757,4.746728723901644e-05,-0.0001259224303703142,7.630537953520316e-05,0.6761,-0.0045,0.0909104229267685,1.0,0.0,0.0,0.0,-0.11534628541309683,0.025907118029023485,0.2157806107049629,0.002952580140435134,0.008301003850728173,-2.1755427691215598e-05,0.16997494100717736,-0.19512354620150357,0.4999141540844353,-0.0059612164338365276,-0.012141498445162047,-0.0006415282949382415,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.7778003430017902,-0.35265879576096576,0.3794929615138966,0.5360700631954194,-0.11820269898803504,-0.2431984603167516,0.9848723482038328,0.2157806107049629,0.6053793866899362,0.6053793866899362,0.6396769654296031,0,0,-1.616630232045691e-05,-7.121711140112836e-05
+48020,1792648946594631559,17486908000000,1792648946588659443,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760163703869627,-0.0044554126745849675,0.09082735261138675,0.9999999836041001,5.012274496398561e-05,-0.00012427406293209135,7.923592398732384e-05,0.6761,-0.0045,0.09089056597990194,1.0,0.0,0.0,0.0,-0.11485656139008252,0.032962074805311686,0.25455321218168425,0.002969569031972343,0.00926510992554727,-3.810943581851619e-05,0.17046466503019167,-0.18806858942521537,0.5386867555611566,-0.005944227542299318,-0.01117739237034295,-0.0006578823030655421,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.8267609684243917,-0.4312209433298492,0.3947859317793707,0.564426186904006,-0.11778077819442634,-0.2964623079743271,0.9848723482038328,0.25455321218168425,0.5900864164244621,0.5900864164244621,0.697426965429615,0,0,-3.156540101109518e-05,-9.96314239706308e-05
+48133,1792648947536549851,17487849999999,1792648947532668259,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760168496034096,-0.004457068546306022,0.09080285177089102,0.9999999828953572,5.819197195800949e-05,-0.0001248114488830354,8.177986619283495e-05,0.6761,-0.0045,0.09085573147722113,1.0,0.0,0.0,0.0,-0.12337202315656073,0.022321288607998507,0.3056757136424775,0.002020667471647652,0.009311403277526152,-8.973828899241606e-05,0.16194920326371345,-0.19870937562252855,0.5898092570219499,-0.0068931291026240096,-0.011131099018364067,-0.000709511156239442,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.7775148864457225,-0.39731401187329324,0.33788215482852063,0.5747287742343778,-0.09627118370450728,-0.26624677745742603,0.9848723482038328,0.3056757136424775,0.6469901933753122,0.6469901933753122,0.7633669654296287,0,0,-3.822899282831938e-05,-9.985693802250779e-05
+48240,1792648948427578898,17488741000000,1792648948424668293,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760214769112213,-0.004457715609222086,0.09077497225250754,0.9999999758985845,0.0001321143789782781,-0.00012321329635853724,8.37255583451494e-05,0.6761,-0.0045,0.09082065000735198,1.0,0.0,0.0,0.0,-0.13123227496459589,0.02438831140499287,0.36624625499505237,0.0029452788713050966,0.009279749322969858,-0.000129020440968616,0.1540889514556783,-0.1966423528255342,0.6503797983745248,-0.005968517702966565,-0.011162752972920362,-0.0007487933082156419,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.871793947772247,-0.3633036296552632,0.20425925749726817,0.5486967598557674,0.017141594404331134,-0.2861391138974344,0.9848723482038328,0.36624625499505237,0.7806130907065647,0.7806130907065647,0.8257369654296416,0,0,-3.834482438255094e-05,6.82637583474457e-05
+48367,1792648949486566854,17489800000000,1792648949480668558,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760216433337651,-0.004455672389076089,0.0907385259146227,0.9999999761348137,0.00012878751095368388,-0.00012345997490829615,8.570092076548393e-05,0.6761,-0.0045,0.09078578262385022,1.0,0.0,0.0,0.0,-0.13367947406039155,0.030078313317199734,0.43274814619596347,0.0029531670402419326,0.010278870061019522,-0.00016680545042488263,0.15164175235988264,-0.19095235091332732,0.7168816895754359,-0.005960629534029729,-0.010163632234870698,-0.0007865783176719085,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.8223280064293771,-0.38430757696573664,0.15655474566027347,0.5673772242836991,0.030534164204324407,-0.2907806720023328,0.9848723482038328,0.43274814619596347,0.8283176025435594,0.8283176025435594,0.8998669654296569,0,0,-3.222282207312877e-05,-9.988832957852906e-05
+48475,1792648950386552558,17490700000000,1792648950384668033,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760269112371553,-0.004458346982975302,0.09072052026582522,0.9999999783687469,0.00012146046766939246,-0.00011221723482235927,8.579054234327281e-05,0.6761,-0.0045,0.09075213444863278,1.0,0.0,0.0,0.0,-0.14370177300715992,0.0339971957063642,0.476587583939879,0.00391848874518019,0.010269400044584433,-0.00019228830252675472,0.14161945341311427,-0.18703346852416286,0.7607211273193514,-0.004995307829091472,-0.010173102251305787,-0.0008120611697737806,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.844595148075946,-0.29970618779584773,0.11712846109071859,0.5565775161755028,0.05554687208912184,-0.22310607654433098,0.9848723482038328,0.476587583939879,0.8677438871131142,0.8677438871131142,0.96286696542967,0,0,-4.323182454665642e-05,-9.999999025923074e-05
+48577,1792648951236513522,17491550000000,1792648951228668013,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760289763344609,-0.004456678178688612,0.0906944469530235,0.9999999798954189,0.00011420876400778986,-0.00010634617780701423,8.54334529161891e-05,0.6761,-0.0045,0.09071538012811362,1.0,0.0,0.0,0.0,-0.15285218526199915,0.04402164382762552,0.5169685531710033,0.00388525511540236,0.01125549747556613,-0.00021048041969013397,0.13246904115827504,-0.17700902040290153,0.8011020965504757,-0.005028541458869301,-0.00918700482032409,-0.0008302532869371599,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.8700076611042442,-0.3432422066113973,0.04268743618643799,0.5730458746704741,0.11081368126156667,-0.2403805035867351,0.9848723482038328,0.5169685531710033,0.9421849120173948,0.9421849120173948,1.0223669654296823,0,0,-4.6779499394992936e-05,-4.796253258299572e-05
+48693,1792648952202631834,17492516000000,1792648952196668566,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760303037612091,-0.004460300458594783,0.09065912540455087,0.9999999705486029,0.00017705190259711934,-0.00010403014568504189,9.042129309567587e-05,0.6761,-0.0045,0.0906686464633516,1.0,0.0,0.0,0.0,-0.14526605327606373,0.046435465298469175,0.5743565327433259,0.004875814700454614,0.011224568381275165,-0.0002443087481999353,0.14005517314421045,-0.17459519893205788,0.8584900761227983,-0.004037981873817048,-0.009217933914615055,-0.0008640816154469612,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.8524144549435039,-0.43077359980160995,-0.08905573134836192,0.6134392426587936,0.18518307088854435,-0.28308979106761567,0.9848723482038328,0.5743565327433259,1.0739280795521948,1.0739280795521948,1.0899869654296963,0,0,-5.137168339744568e-05,9.726186109138552e-05
+48805,1792648953136502640,17493450000000,1792648953132668387,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760376105217372,-0.004456634705968234,0.0906255378306664,0.9999999717945203,0.00017687412362495564,-8.683077732940502e-05,9.50251724375815e-05,0.6761,-0.0045,0.09061658662556103,1.0,0.0,0.0,0.0,-0.17258956154001903,0.04198147273894248,0.6175667308726243,0.004858026838880551,0.012229050183875234,-0.00026693142833669997,0.11273166488025517,-0.17904919149158458,0.9017002742520966,-0.004055769735391111,-0.008213452112014985,-0.0008867042955837259,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9186955785670186,-0.3198867542158885,-0.14214487937465609,0.5693756382054499,0.23463659833985376,-0.22418364913989158,0.9848723482038328,0.6175667308726243,1.1270172275784889,1.1270172275784889,1.1553669654297098,0,0,-5.878496555225687e-05,9.999982372577704e-05
+48892,1792648953861558496,17494175000000,1792648953856668567,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760499723214362,-0.004457117570622613,0.09058925884897732,0.9999999711793033,0.000181385805024428,-7.595836105670353e-05,0.00010204790022197129,0.6761,-0.0045,0.09057596226185063,1.0,0.0,0.0,0.0,-0.17728991467520194,0.053862016358351306,0.6780912362596706,0.005840065810653879,0.013209881313241162,-0.0002892250610217825,0.10803131174507224,-0.16716864787217575,0.962224779639143,-0.0030737307636177816,-0.007232620982649059,-0.0009089979282688084,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9229483962592422,-0.48556046450352464,-0.1864348934660105,0.620972390629291,0.2619145660563541,-0.3297625958521675,0.9848723482038328,0.6780912362596706,1.1713072416698433,1.1713072416698433,1.2061169654297204,0,0,-5.179540964597861e-05,9.287839527883363e-05
+48991,1792648954686596991,17495000000000,1792648954684659146,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760643868835471,-0.004460367173297052,0.0905611825274717,0.9999999712979385,0.00018290852583135572,-5.7258824593005334e-05,0.0001100585508865795,0.6761,-0.0045,0.09052769830322654,1.0,0.0,0.0,0.0,-0.2125702368669879,0.10310040919726614,0.69878505317046,0.007799907311768931,0.016204534115690356,-0.00023995394517582996,0.07275098955328628,-0.11793025503326092,0.9829185965499324,-0.0011138892625027306,-0.0042379681801998645,-0.0008597268124228559,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9749539021920045,-0.41500298395329976,-0.21404955693562208,0.6004894017900687,0.2848775829747218,-0.2846033884359143,0.9848723482038328,0.69878505317046,1.1989219051394548,1.1989219051394548,1.2638669654297323,0,0,-6.0670836858596526e-05,8.230533895948184e-05
+49087,1792648955486606871,17495800000000,1792648955484659668,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760686843041668,-0.004460373632354276,0.0905214902128211,0.9999999712054797,0.00018137654845588386,-4.921475367674007e-05,0.00011709978549453797,0.6761,-0.0045,0.09047538953318529,1.0,0.0,0.0,0.0,-0.21270771456305373,0.10704562039206945,0.7576574937908692,0.0077889515120336565,0.016191530118965868,-0.0002875294183622472,0.07261351185722045,-0.1139850438384576,1.0417910371703416,-0.0011248450622380049,-0.004250972176924351,-0.0009073022856092731,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9544491474298861,-0.4634882207396519,-0.22952043321389298,0.6130007043642473,0.28924889467013876,-0.3173132708773658,0.9848723482038328,0.7576574937908692,1.2143927814177258,1.2143927814177258,1.319866965429744,0,0,-6.926488056101434e-05,-4.613180047877125e-05
+49183,1792648956286593246,17496599999999,1792648956280668430,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760665459474618,-0.004467669207090318,0.09047097505540534,0.9999999706694231,0.00017716633409801144,-5.141075780283046e-05,0.00012677949802431988,0.6761,-0.0045,0.09042481387209816,1.0,0.0,0.0,0.0,-0.21095682320655015,0.09949728450192036,0.8250751659153289,0.007773368534443952,0.016147228130945192,-0.0003466642347170404,0.07436440321372403,-0.1215333797286067,1.1092087092948013,-0.00114042803982771,-0.004295274164945027,-0.0009664371019640663,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9731783118988239,-0.3500046123974233,-0.31951852610924547,0.5883723910844966,0.3513917497742385,-0.24064607098089427,0.9848723482038328,0.8250751659153289,1.3043908743130783,1.3043908743130783,1.3758669654297555,0,0,-5.938523435874593e-05,9.44643492633526e-05
+49288,1792648957161501424,17497474999999,1792648957160668577,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760682510206091,-0.004467173121283387,0.09042449336705193,0.9999999696263868,0.00017823805355252943,-4.7898750200152536e-05,0.0001346365316088212,0.6761,-0.0045,0.09037673092929174,1.0,0.0,0.0,0.0,-0.21212072800802598,0.09462900948363986,0.8697655806165371,0.006884120381101866,0.01608889343272852,-5.926300363369181e-05,0.07320049841224821,-0.1264016547468872,1.1538991239960095,-0.0020296761931697955,-0.0043536088631616985,-0.0006790358708807177,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.966101263159521,-0.3404074892877883,-0.29296500592548463,0.5873032007106695,0.335456972164333,-0.23395235833258643,0.9848723482038328,0.8697655806165371,1.2778373541293175,1.2778373541293175,1.4371169654297682,0,0,-5.522239344554614e-05,-9.558005362031991e-05
+49415,1792648958219589493,17498533000000,1792648958216668418,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760706186996431,-0.004470114130997457,0.09036626242152117,0.9999999678227338,0.00018217366563481673,-4.3215380496419446e-05,0.00014402285209912222,0.6761,-0.0045,0.09031104882302038,1.0,0.0,0.0,0.0,-0.21054841586612144,0.09118938774248658,0.9152044827036415,0.00777646527658157,0.015140030201079893,0.0004571986801388062,0.07477281055415276,-0.12984127648804047,1.199338026083114,-0.001137331297690091,-0.005302472094810327,-0.00016257418710821973,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0319888397337025,-0.44244353536776804,-0.4930961991044322,0.611857843162052,0.4810406582250725,-0.30373370432084484,0.9848723482038328,0.9152044827036415,1.477968547308265,1.477968547308265,1.5111769654297835,0,0,-6.734023522550624e-05,9.763590910616955e-05
+49499,1792648958919484150,17499233000000,1792648958916659005,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760753610255995,-0.00445511030273384,0.09032086225470183,0.9999999921791697,6.534347659383392e-05,-2.6543951601869013e-05,4.5936626953048486e-05,0.6761,-0.0045,0.09025866591577901,1.0,0.0,0.0,0.0,-0.15939069846434656,0.1531505903005746,0.9598394653774999,0.011932078498657132,0.012016467935103104,0.0005649707421238477,0.12593052795592763,-0.06788007392995248,1.2439730087569723,0.0030182819243854708,-0.008426034360787116,-5.4802125123178265e-05,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.015323476053677,-0.3228481980458727,-0.3998050461607803,0.402227941743533,0.45418331736577905,-0.18086528998962093,0.9848723482038328,0.9598394653774999,1.3846773943646131,1.3846773943646131,1.5601769654297937,0,0,-8.712920388928425e-05,-9.677529197305574e-05
+49601,1792648959769598873,17500082999999,1792648959764668818,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.676073529014159,-0.004460827347437404,0.09024358841758437,0.9999999899821366,7.701164847363591e-05,-3.113211139314197e-05,6.76652707991573e-05,0.6761,-0.0045,0.09017375876614893,1.0,0.0,0.0,0.0,-0.16849401154676047,0.13330092710704897,1.0217504626294827,0.010874711807883757,0.013030528930335256,0.0005191550261454954,0.11682721487351373,-0.08772973712347809,1.3058840060089552,0.001960915233612095,-0.007411973365554963,-0.00010061784110153054,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.043506651815381,-0.3764103759877607,-0.5598613588976726,0.4799493689207274,0.5501197319570543,-0.22854509556076852,0.9848723482038328,1.0217504626294827,1.5447337071015055,1.5447337071015055,1.619676965429806,0,0,-0.00010616900575769061,9.450788348986378e-05
+49705,1792648960636558734,17500950000000,1792648960632668446,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760813820718907,-0.004469089240789079,0.0901575642945484,0.9999999865797705,9.427885782797063e-05,-1.971735235695144e-05,9.49001908997179e-05,0.6761,-0.0045,0.09008178888744929,1.0,0.0,0.0,0.0,-0.1859856414578766,0.124026825566792,1.0718748017145945,0.010864038073016289,0.01302121978450847,0.00047642321706975563,0.09933558496239758,-0.09700383866373506,1.3560083450940668,0.0019502414987446275,-0.007421282511381751,-0.00014334965017727028,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0385446398863796,-0.3069829345976159,-0.5637415445409403,0.5265739853029735,0.5346048483287811,-0.20055835817754097,0.9848723482038328,1.0718748017145945,1.5486138927447732,1.5486138927447732,1.6803669654298186,0,0,-0.00010306490004910606,9.10214362478456e-05
+49797,1792648961402570359,17501716000000,1792648961400658953,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760820708106932,-0.0044715843342178685,0.09008648114288449,0.9999999835304245,0.00010588317513651334,-2.0832731386681084e-05,0.00011285727941374208,0.6761,-0.0045,0.0900054999906123,1.0,0.0,0.0,0.0,-0.18044973083203655,0.12339460086175862,1.0750947862320164,0.009817348201257861,0.01402318275955365,0.00047807458831869497,0.10487149558823763,-0.09763606336876844,1.3592283296114889,0.0009035516269861996,-0.00641931953633657,-0.00014169827892833095,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0492577539952797,-0.34007821332980404,-0.6096533822906778,0.5858498172970474,0.5594541060381819,-0.234692218714086,0.9848723482038328,1.0750947862320164,1.5945257304945106,1.5945257304945106,1.7339869654298297,0,0,-9.829919541511053e-05,6.831625862497003e-06
+49896,1792648962227505581,17502541000000,1792648962224669054,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760843480932491,-0.004468092554973057,0.09000183149153657,0.9999999890989723,6.989860187289031e-05,-1.8298206790192073e-05,8.957835088225529e-05,0.6761,-0.0045,0.08992053155659266,1.0,0.0,0.0,0.0,-0.176602747180043,0.112941924340564,1.111620572518667,0.009836368863566845,0.013032201421686446,0.0004340316010812675,0.10871847924023118,-0.10808873988996305,1.3957541158981392,0.0009225722892951828,-0.007410300874203773,-0.00018574126616575844,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.009986365363411,-0.3332941872877291,-0.5759160048437528,0.6119662535877839,0.5253500127462403,-0.23321542325080563,0.9848723482038328,1.111620572518667,1.5607883530475857,1.5607883530475857,1.7917369654298416,0,0,-0.00010892823283234344,-9.571232281591619e-05
+49984,1792648962961538234,17503275000000,1792648962960658830,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760876652857987,-0.004462831949776484,0.08991786032259985,0.9999999922996619,4.3678321379118865e-05,-1.0837623526559975e-05,6.941390891842141e-05,0.6761,-0.0045,0.08983116819088306,1.0,0.0,0.0,0.0,-0.1589085972393351,0.1372347378494569,1.132210894171549,0.010884036285372082,0.01205681190235551,0.000416390882639451,0.1264126291809391,-0.08379592638107017,1.4163444375510215,0.00197023971110042,-0.00838569039353471,-0.00020338198460757495,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0277537262963798,-0.33361272265799474,-0.6831789792250859,0.594485009055225,0.5985216277693844,-0.22039652657384826,0.9848723482038328,1.132210894171549,1.6680513274289188,1.6680513274289188,1.8431169654298523,0,0,-0.00012882138652888558,6.33882821033551e-05
+50073,1792648963702514590,17504016000000,1792648963700668557,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760884843072712,-0.004477266034668013,0.08982234663200406,0.9999999784923881,0.0001627195786462428,-8.5758950710857e-06,8.892064077619512e-05,0.6761,-0.0045,0.08972966368172247,1.0,0.0,0.0,0.0,-0.16809492776190438,0.12911891464605796,1.152264520501971,0.010446622546399274,0.013010033607207138,0.0004092132017905028,0.11722629865836982,-0.09191174958446911,1.4363980638814435,0.0015328259721276132,-0.007432468688683082,-0.00021055966545652317,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0353141214451353,-0.2572545870681943,-0.6479042309831792,0.541552326754096,0.5829370989969389,-0.24764571759285287,0.9848723482038328,1.152264520501971,1.632776579187012,1.632776579187012,1.894986965429863,0,0,-0.00014573102688072848,-9.93485252661685e-05
+50164,1792648964461563653,17504775000000,1792648964460658710,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760939438807527,-0.0044801532406899,0.08971546018994009,0.9999999788625819,0.00015199679804357813,-3.441351408213433e-06,0.00010297004763983583,0.6761,-0.0045,0.08961357110638445,1.0,0.0,0.0,0.0,-0.16757889800165432,0.11560446450811639,1.1818758247591985,0.009822348294399912,0.013016157339422196,0.00035039298999301973,0.11774232841861985,-0.10542619972241067,1.4660093681386708,0.0009085517201282511,-0.007426344956468023,-0.0002693798772540062,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0646768675590168,-0.32762415119153643,-0.7138929329037226,0.6046230603510738,0.627332152831502,-0.24878596499182348,0.9848723482038328,1.1818758247591985,1.6987652811075553,1.6987652811075553,1.948116965429874,0,0,-0.0001578793990223134,-9.995116820172285e-05
+50248,1792648965161537101,17505474999999,1792648965160669309,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760969920567561,-0.004476900885907053,0.0896039450491561,0.999999983585711,0.00012466341490082838,1.288900445713757e-06,9.342812135193227e-05,0.6761,-0.0045,0.0895008540507244,1.0,0.0,0.0,0.0,-0.16012078767146545,0.11726002756649197,1.2019722022086063,0.009736193134999328,0.012224154923968389,0.00034833547116492643,0.12520043874880873,-0.10377063666403509,1.4861057455880788,0.0008223965607276672,-0.008218347371921831,-0.0002714373960820995,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0319430672436831,-0.3120438588245653,-0.7838327554962994,0.6214185933158395,0.6595164068700649,-0.2177473639206414,0.9848723482038328,1.2019722022086063,1.7687051037001322,1.7687051037001322,1.9971169654298842,0,0,-0.0001642723487487145,4.4283288261496646e-05
+50323,1792648965787568849,17506099999999,1792648965780658770,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760981283918654,-0.00448407483070199,0.08950226068391848,0.9999999851204342,0.00010786189360779937,3.7233830349782026e-06,9.77442796502095e-05,0.6761,-0.0045,0.0893946432950178,1.0,0.0,0.0,0.0,-0.1579137842719435,0.10417701243007149,1.2217048653886144,0.008820838887759842,0.012020010385696245,0.0003201770419086477,0.1274074421483307,-0.11685365180045557,1.5058384087680867,-9.295768651181892e-05,-0.008422491910193975,-0.0002995958253383782,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0227848295024708,-0.3248505594166534,-0.8115646755649386,0.6219970873060953,0.6744350856767097,-0.22750573900197935,0.9848723482038328,1.2217048653886144,1.7964370237687715,1.7964370237687715,2.040866965429893,0,0,-0.0001760215115591063,4.970254945778845e-05
+50389,1792648966336471501,17506650000000,1792648966332668486,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760990670056998,-0.00448425331956173,0.08939971585583538,0.9999999849981106,0.00010746538052521075,2.940305425251074e-06,9.944440412663613e-05,0.6761,-0.0045,0.08929445701802766,1.0,0.0,0.0,0.0,-0.16707901138382042,0.10317501640053064,1.2416629086875344,0.008789532429439889,0.013021958018983752,0.00031860070036774735,0.11824221503645377,-0.11785564782999641,1.5257964520670069,-0.00012426414483177221,-0.007420544276906468,-0.00030117216687927857,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9671593927166181,-0.4111522672996153,-0.758796176826978,0.6624677938059227,0.6249953786338163,-0.2775357093703911,0.9848723482038328,1.2416629086875344,1.7436685250308108,1.7436685250308108,2.079366965429901,0,0,-0.00018823103567075362,-9.59515619999351e-05
+50459,1792648966919502735,17507233000000,1792648966916669014,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760988563176306,-0.004484424833834725,0.08928407494674638,0.9999999855429997,0.00010784286295732558,2.56149423475279e-06,9.338212051842965e-05,0.6761,-0.0045,0.08918060990381145,1.0,0.0,0.0,0.0,-0.1572418648721199,0.09322733026314484,1.271434616054004,0.007781203560603384,0.01236311265626863,0.0002735557566400626,0.12807936154815427,-0.12780333396738222,1.5555681594334765,-0.0011325930136682778,-0.00807938963962159,-0.0003462171106069633,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0427424310064461,-0.3417344058324789,-0.8902854022084818,0.6471610371596042,0.7313143611629384,-0.23201562321964303,0.9848723482038328,1.271434616054004,1.8751577504123147,1.8751577504123147,2.1201769654299096,0,0,-0.00020187572475208337,8.927649872004224e-05
+50531,1792648967519541603,17507832999999,1792648967516658990,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761006407620144,-0.004487574433781297,0.08916069604664018,0.9999999872827893,9.588887166469882e-05,5.442089145121069e-06,8.748139010290153e-05,0.6761,-0.0045,0.08905634683127725,1.0,0.0,0.0,0.0,-0.14813953145748093,0.09298690186921715,1.3015832804575647,0.00778540085359827,0.012015110779982498,0.00024526177689085767,0.13718169496279325,-0.1280437623613099,1.5857168238370372,-0.001128395720673392,-0.008427391515907722,-0.00037451109035616825,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.991746238460283,-0.3356846035693485,-0.7917986269109282,0.6440777833144422,0.6543566480558068,-0.22885417457367,0.9848723482038328,1.3015832804575647,1.7766709751147611,1.7766709751147611,2.1621769654299183,0,0,-0.0002110711518163707,-9.972351697052346e-05
+50598,1792648968077491262,17508391000000,1792648968076668384,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760986731227335,-0.004496562715092332,0.08903610877586397,0.9999999858126781,0.00010030661664586608,-3.376004063093393e-07,9.877234774722714e-05,0.6761,-0.0045,0.0889360539160824,1.0,0.0,0.0,0.0,-0.15567849670888814,0.07544821308629313,1.3111503551540253,0.006762853754220348,0.012034760953188048,0.00022509627204896554,0.12964272971138605,-0.14558245114423393,1.5952838985334978,-0.0021509428200513136,-0.008407741342702172,-0.0003946765951980604,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9805948704038338,-0.4152916671537868,-0.8722673878918065,0.6687739970845902,0.7014834710321334,-0.2807844471022896,0.9848723482038328,1.3111503551540253,1.8571397360956392,1.8571397360956392,2.2012369654299264,0,0,-0.000221367830936818,-5.64989402748239e-05
+50657,1792648968569451571,17508883000000,1792648968564659026,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760964246689161,-0.004499032864337396,0.08892149206431713,0.999999985678261,9.869609055838091e-05,-6.096185784059171e-06,0.00010152960439977304,0.6761,-0.0045,0.08882433948667497,1.0,0.0,0.0,0.0,-0.15635923005670438,0.07331788048911012,1.325145747954588,0.006757075516132204,0.012031322302674135,0.00021414379178647474,0.1289619963635698,-0.14771278374141694,1.6092792913340606,-0.0021567210581394567,-0.008411179993216085,-0.0004056290754605512,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0121554146925562,-0.4343250358350847,-0.9230373051328856,0.6874136021775769,0.7385537489398848,-0.2918197493508975,0.9848723482038328,1.325145747954588,1.9079096533367186,1.9079096533367186,2.2356769654299335,0,0,-0.00023078207793703079,1.3585449209902172e-05
+50714,1792648969044515705,17509358000000,1792648969036668603,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.676097199694074,-0.0044959647126848684,0.08881046901604407,0.9999999881187531,8.489212012050046e-05,-1.3978020293530993e-06,8.942444858091581e-05,0.6761,-0.0045,0.08871134033329357,1.0,0.0,0.0,0.0,-0.1524542640083627,0.07656757531646197,1.3312472089592702,0.006757346434840534,0.012029044277930102,0.00020953109408943681,0.13286696241191148,-0.1444630889140651,1.6153807523387427,-0.0021564501394311267,-0.008413458017960118,-0.0004102417731575891,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9897954535903961,-0.4143275441582853,-0.9044158855760742,0.6914385931188136,0.7178844479155904,-0.2793720228397969,0.9848723482038328,1.3312472089592702,1.889288233779907,1.889288233779907,2.2689269654299404,0,0,-0.00024390473038068817,-9.578232237761881e-05
+50774,1792648969544459643,17509858000000,1792648969536669087,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760992316664522,-0.004502165331718045,0.08868449372575973,0.9999999885418652,7.959830770094814e-05,1.2369933902111858e-06,8.956401637168379e-05,0.6761,-0.0045,0.08858547751657131,1.0,0.0,0.0,0.0,-0.15686445043452005,0.07242633737654872,1.3519881170676107,0.006752760750636419,0.012025349276920004,0.000191963199836037,0.12845677598575414,-0.14860432685397834,1.6361216604470832,-0.0021610358236352416,-0.008417153018970216,-0.0004278096674109889,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9710984115606379,-0.40693775835552465,-0.9068259265781412,0.685966540413998,0.7130642826617661,-0.2771227698942325,0.9848723482038328,1.3519881170676107,1.891698274781974,1.891698274781974,2.3039269654299477,0,0,-0.0002581094063439356,-9.999999025923074e-05
+50831,1792648970019542952,17510332999999,1792648970012659453,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760980699861598,-0.004505418864860194,0.0885600077911549,0.9999999875896205,8.471825502967993e-05,-3.1807424869097228e-06,9.526973981246655e-05,0.6761,-0.0045,0.08845912231519248,1.0,0.0,0.0,0.0,-0.15698829173308146,0.07392081193505656,1.3691402672814186,0.006747136369159519,0.012102538439653164,0.0001781903638891707,0.12833293468719273,-0.1471098522954705,1.6532738106608909,-0.0021666602051121425,-0.008339963856237056,-0.0004415825033578552,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9989193954732076,-0.38072523222087684,-0.8656643722380873,0.6887683985320855,0.6917200953787519,-0.2569833539576563,0.9848723482038328,1.3691402672814186,1.8505367204419203,1.8505367204419203,2.3371769654299546,0,0,-0.000271782136666869,-9.999567426722251e-05
+50881,1792648970436503510,17510750000000,1792648970432659498,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760994066345783,-0.004503596692017785,0.08844789129766216,0.9999999870014162,8.951221864659134e-05,-3.5737904416770454e-07,9.709514286389505e-05,0.6761,-0.0045,0.08834334058406697,1.0,0.0,0.0,0.0,-0.15124220054096021,0.07353999248981241,1.3713273346707342,0.006737974339418182,0.0124279911258019,0.0001828890913288781,0.13407902587931397,-0.14749067174071465,1.6554608780502065,-0.00217582223485348,-0.00801451117008832,-0.0004368837759181478,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0215262563143852,-0.3883908843238218,-0.9839473796078505,0.6894285582932209,0.77151009363794,-0.2632415856989788,0.9848723482038328,1.3713273346707342,1.9688197278116832,1.9688197278116832,2.3663669654299606,0,0,-0.0002829071742608322,4.6708160889273056e-05
+50933,1792648970869512899,17511183000000,1792648970868658812,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761026537518076,-0.004506250008822196,0.0883277725136457,0.9999999873298004,8.616049479670765e-05,1.2601250914510513e-06,9.673698655376823e-05,0.6761,-0.0045,0.08821858823937663,1.0,0.0,0.0,0.0,-0.15672769841577647,0.06602245863304435,1.3914124251453588,0.006742883514895775,0.012017287577375201,0.00017010588560568697,0.12859352800449772,-0.1550082055974827,1.6755459685248313,-0.0021709130593758857,-0.008425214718515019,-0.00044966698164133895,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.981842596365162,-0.4350852942382382,-0.9991093866898703,0.7212556683859721,0.7667526830910755,-0.2906619719276992,0.9848723482038328,1.3914124251453588,1.9839817348937032,1.9839817348937032,2.396676965429967,0,0,-0.00029335677404343654,1.9252803544428334e-05
+50985,1792648971302495497,17511616000000,1792648971300668670,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761000600022765,-0.004505869070649086,0.08819352628330121,0.999999986618692,9.26965874325413e-05,-1.6712567337494173e-06,9.803075807329792e-05,0.6761,-0.0045,0.08808948002673214,1.0,0.0,0.0,0.0,-0.15704016283871794,0.06937073164653632,1.3913854746451588,0.006718171106824395,0.013011732078802482,0.00017554989405149136,0.12828106358155625,-0.15165993258399074,1.6755190180246313,-0.0021956254674472668,-0.007430770217087738,-0.00044422297319553455,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9566835671734726,-0.36620132382293663,-1.001586749935529,0.6977502172572887,0.7579800184894986,-0.24730974646121257,0.9848723482038328,1.3913854746451588,1.986459098139362,1.986459098139362,2.426986965429973,0,0,-0.0003037007249531972,-3.0579146185988295e-05
+51033,1792648971702470070,17512016000000,1792648971700658943,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.676100202392685,-0.00450502569879437,0.08806646665543698,0.9999999859317997,9.484451557405022e-05,-3.7397581846498285e-06,0.00010280951705901398,0.6761,-0.0045,0.08796701849947536,1.0,0.0,0.0,0.0,-0.14778703435713303,0.06759479668014759,1.411661525900417,0.006740339154390783,0.012012771450190706,0.00014484873458949426,0.13753419206314116,-0.15343586755037947,1.6957950692798893,-0.0021734574198808785,-0.008429730845699514,-0.00047492413265753166,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9198142432803257,-0.523612576983,-0.9410084578748976,0.7492531389886662,0.7070543229329551,-0.3500545617143239,0.9848723482038328,1.411661525900417,1.9258808060787305,1.9258808060787305,2.454986965429979,0,0,-0.0003096403849115178,-9.999180236442413e-05
+51081,1792648972102536827,17512416000000,1792648972100659004,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6761017850338982,-0.004503077646001613,0.08793969718272564,0.9999999850350524,0.00010117057018811775,6.292362073188563e-07,0.00010553141348605428,0.6761,-0.0045,0.08784090962938403,1.0,0.0,0.0,0.0,-0.1404347662121115,0.08613789060316754,1.431611660609013,0.006738211793775522,0.011987153976736538,0.00012953136237330053,0.14488646020816268,-0.13489277362735952,1.7157452039884855,-0.00217558478049614,-0.008455348319153682,-0.0004902415048737254,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9562367421560815,-0.4286284611096621,-1.0315397784431775,0.7246305316883884,0.7700358996873534,-0.2909593089829942,0.9848723482038328,1.431611660609013,2.01641212664701,2.01641212664701,2.4829869654299848,0,0,-0.00031960046989051714,-3.276288548648694e-05
+51131,1792648972519500549,17512832999999,1792648972516668792,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6761001609000772,-0.004501011146969392,0.08781187213587742,0.9999999851740096,0.00010326919091321994,-2.820205800627356e-06,0.00010208998754732293,0.6761,-0.0045,0.0877053557685851,1.0,0.0,0.0,0.0,-0.13755503550371898,0.0794412667591794,1.4282806698600172,0.006765898307257868,0.010994579987229768,0.00011605020058746713,0.1477661909165552,-0.14158939747134766,1.7124142132394895,-0.002147898267013793,-0.009447922308660452,-0.0005037226666595588,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9820314363274106,-0.4047885785457625,-1.09414588774102,0.723722437986688,0.8155519680072032,-0.27347024191770714,0.9848723482038328,1.4282806698600172,2.0790182359448526,2.0790182359448526,2.512176965429991,0,0,-0.0003291837209248597,9.999999025923074e-05
+51180,1792648972927453381,17513241000000,1792648972924658653,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6761013887086093,-0.004505517515288756,0.08767647944207253,0.9999999846163105,0.00010567378411998649,-9.958432325956772e-07,0.00010508236237087249,0.6761,-0.0045,0.08756908011811393,1.0,0.0,0.0,0.0,-0.13819276354103424,0.07626071000717499,1.4416662895355814,0.006751951369856737,0.011469709041195594,0.00011160384325100705,0.14712846287923995,-0.14476995422335207,1.7257998329150537,-0.002161845204414924,-0.008972793254694626,-0.0005081690239960189,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9789949448679336,-0.3208170465279328,-1.047941300160425,0.7043763994822417,0.7807267118842636,-0.21934010923112185,0.9848723482038328,1.4416662895355814,2.032813648364258,2.032813648364258,2.5407369654299967,0,0,-0.00033936379761487077,-9.99759539307476e-05
+51221,1792648973269494569,17513582999999,1792648973264659232,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6761007057910711,-0.004508723635018566,0.087558839531479,0.999999984341543,0.00010673485910760293,-3.6914218532356428e-06,0.0001065543120856035,0.6761,-0.0045,0.08745108683147548,1.0,0.0,0.0,0.0,-0.13831873882671367,0.07626315961388933,1.4316751244185273,0.006765923812518726,0.010993770715155208,0.00011458222116258684,0.14700248759356052,-0.14476750461663773,1.7158086677979998,-0.002147872761752936,-0.009448731580735012,-0.0005051906460844391,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.007889012670616,-0.3221362189560798,-1.0533987955266715,0.7139874230826885,0.7883089076136738,-0.21570209546815552,0.9848723482038328,1.4316751244185273,2.0382711437305043,2.0382711437305043,2.5646769654300017,0,0,-0.0003514970804932834,-9.999999025923074e-05
+51269,1792648973669531548,17513983000000,1792648973664668830,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760981679454594,-0.004507357057687513,0.08741785005890322,0.9999999846579187,0.00010367009257227893,-8.445509830397829e-06,0.00010634007685669366,0.6761,-0.0045,0.0873087349177691,1.0,0.0,0.0,0.0,-0.12912759276309832,0.07734918175899869,1.4517541851481415,0.006761634401105436,0.01098965241133289,9.902750188810845e-05,0.15619363365717587,-0.14368148247152837,1.735887728527614,-0.0021521621731662253,-0.00945284988455733,-0.0005207453653589175,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9826827805774608,-0.3772512659187642,-1.0586735051929368,0.7294460742415789,0.7829235097331764,-0.25487223138380233,0.9848723482038328,1.4517541851481415,2.0435458533967696,2.0435458533967696,2.5926769654300075,0,0,-0.000359720642588461,-9.938999209613825e-05
+51311,1792648974019503275,17514332999999,1792648974016659074,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760998109398301,-0.004508878002495905,0.08729468195426397,0.9999999846548153,0.00010141955757968732,-3.7081100130560125e-06,0.00010878215283037142,0.6761,-0.0045,0.08718191774786618,1.0,0.0,0.0,0.0,-0.12914814495962393,0.08091279324105255,1.4620831428790422,0.006760138718775127,0.010987051397506758,9.068680198172623e-05,0.15617308146065026,-0.1401178709894745,1.7462166862585147,-0.002153657855496535,-0.009455450898383462,-0.0005290860652652997,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9675683762445092,-0.3662110680119259,-0.985817244909768,0.739562571860751,0.729976937233266,-0.2432063206405407,0.9848723482038328,1.4620831428790422,1.9706895931136008,1.9706895931136008,2.6171769654300125,0,0,-0.0003657150459926691,-9.88414864108222e-05
+51357,1792648974402484448,17514716000000,1792648974400659235,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761015101586335,-0.004511295781328948,0.08715739600696792,0.9999999846013853,0.00010058766558286274,-2.5076903469471774e-07,0.00011010064600975667,0.6761,-0.0045,0.08703989608398881,1.0,0.0,0.0,0.0,-0.13282198631533224,0.0775950224023689,1.4713261708097884,0.006757976229359102,0.01098540999210598,8.27695707975826e-05,0.15249924010494195,-0.14343564182815816,1.7554597141892607,-0.00215582034491256,-0.00945709230378424,-0.0005370032964494433,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9610493867440278,-0.4257071464398093,-1.1017631445690201,0.7536125698612598,0.7992759253294731,-0.28118160520032587,0.9848723482038328,1.4713261708097884,2.086635492772853,2.086635492772853,2.643986965430018,0,0,-0.0003755881704911853,-9.321498714432436e-05
+51398,1792648974744499757,17515058000000,1792648974740668760,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760989765913087,-0.0045123178397222675,0.08702869100565583,0.999999984135134,0.00010865844180523721,-3.767368845055131e-06,0.0001065445730599933,0.6761,-0.0045,0.08691076539072151,1.0,0.0,0.0,0.0,-0.13853670882051608,0.08375070506568802,1.4639528475782804,0.006742533793881256,0.011629084483947418,0.00010027524194066383,0.1467845175997581,-0.13727995916483904,1.7480863909577529,-0.002171262780390405,-0.008813417811942802,-0.0005194976253063621,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0018386208340493,-0.352148644608366,-0.9873476034002394,0.741409520497171,0.7378491042673705,-0.23045077563283137,0.9848723482038328,1.4639528475782804,1.9722199516040724,1.9722199516040724,2.667926965430023,0,0,-0.0003813565308083674,-9.999999025923074e-05
+51441,1792648975102453900,17515416000000,1792648975096659078,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.676105833241774,-0.004516259182148143,0.08689822200749268,0.9999999844264144,0.0001033039893687836,5.011388005973186e-06,0.00010905598245289315,0.6761,-0.0045,0.08677239220898479,1.0,0.0,0.0,0.0,-0.1484447688719124,0.0905992315401403,1.4781180950496866,0.007739604699189402,0.01197799907438982,0.00010263387387275159,0.13687645754836178,-0.13043143269038676,1.7622516384291589,-0.001174191875082259,-0.0084645032215004,-0.0005171389933742743,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0311351565293028,-0.4468011382979803,-1.1623920240551215,0.7687577906754249,0.8534968774491903,-0.293201063418466,0.9848723482038328,1.4781180950496866,2.147264372258954,2.147264372258954,2.6929869654300282,0,0,-0.000391232584583097,9.08983680255659e-05
+51477,1792648975402490838,17515716000000,1792648975396668725,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761013192961126,-0.004517907145240125,0.08677087969241822,0.999999984740704,9.634751090846117e-05,-1.2531101757875874e-06,0.00011259237622014774,0.6761,-0.0045,0.08665333869218168,1.0,0.0,0.0,0.0,-0.14865984249364578,0.0787732535133008,1.4910006395983961,0.006808600541845268,0.01199978914923247,8.169256359945093e-05,0.1366613839266284,-0.14225741071722625,1.7751341829778684,-0.002105196032426393,-0.00844271314665775,-0.000538080303647575,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9928707090021716,-0.4476887893202942,-1.1447891412964768,0.767299698338268,0.8348893909910712,-0.2977377307258186,0.9848723482038328,1.4910006395983961,2.1296614895003096,2.1296614895003096,2.7139869654300326,0,0,-0.0004026770976841279,-6.414884309775902e-05
+51517,1792648975736423782,17516050000000,1792648975732659110,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.6760991787077719,-0.004524015229731927,0.08663743915980904,0.9999999862945458,8.061425165906393e-05,-3.121051581604555e-06,0.00011110973906212827,0.6761,-0.0045,0.0865167812491825,1.0,0.0,0.0,0.0,-0.1389127876392538,0.07503947276914524,1.5104009396817157,0.0067225902325231245,0.01199059004256779,6.617653688062853e-05,0.1464084387810204,-0.14599119146138181,1.794534483061188,-0.002191206341748537,-0.00845191225332243,-0.0005535963303663974,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9892033649279867,-0.45914279695132304,-1.1346275920123372,0.7742448443208879,0.830304498691076,-0.30479185888734317,0.9848723482038328,1.5104009396817157,2.11949994021617,2.11949994021617,2.7373669654300374,0,0,-0.0004151086336709727,-9.549130516728894e-05
+51557,1792648976069456321,17516383000000,1792648976068668650,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761000098060623,-0.0045264454351748185,0.08650161572498506,0.9999999869516265,7.114503273822359e-05,-7.282353055996005e-07,0.00011170257501074439,0.6761,-0.0045,0.0863764176585152,1.0,0.0,0.0,0.0,-0.13685553726723318,0.07872716485630224,1.5026431418522108,0.0067246501001705684,0.011991947053749112,7.275768780558322e-05,0.148465689153041,-0.14230349937422482,1.7867766852316833,-0.0021891464741010933,-0.008450555242141108,-0.0005470151794414427,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0203542321830086,-0.4016740310585014,-1.0353510232877883,0.7663990963309147,0.7778765509088743,-0.26227204694885686,0.9848723482038328,1.5026431418522108,2.020223371491621,2.020223371491621,2.7606769654300423,0,0,-0.0004257435422913832,-9.93517171573643e-05
+51597,1792648976402531591,17516716000000,1792648976400668847,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6761062859965308,-0.004525571007262507,0.08636570553964534,0.9999999873387168,6.356852785132112e-05,1.0325568272082518e-05,0.00011232922928030015,0.6761,-0.0045,0.0862321771292308,1.0,0.0,0.0,0.0,-0.15785840217933794,0.08974550918574095,1.5017446058739203,0.006818900509667488,0.01360460933078006,9.761016187016986e-05,0.12746282424093625,-0.1312851550447861,1.7858781492533928,-0.0020948960646041737,-0.006837892965110161,-0.000522162705376856,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0637936837053303,-0.46877897612279573,-1.161598815785795,0.7823084443805575,0.8685428712510136,-0.30804735681309137,0.9848723482038328,1.5017446058739203,2.146471163989628,2.146471163989628,2.783986965430047,0,0,-0.0004411226551090484,-5.190308989136275e-05
+51633,1792648976702517283,17517016000000,1792648976700668485,DOWN_FORCE_DETACH,4,0.0535,0.0535019151866436,0.676100451549835,-0.004530258535587256,0.08623187693207879,0.9999999858848382,6.973151094103236e-05,4.038141356140135e-06,0.00012163222265551573,0.6761,-0.0045,0.086098018300042,1.0,0.0,0.0,0.0,-0.16011141768160314,0.0694169688139766,1.5217747926529652,0.006693433847956698,0.012991203272967655,6.99759142908801e-05,0.12520980873867105,-0.15161369541655045,1.8059083360324377,-0.0022203627263149626,-0.0074512990229225655,-0.0005497969529561458,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0918219024921152,-0.37016473052908905,-1.1389476210184173,0.7625609038277027,0.8634330175596979,-0.2363540373709929,0.9848723482038328,1.5217747926529652,2.12381996922225,2.12381996922225,2.8049869654300514,0,0,-0.00045402533218749506,-9.999999025923074e-05
+51665,1792648976969514221,17517283000000,1792648976964658814,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.6760959787970834,-0.00453463079822557,0.08610610289645426,0.999999985808132,7.270181475081949e-05,8.489077418979475e-07,0.00012058327265410334,0.6761,-0.0045,0.08597561460474475,1.0,0.0,0.0,0.0,-0.1480794132643772,0.07012279531375676,1.5419215032167215,0.0067157729870851775,0.011995378546320306,3.976058852981875e-05,0.13724181315589698,-0.1509078689167703,1.826055046596194,-0.002198023587186484,-0.008447123749569914,-0.0005800122787172072,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0476266119389328,-0.426711948856252,-1.0887911105927186,0.7824817604705238,0.8277702036645924,-0.2738027380185713,0.9848723482038328,1.5419215032167215,2.0736634587965517,2.0736634587965517,2.8236769654300553,0,0,-0.0004638500050960489,-9.999999025923074e-05
+51702,1792648977277435725,17517591000000,1792648977272668590,DOWN_FORCE_DETACH,4,0.0535,0.05350257456302643,0.676096502406482,-0.0045437440646870905,0.08596136720797919,0.999999974769572,0.00016618296730740078,5.134311594967668e-06,0.00011941766888271889,0.6761,-0.0045,0.08583103250235863,1.0,0.0,0.0,0.0,-0.14686154177530886,0.07048165583154625,1.5521400968802874,0.006714174347108897,0.011982145946124019,3.147961011095834e-05,0.13845968464496533,-0.1505490083989808,1.8362736402597597,-0.0021996222271627648,-0.0084603563497662,-0.0005882932571360676,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.0901606569376432,-0.3707175807396447,-1.1361847838121273,0.7304610301008148,0.880095410723995,-0.27826592345776124,0.9848723482038328,1.5521400968802874,2.1210571320159604,2.1210571320159604,2.8452369654300598,0,0,-0.0004754483847277654,-9.999999025923074e-05
+51734,1792648977537516963,17517850999999,1792648977532668961,DOWN_SETTLE,4,0.0535,0.05350257456302643,0.6761154622225497,-0.004539214612072311,0.08585875303362386,0.9999999734052244,0.0001617213523707696,1.7726989233930234e-05,0.0001347752674975403,0.6761,-0.0045,0.0857159391512345,1.0,0.0,0.0,0.0,-0.18628119682549116,0.0930604176684281,1.5424910814114101,0.0076639839470661695,0.015003878157067916,9.320036679888151e-05,0.09904002959478302,-0.12797024656209896,1.8266246247908824,-0.0012498126272054916,-0.005438624138822303,-0.0005265725004481444,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,1.120685659612524,-0.31035925104418555,-1.0479687237658097,0.7303554100239122,0.8246874857027917,-0.21697893346718444,0.9848723482038328,1.5424910814114101,2.0328410719696426,0.0,0.0,0,0,-0.00024669503456134517,0.0024918690359731835
+51831,1792648978341565634,17518654999999,1792648978340658972,DOWN_PEAK_HOLD,4,0.0535,0.05350257456302643,0.6761046333092936,-0.004535182920783369,0.08580033064421926,0.9999999767098416,0.00014706869876040404,3.921413936233623e-06,0.00012797890762308124,0.6761,-0.0045,0.08569237756339475,1.0,0.0,0.0,0.0,-0.15640873870018898,0.07631192347973231,1.2410032712656256,0.006751600743986177,0.012839064116982189,0.00016839134175369733,0.1289124877200852,-0.14471874075079474,1.5251368146450979,-0.002162195830285484,-0.0076034381789080304,-0.0004513815254933286,0.2853212264202742,-0.22103066423052706,0.2841335433794724,-0.008913796574271661,-0.02044250229589022,-0.0006197728672470259,1,0.9710081334218202,-0.3302261056104937,-0.7201218169281528,0.7326790282483567,0.5880010317940688,-0.22709607855016883,0.9848723482038328,1.2410032712656256,1.7049941651319855,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84612f1b0bb8dc467a0ab6d308cb16473e05e7ca
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..05781e86ec196d0742bdede23fc401f676068263
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.450000000e+00,DOWN_FORCE_DETACH,1792648944618035956,1.648908758e-05,-7.142374826e-06,-3.926177437e-05,1.293107641e-05,-3.412743005e-06,-3.781017982e-05,1.332659034e-05,-3.350567956e-06,-3.726782207e-05,7.015543606e-01,-5.591413505e-06,8.407016794e-01,7.015508026e-01,-1.861781684e-06,8.407031310e-01,7.017389979e-01,-1.664192038e-06,8.297433839e-01
+5,3.216666667e+00,DOWN_FORCE_DETACH,1792648945767772543,1.616465073e-05,-5.231729610e-06,-6.311721054e-05,1.636749712e-05,-7.745868311e-06,-5.747495772e-05,1.679555187e-05,-7.647707078e-06,-5.690942571e-05,7.015540361e-01,-3.680768289e-06,8.406778240e-01,7.015542390e-01,-6.194906990e-06,8.406834662e-01,7.017424668e-01,-5.961331160e-06,8.297237423e-01
+6,3.766666667e+00,DOWN_FORCE_DETACH,1792648946596298314,1.886905936e-05,-5.125793619e-06,-7.390748544e-05,1.636749712e-05,-7.745868311e-06,-5.747495772e-05,1.683294394e-05,-7.646301053e-06,-5.707535800e-05,7.015567405e-01,-3.574832298e-06,8.406670337e-01,7.015542390e-01,-6.194906990e-06,8.406834662e-01,7.017425042e-01,-5.959925135e-06,8.297235764e-01
+7,4.400000000e+00,DOWN_FORCE_DETACH,1792648947535900951,1.673933174e-05,-9.095036993e-06,-1.049371912e-04,1.855699484e-05,-8.128556233e-06,-9.891477119e-05,1.892390087e-05,-8.042834807e-06,-9.815619594e-05,7.015546108e-01,-7.544075672e-06,8.406360040e-01,7.015564285e-01,-6.577594912e-06,8.406420264e-01,7.017445952e-01,-6.356458889e-06,8.296824955e-01
+8,4.983333333e+00,DOWN_FORCE_DETACH,1792648948431051856,2.145151133e-05,-1.077478294e-05,-1.291625799e-04,1.796747285e-05,-8.069120704e-06,-1.191955656e-04,1.823181947e-05,-7.966580677e-06,-1.185183464e-04,7.015593230e-01,-9.223821621e-06,8.406117786e-01,7.015558390e-01,-6.518159383e-06,8.406217456e-01,7.017439031e-01,-6.280204759e-06,8.296621334e-01
+9,5.683333333e+00,DOWN_FORCE_DETACH,1792648949485376880,2.543460108e-05,-9.055761384e-06,-1.620029650e-04,2.354379925e-05,-1.058851261e-05,-1.617516952e-04,2.376865862e-05,-1.044335844e-05,-1.608849713e-04,7.015633061e-01,-7.504800063e-06,8.405789382e-01,7.015614153e-01,-9.037551289e-06,8.405791895e-01,7.017494399e-01,-8.756982526e-06,8.296197668e-01
+10,6.283333333e+00,DOWN_FORCE_DETACH,1792648950384845646,2.837932811e-05,-7.462658717e-06,-1.841378670e-04,2.576142175e-05,-7.273282340e-06,-1.830930098e-04,2.595631998e-05,-7.143975837e-06,-1.823286684e-04,7.015662508e-01,-5.911697396e-06,8.405568033e-01,7.015636329e-01,-5.722321019e-06,8.405578482e-01,7.017516276e-01,-5.457599920e-06,8.295983231e-01
+11,6.850000000e+00,DOWN_FORCE_DETACH,1792648951234040269,3.083356152e-05,-7.877869570e-06,-2.096776985e-04,2.803048068e-05,-4.069117249e-06,-2.028827008e-04,2.829340457e-05,-3.975150301e-06,-2.021752496e-04,7.015687050e-01,-6.326908249e-06,8.405312635e-01,7.015659020e-01,-2.518155927e-06,8.405380585e-01,7.017539647e-01,-2.288774383e-06,8.295784765e-01
+12,7.500000000e+00,DOWN_FORCE_DETACH,1792648952202488946,3.121284576e-05,-1.005507332e-05,-2.449296113e-04,2.885145069e-05,-1.127057196e-05,-2.431354748e-04,2.901037963e-05,-1.108205986e-05,-2.422720228e-04,7.015690843e-01,-8.504111994e-06,8.404960116e-01,7.015667229e-01,-9.719610640e-06,8.404978057e-01,7.017546816e-01,-9.395683942e-06,8.295383797e-01
+13,8.116666667e+00,DOWN_FORCE_DETACH,1792648953134048353,4.092025706e-05,-1.011418993e-05,-2.734159226e-04,3.169601430e-05,-1.164912378e-05,-2.643539897e-04,3.188521897e-05,-1.145670899e-05,-2.636235964e-04,7.015787917e-01,-8.563228613e-06,8.404675253e-01,7.015695675e-01,-1.009816246e-05,8.404765872e-01,7.017575565e-01,-9.770333069e-06,8.295170281e-01
+14,8.600000000e+00,DOWN_FORCE_DETACH,1792648953864338887,5.275790336e-05,-8.524727347e-06,-3.127366517e-04,3.875982101e-05,-1.232297040e-05,-3.045178093e-04,3.899728749e-05,-1.211893359e-05,-3.036088960e-04,7.015906294e-01,-6.973766026e-06,8.404282045e-01,7.015766313e-01,-1.077200907e-05,8.404364234e-01,7.017646686e-01,-1.043255768e-05,8.294770428e-01
+15,9.150000000e+00,DOWN_FORCE_DETACH,1792648954687569886,6.658612838e-05,-7.172530867e-06,-3.419655923e-04,6.446820979e-05,-8.670436260e-06,-3.225247577e-04,6.524592923e-05,-8.457098499e-06,-3.217492928e-04,7.016044576e-01,-5.621569546e-06,8.403989756e-01,7.016023397e-01,-7.119474938e-06,8.404184164e-01,7.017909172e-01,-6.770722581e-06,8.294589024e-01
+16,9.683333333e+00,DOWN_FORCE_DETACH,1792648955484914838,6.913506373e-05,-1.314382015e-05,-3.817459337e-04,6.683649295e-05,-1.287301946e-05,-3.639646085e-04,6.769158105e-05,-1.261325067e-05,-3.630730733e-04,7.016070065e-01,-1.159285882e-05,8.403591953e-01,7.016047080e-01,-1.132205814e-05,8.403769766e-01,7.017933628e-01,-1.092687475e-05,8.294175787e-01
+17,1.021666667e+01,DOWN_FORCE_DETACH,1792648956284863000,6.764175836e-05,-1.564054789e-05,-4.335657059e-04,6.660356757e-05,-1.585148441e-05,-4.297493906e-04,6.733086931e-05,-1.553000620e-05,-4.284360824e-04,7.016055132e-01,-1.408958657e-05,8.403073755e-01,7.016044750e-01,-1.430052309e-05,8.403111918e-01,7.017930021e-01,-1.384363028e-05,8.293522156e-01
+18,1.080000000e+01,DOWN_FORCE_DETACH,1792648957164378516,6.862060178e-05,-1.732685531e-05,-4.807624963e-04,6.947958165e-05,-1.970118768e-05,-4.717220575e-04,7.016625805e-05,-1.934541428e-05,-4.704300742e-04,7.016064921e-01,-1.577589399e-05,8.402601787e-01,7.016073511e-01,-1.815022636e-05,8.402692191e-01,7.017958375e-01,-1.765903836e-05,8.293102217e-01
+19,1.148333333e+01,DOWN_FORCE_DETACH,1792648958223585350,7.109084045e-05,-2.222287808e-05,-5.366361074e-04,6.883325042e-05,-1.726109338e-05,-5.355407698e-04,6.938999457e-05,-1.693387500e-05,-5.340364051e-04,7.016089623e-01,-2.067191676e-05,8.402043051e-01,7.016067047e-01,-1.571013206e-05,8.402054004e-01,7.017950613e-01,-1.524749908e-05,8.292466153e-01
+20,1.191666667e+01,DOWN_FORCE_DETACH,1792648958917300988,7.321780201e-05,-3.846479009e-06,-5.890459833e-04,7.322981800e-05,-3.727874473e-06,-5.887781616e-04,7.369729610e-05,-3.530687292e-06,-5.870131757e-04,7.016110893e-01,-2.295517688e-06,8.401518952e-01,7.016111013e-01,-2.176913152e-06,8.401521630e-01,7.017993686e-01,-1.844311374e-06,8.291936385e-01
+21,1.250000000e+01,DOWN_FORCE_DETACH,1792648959772600379,7.674967348e-05,-1.300740368e-05,-6.580965193e-04,7.628277914e-05,-7.143392654e-06,-6.529370321e-04,7.660033963e-05,-6.965208653e-06,-6.511600290e-04,7.016146212e-01,-1.145644236e-05,8.400828447e-01,7.016141543e-01,-5.592431333e-06,8.400880042e-01,7.018022716e-01,-5.278832735e-06,8.291294917e-01
+22,1.306666667e+01,DOWN_FORCE_DETACH,1792648960632238417,8.174133038e-05,-1.763441393e-05,-7.449300374e-04,8.077076418e-05,-1.270814402e-05,-7.371270446e-04,8.084938000e-05,-1.257830259e-05,-7.350929541e-04,7.016196128e-01,-1.608345261e-05,8.399960112e-01,7.016186422e-01,-1.115718270e-05,8.400038141e-01,7.018065206e-01,-1.089192667e-05,8.290455588e-01
+23,1.358333333e+01,DOWN_FORCE_DETACH,1792648961404691434,8.238499777e-05,-2.435199972e-05,-8.216961370e-04,8.191911098e-05,-2.354977878e-05,-8.111944535e-04,8.174943797e-05,-2.335063898e-05,-8.091687938e-04,7.016202565e-01,-2.280103840e-05,8.399192451e-01,7.016197906e-01,-2.199881746e-05,8.399297467e-01,7.018074207e-01,-2.166426307e-05,8.289714829e-01
+24,1.410000000e+01,DOWN_FORCE_DETACH,1792648962224567043,8.654035916e-05,-2.354063196e-05,-8.979793979e-04,8.463757931e-05,-2.472370087e-05,-8.938435125e-04,8.421318401e-05,-2.451021178e-05,-8.916409698e-04,7.016244118e-01,-2.198967064e-05,8.398429618e-01,7.016225091e-01,-2.317273954e-05,8.398470977e-01,7.018098845e-01,-2.282383586e-05,8.288890108e-01
+25,1.456666667e+01,DOWN_FORCE_DETACH,1792648962964243484,9.064095628e-05,-2.033487585e-05,-9.826221256e-04,8.723238311e-05,-2.159146978e-05,-9.754187011e-04,8.655705704e-05,-2.133217770e-05,-9.730011141e-04,7.016285124e-01,-1.878391453e-05,8.397583191e-01,7.016251039e-01,-2.004050846e-05,8.397655225e-01,7.018122283e-01,-1.964580179e-05,8.288076506e-01
+26,1.506666667e+01,DOWN_FORCE_DETACH,1792648963704845054,9.204520202e-05,-2.181497625e-05,-1.078275018e-03,9.260806244e-05,-2.305649936e-05,-1.061572597e-03,9.175236781e-05,-2.277259057e-05,-1.059101701e-03,7.016299167e-01,-2.026401493e-05,8.396626662e-01,7.016304795e-01,-2.150553804e-05,8.396793686e-01,7.018174236e-01,-2.108621465e-05,8.287215500e-01
+27,1.556666667e+01,DOWN_FORCE_DETACH,1792648964464273350,9.347827742e-05,-3.213248032e-05,-1.191153199e-03,9.464292684e-05,-2.897595425e-05,-1.185911994e-03,9.332244268e-05,-2.860948725e-05,-1.183126395e-03,7.016313498e-01,-3.058151900e-05,8.395497880e-01,7.016325144e-01,-2.742499293e-05,8.395550292e-01,7.018189937e-01,-2.692311133e-05,8.285975253e-01
+28,1.603333333e+01,DOWN_FORCE_DETACH,1792648965164187387,9.717830318e-05,-3.044074239e-05,-1.298535021e-03,9.372032373e-05,-3.223319109e-05,-1.283843989e-03,9.201652537e-05,-3.184285388e-05,-1.281111196e-03,7.016350498e-01,-2.888978107e-05,8.394424062e-01,7.016315918e-01,-3.068222977e-05,8.394570972e-01,7.018176878e-01,-3.015647796e-05,8.284995405e-01
+29,1.645000000e+01,DOWN_FORCE_DETACH,1792648965783487175,9.830132188e-05,-3.698321123e-05,-1.403536051e-03,9.579193655e-05,-3.475627768e-05,-1.391245701e-03,9.378160482e-05,-3.435237881e-05,-1.388409716e-03,7.016361728e-01,-3.543224991e-05,8.393374051e-01,7.016336634e-01,-3.320531636e-05,8.393496955e-01,7.018194529e-01,-3.266600289e-05,8.283922420e-01
+30,1.683333333e+01,DOWN_FORCE_DETACH,1792648966338646051,9.955947175e-05,-4.048904644e-05,-1.504362668e-03,9.917892994e-05,-4.044658627e-05,-1.504423863e-03,9.684635952e-05,-4.001292218e-05,-1.501319127e-03,7.016374310e-01,-3.893808512e-05,8.392365785e-01,7.016370504e-01,-3.889562494e-05,8.392365173e-01,7.018225176e-01,-3.832654626e-05,8.282793326e-01
+31,1.721666667e+01,DOWN_FORCE_DETACH,1792648966919811159,1.016050835e-04,-3.773374855e-05,-1.619328538e-03,9.853140789e-05,-3.791457999e-05,-1.617086293e-03,9.583343266e-05,-3.749075167e-05,-1.613685226e-03,7.016394766e-01,-3.618278723e-05,8.391216126e-01,7.016364029e-01,-3.636361866e-05,8.391238549e-01,7.018215047e-01,-3.580437575e-05,8.281669665e-01
+32,1.761666667e+01,DOWN_FORCE_DETACH,1792648967520182013,1.009273180e-04,-4.065476065e-05,-1.745477963e-03,1.007084370e-04,-4.076174368e-05,-1.745419181e-03,9.755419081e-05,-4.030712709e-05,-1.741583699e-03,7.016387988e-01,-3.910379933e-05,8.389954632e-01,7.016385799e-01,-3.921078235e-05,8.389955220e-01,7.018232255e-01,-3.862075117e-05,8.280390680e-01
+33,1.798333333e+01,DOWN_FORCE_DETACH,1792648968073879307,9.953603087e-05,-4.451236336e-05,-1.867484732e-03,9.771245144e-05,-4.373739191e-05,-1.857435044e-03,9.419410752e-05,-4.327856330e-05,-1.853425682e-03,7.016374075e-01,-4.296140204e-05,8.388734565e-01,7.016355839e-01,-4.218643059e-05,8.388835061e-01,7.018198654e-01,-4.159218739e-05,8.279272260e-01
+34,1.831666667e+01,DOWN_FORCE_DETACH,1792648968570189049,9.867950710e-05,-4.894645732e-05,-1.977327954e-03,1.000180442e-04,-4.687454431e-05,-1.966086958e-03,9.614372113e-05,-4.638417224e-05,-1.962043319e-03,7.016365510e-01,-4.739549600e-05,8.387636132e-01,7.016378895e-01,-4.532358299e-05,8.387748542e-01,7.018218150e-01,-4.469779632e-05,8.278186084e-01
+35,1.863333333e+01,DOWN_FORCE_DETACH,1792648969043664604,9.835672327e-05,-4.708698446e-05,-2.092887828e-03,9.915942390e-05,-5.133886202e-05,-2.081670925e-03,9.487187935e-05,-5.077949086e-05,-2.077467129e-03,7.016362282e-01,-4.553602314e-05,8.386480534e-01,7.016370309e-01,-4.978790070e-05,8.386592703e-01,7.018205431e-01,-4.909311494e-05,8.277031846e-01
+36,1.896666667e+01,DOWN_FORCE_DETACH,1792648969540537174,1.019784143e-04,-4.782308180e-05,-2.216492974e-03,9.825346596e-05,-5.255573517e-05,-2.202621916e-03,9.353220848e-05,-5.199303391e-05,-2.198277132e-03,7.016398499e-01,-4.627212048e-05,8.385244482e-01,7.016361249e-01,-5.100477385e-05,8.385383193e-01,7.018192035e-01,-5.030665800e-05,8.275823746e-01
+37,1.928333333e+01,DOWN_FORCE_DETACH,1792648970019904948,9.897821294e-05,-5.670663550e-05,-2.344191337e-03,9.813081233e-05,-5.503779728e-05,-2.338001857e-03,9.294202583e-05,-5.450521901e-05,-2.333295503e-03,7.016368497e-01,-5.515567417e-05,8.383967499e-01,7.016360023e-01,-5.348683596e-05,8.384029393e-01,7.018186133e-01,-5.281884309e-05,8.274473562e-01
+38,1.956666667e+01,DOWN_FORCE_DETACH,1792648970440471555,9.948272704e-05,-5.833055144e-05,-2.458511126e-03,1.020889863e-04,-5.675553157e-05,-2.450938164e-03,9.655267936e-05,-5.623765936e-05,-2.445992688e-03,7.016373542e-01,-5.677959012e-05,8.382824301e-01,7.016399605e-01,-5.520457025e-05,8.382900030e-01,7.018222239e-01,-5.455128344e-05,8.273346590e-01
+39,1.985000000e+01,DOWN_FORCE_DETACH,1792648970873367880,1.026113094e-04,-5.982231256e-05,-2.579406014e-03,9.927992468e-05,-5.554996982e-05,-2.573209752e-03,9.323466474e-05,-5.505748249e-05,-2.567946311e-03,7.016404828e-01,-5.827135124e-05,8.381615352e-01,7.016371514e-01,-5.399900850e-05,8.381677314e-01,7.018189059e-01,-5.337110657e-05,8.272127054e-01
+40,2.013333333e+01,DOWN_FORCE_DETACH,1792648971300297061,1.017170014e-04,-6.079109060e-05,-2.705521664e-03,1.016395859e-04,-5.958627304e-05,-2.700287722e-03,9.524043583e-05,-5.902695450e-05,-2.694777223e-03,7.016395885e-01,-5.924012928e-05,8.380354195e-01,7.016395111e-01,-5.803531172e-05,8.380406535e-01,7.018209117e-01,-5.734057858e-05,8.270858745e-01
+41,2.040000000e+01,DOWN_FORCE_DETACH,1792648971700355522,1.037528297e-04,-5.516708286e-05,-2.832140556e-03,1.013482577e-04,-6.063875970e-05,-2.826005919e-03,9.447173058e-05,-6.005446516e-05,-2.820305664e-03,7.016416243e-01,-5.361612154e-05,8.379088006e-01,7.016392197e-01,-5.908779838e-05,8.379149353e-01,7.018201430e-01,-5.836808924e-05,8.269603461e-01
+42,2.066666667e+01,DOWN_FORCE_DETACH,1792648972100258581,1.024859142e-04,-5.646078453e-05,-2.962829489e-03,1.023989268e-04,-5.642989736e-05,-2.962631084e-03,9.507416201e-05,-5.587621144e-05,-2.956760751e-03,7.016403574e-01,-5.490982321e-05,8.377781117e-01,7.016402704e-01,-5.487893604e-05,8.377783101e-01,7.018207454e-01,-5.418983552e-05,8.268238910e-01
+43,2.095000000e+01,DOWN_FORCE_DETACH,1792648972521516537,1.011039902e-04,-5.299948841e-05,-3.090574873e-03,1.006173845e-04,-5.126538568e-05,-3.087341500e-03,9.282608833e-05,-5.074282721e-05,-3.081695804e-03,7.016389755e-01,-5.144852709e-05,8.376503663e-01,7.016384889e-01,-4.971442436e-05,8.376535997e-01,7.018184974e-01,-4.905645129e-05,8.266989559e-01
+44,2.121666667e+01,DOWN_FORCE_DETACH,1792648972925604707,1.014739030e-04,-6.060051556e-05,-3.229990942e-03,1.013189758e-04,-6.066808996e-05,-3.229812262e-03,9.304257556e-05,-6.009845452e-05,-3.224005902e-03,7.016393454e-01,-5.904955424e-05,8.375109502e-01,7.016391905e-01,-5.911712864e-05,8.375111289e-01,7.018187138e-01,-5.841207860e-05,8.265566458e-01
+45,2.145000000e+01,DOWN_FORCE_DETACH,1792648973270895323,9.993594514e-05,-5.606978911e-05,-3.349290775e-03,9.967712971e-05,-5.596491095e-05,-3.349153621e-03,9.090625411e-05,-5.545853707e-05,-3.343165124e-03,7.016378074e-01,-5.451882779e-05,8.373916504e-01,7.016375486e-01,-5.441394963e-05,8.373917876e-01,7.018165775e-01,-5.377216116e-05,8.264374866e-01
+46,2.171666667e+01,DOWN_FORCE_DETACH,1792648973669608447,9.914736466e-05,-5.921441288e-05,-3.486778980e-03,9.898922231e-05,-5.912630036e-05,-3.486680005e-03,8.967712406e-05,-5.857719670e-05,-3.480548382e-03,7.016370188e-01,-5.766345156e-05,8.372541622e-01,7.016368607e-01,-5.757533904e-05,8.372542612e-01,7.018153484e-01,-5.689082078e-05,8.263001033e-01
+47,2.195000000e+01,DOWN_FORCE_DETACH,1792648974019968144,1.003798128e-04,-5.911145008e-05,-3.612972661e-03,1.008819162e-04,-5.720109452e-05,-3.602367408e-03,9.117310102e-05,-5.663871663e-05,-3.596301622e-03,7.016382513e-01,-5.756048876e-05,8.371279685e-01,7.016387534e-01,-5.565013320e-05,8.371385738e-01,7.018168444e-01,-5.495234071e-05,8.261843501e-01
+48,2.220000000e+01,DOWN_FORCE_DETACH,1792648974400395008,9.925724024e-05,-5.933836851e-05,-3.747915070e-03,9.886281326e-05,-5.923751097e-05,-3.747949993e-03,8.860787317e-05,-5.862516769e-05,-3.741665152e-03,7.016371287e-01,-5.778740719e-05,8.369930261e-01,7.016367343e-01,-5.768654965e-05,8.369929912e-01,7.018142791e-01,-5.693879178e-05,8.260389866e-01
+49,2.243333333e+01,DOWN_FORCE_DETACH,1792648974740712512,1.015826307e-04,-6.736765705e-05,-3.869018589e-03,1.013394812e-04,-6.745579773e-05,-3.869180532e-03,9.065696915e-05,-6.676438030e-05,-3.863017747e-03,7.016394541e-01,-6.581669573e-05,8.368719226e-01,7.016392110e-01,-6.590483641e-05,8.368717607e-01,7.018163282e-01,-6.507800439e-05,8.259176340e-01
+50,2.266666667e+01,DOWN_FORCE_DETACH,1792648975100455690,1.059932879e-04,-6.769972887e-05,-4.004018769e-03,1.020937489e-04,-6.582796755e-05,-3.986840344e-03,9.102190146e-05,-6.520179976e-05,-3.980814346e-03,7.016438648e-01,-6.614876755e-05,8.367369224e-01,7.016399652e-01,-6.427700623e-05,8.367541008e-01,7.018166932e-01,-6.351542384e-05,8.257998374e-01
+51,2.286666667e+01,DOWN_FORCE_DETACH,1792648975400263949,1.043895749e-04,-6.866689012e-05,-4.128791773e-03,1.053346749e-04,-6.921839898e-05,-4.113732310e-03,9.393175117e-05,-6.858055749e-05,-4.107376687e-03,7.016422611e-01,-6.711592880e-05,8.366121494e-01,7.016432062e-01,-6.766743766e-05,8.366272089e-01,7.018196030e-01,-6.689418157e-05,8.256732750e-01
+52,2.310000000e+01,DOWN_FORCE_DETACH,1792648975740057387,9.933206812e-05,-7.120965576e-05,-4.269449387e-03,9.799918200e-05,-7.259989831e-05,-4.263810337e-03,8.599518637e-05,-7.193182650e-05,-4.257011093e-03,7.016372035e-01,-6.965869444e-05,8.364714918e-01,7.016358707e-01,-7.104893699e-05,8.364771309e-01,7.018116665e-01,-7.024545058e-05,8.255236406e-01
+53,2.331666667e+01,DOWN_FORCE_DETACH,1792648976070524185,1.011668353e-04,-7.756770695e-05,-4.401741119e-03,1.010350912e-04,-7.758120030e-05,-4.401914715e-03,8.857758001e-05,-7.685432763e-05,-4.395011612e-03,7.016390383e-01,-7.601674563e-05,8.363392001e-01,7.016389066e-01,-7.603023898e-05,8.363390265e-01,7.018142488e-01,-7.516795171e-05,8.253856401e-01
+54,2.353333333e+01,DOWN_FORCE_DETACH,1792648976400404590,1.081403886e-04,-7.455105453e-05,-4.536650151e-03,1.094444516e-04,-7.969831030e-05,-4.523057874e-03,9.674159437e-05,-7.895569372e-05,-4.516419379e-03,7.016460119e-01,-7.300009321e-05,8.362042910e-01,7.016473159e-01,-7.814734898e-05,8.362178833e-01,7.018224129e-01,-7.726931780e-05,8.252642323e-01
+55,2.373333333e+01,DOWN_FORCE_DETACH,1792648976701242054,1.026888856e-04,-8.171257671e-05,-4.666933153e-03,1.001357252e-04,-8.550651519e-05,-4.657339920e-03,8.682270518e-05,-8.468514036e-05,-4.650681864e-03,7.016405604e-01,-8.016161539e-05,8.360740080e-01,7.016380072e-01,-8.395555387e-05,8.360836013e-01,7.018124940e-01,-8.299876445e-05,8.251299699e-01
+56,2.391666667e+01,DOWN_FORCE_DETACH,1792648976971135472,9.747419396e-05,-8.952233189e-05,-4.797150988e-03,9.722254529e-05,-8.952602036e-05,-4.796960186e-03,8.338036938e-05,-8.869092094e-05,-4.789917235e-03,7.016353457e-01,-8.797137057e-05,8.359437902e-01,7.016350940e-01,-8.797505904e-05,8.359439810e-01,7.018090516e-01,-8.700454503e-05,8.249907345e-01
+57,2.411666667e+01,DOWN_FORCE_DETACH,1792648977275526880,9.873464554e-05,-8.875872853e-05,-4.941143729e-03,9.486562641e-05,-8.871706161e-05,-4.932224966e-03,8.052290638e-05,-8.787199537e-05,-4.925111719e-03,7.016366061e-01,-8.720776720e-05,8.357997975e-01,7.016327371e-01,-8.716610029e-05,8.358087162e-01,7.018061942e-01,-8.618561945e-05,8.248555400e-01
+58,2.430000000e+01,DOWN_SETTLE,1792648977540407162,1.144846863e-04,-8.938735196e-05,-5.047524553e-03,1.197290876e-04,-9.333309524e-05,-5.029560497e-03,1.054912826e-04,-9.252112023e-05,-5.022692774e-03,7.016523562e-01,-8.783639064e-05,8.356934166e-01,7.016576006e-01,-9.178213392e-05,8.357113807e-01,7.018311625e-01,-9.083474432e-05,8.247579590e-01
+59,2.483333333e+01,DOWN_PEAK_HOLD,1792648978340067637,1.056720333e-04,-8.843853225e-05,-5.101986753e-03,1.083742645e-04,-9.155669285e-05,-5.092645821e-03,9.382120746e-05,-9.063131524e-05,-5.088356272e-03,7.016435435e-01,-8.688757093e-05,8.356389544e-01,7.016462457e-01,-9.000573153e-05,8.356482954e-01,7.018194925e-01,-8.894493933e-05,8.246922955e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b835a6df9a172b414d7b19e7ac2cd3e37d5b8ea4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.4133e-03,-3.9182e-03,2.4506e+00,-3.6418e-02,3.6636e-02,-1.7553e-04,-3.1929e-05,3.3190e-05,9.1791e-05,-2.4326e-06,-1.5944e-06,-3.1272e-08,1.0270e-04,2.9087e-06
+1,5.3333e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.4428e-04,5.1481e-03,-2.8638e-03,2.4527e+00,-3.6541e-02,3.7131e-02,-1.8263e-04,6.5294e-03,1.0877e-03,2.2132e-03,-1.2543e-04,4.9296e-04,-7.1281e-06,6.9796e-03,5.0871e-04
+2,1.1667e+00,DOWN_FORCE_DETACH,2.8453e-04,8.4223e-03,-1.3048e-03,2.4570e+00,-3.6671e-02,3.7401e-02,-2.1460e-04,9.8037e-03,2.6467e-03,6.4650e-03,-2.5483e-04,7.6304e-04,-3.9102e-05,1.2038e-02,8.0542e-04
+3,1.8833e+00,DOWN_FORCE_DETACH,4.2854e-04,1.1214e-02,-1.2708e-03,2.4589e+00,-3.6686e-02,3.7595e-02,-2.1369e-04,1.2596e-02,2.6806e-03,8.3640e-03,-2.6984e-04,9.5763e-04,-3.8196e-05,1.5355e-02,9.9565e-04
+4,2.4500e+00,DOWN_FORCE_DETACH,5.6764e-04,5.4784e-03,9.9652e-04,2.4783e+00,-3.6834e-02,3.7210e-02,-2.1316e-04,6.8598e-03,4.9480e-03,2.7819e-02,-4.1837e-04,5.7286e-04,-3.7664e-05,2.9077e-02,7.1037e-04
+5,3.2167e+00,DOWN_FORCE_DETACH,7.1345e-04,7.3692e-03,1.0924e-03,2.4753e+00,-3.6844e-02,3.7325e-02,-2.1265e-04,8.7506e-03,5.0438e-03,2.4773e-02,-4.2814e-04,6.8719e-04,-3.7153e-05,2.6753e-02,8.1050e-04
+6,3.7667e+00,DOWN_FORCE_DETACH,8.5489e-04,7.9785e-03,1.9111e-03,2.4749e+00,-3.6898e-02,3.7362e-02,-2.1243e-04,9.3599e-03,5.8625e-03,2.4389e-02,-4.8159e-04,7.2420e-04,-3.6937e-05,2.6773e-02,8.7050e-04
+7,4.4000e+00,DOWN_FORCE_DETACH,9.9961e-04,8.9525e-03,2.1317e-03,2.4767e+00,-3.6910e-02,3.7422e-02,-2.1235e-04,1.0334e-02,6.0831e-03,2.6132e-02,-4.9451e-04,7.8429e-04,-3.6848e-05,2.8752e-02,9.2790e-04
+8,4.9833e+00,DOWN_FORCE_DETACH,1.1410e-03,9.2717e-03,2.9989e-03,2.4799e+00,-3.6963e-02,3.7440e-02,-2.1233e-04,1.0653e-02,6.9503e-03,2.9426e-02,-5.4664e-04,8.0230e-04,-3.6836e-05,3.2058e-02,9.7152e-04
+9,5.6833e+00,DOWN_FORCE_DETACH,1.2836e-03,9.3560e-03,4.1530e-03,2.4831e+00,-3.7029e-02,3.7442e-02,-2.1241e-04,1.0737e-02,8.1044e-03,3.2556e-02,-6.1258e-04,8.0421e-04,-3.6916e-05,3.5226e-02,1.0116e-03
+10,6.2833e+00,DOWN_FORCE_DETACH,1.4271e-03,8.9412e-03,5.1826e-03,2.4837e+00,-3.7083e-02,3.7412e-02,-2.1243e-04,1.0323e-02,9.1341e-03,3.3175e-02,-6.6734e-04,7.7459e-04,-3.6931e-05,3.5925e-02,1.0231e-03
+11,6.8500e+00,DOWN_FORCE_DETACH,1.5687e-03,8.8227e-03,5.2000e-03,2.4842e+00,-3.7070e-02,3.7402e-02,-2.1236e-04,1.0204e-02,9.1514e-03,3.3633e-02,-6.5413e-04,7.6403e-04,-3.6866e-05,3.6319e-02,1.0065e-03
+12,7.5000e+00,DOWN_FORCE_DETACH,1.7122e-03,9.3428e-03,6.3752e-03,2.4843e+00,-3.7125e-02,3.7432e-02,-2.1179e-04,1.0724e-02,1.0327e-02,3.3758e-02,-7.0944e-04,7.9449e-04,-3.6296e-05,3.6895e-02,1.0658e-03
+13,8.1167e+00,DOWN_FORCE_DETACH,1.8518e-03,1.0340e-02,8.2972e-03,2.4854e+00,-3.7229e-02,3.7494e-02,-2.1060e-04,1.1721e-02,1.2249e-02,3.4860e-02,-8.1303e-04,8.5643e-04,-3.5101e-05,3.8764e-02,1.1814e-03
+14,8.6000e+00,DOWN_FORCE_DETACH,1.9894e-03,1.0413e-02,9.4671e-03,2.4877e+00,-3.7287e-02,3.7496e-02,-2.0906e-04,1.1794e-02,1.3419e-02,3.7178e-02,-8.7078e-04,8.5893e-04,-3.3567e-05,4.1248e-02,1.2236e-03
+15,9.1500e+00,DOWN_FORCE_DETACH,2.1383e-03,5.6070e-03,9.7595e-03,2.4879e+00,-3.7283e-02,3.7181e-02,-2.0643e-04,6.9884e-03,1.3711e-02,3.7341e-02,-8.6722e-04,5.4346e-04,-3.0936e-05,4.0388e-02,1.0239e-03
+16,9.6833e+00,DOWN_FORCE_DETACH,2.2819e-03,6.8580e-03,1.0785e-02,2.4903e+00,-3.7334e-02,3.7257e-02,-2.0354e-04,8.2394e-03,1.4737e-02,3.9791e-02,-9.1854e-04,6.1973e-04,-2.8048e-05,4.3225e-02,1.1084e-03
+17,1.0217e+01,DOWN_FORCE_DETACH,2.4224e-03,1.0180e-02,1.1498e-02,2.4955e+00,-3.7370e-02,3.7468e-02,-1.9995e-04,1.1561e-02,1.5449e-02,4.5019e-02,-9.5368e-04,8.3079e-04,-2.4457e-05,4.8981e-02,1.2650e-03
+18,1.0800e+01,DOWN_FORCE_DETACH,2.5673e-03,1.3852e-02,1.2237e-02,2.5008e+00,-3.7415e-02,3.7704e-02,-1.9580e-04,1.5233e-02,1.6189e-02,5.0308e-02,-9.9883e-04,1.0668e-03,-2.0302e-05,5.5000e-02,1.4616e-03
+19,1.1483e+01,DOWN_FORCE_DETACH,2.7101e-03,1.7160e-02,1.2369e-02,2.5053e+00,-3.7434e-02,3.7920e-02,-1.9081e-04,1.8542e-02,1.6320e-02,5.4817e-02,-1.0184e-03,1.2825e-03,-1.5313e-05,6.0126e-02,1.6377e-03
+20,1.1917e+01,DOWN_FORCE_DETACH,2.8534e-03,1.8336e-02,9.4185e-03,2.5093e+00,-3.7259e-02,3.7997e-02,-1.8815e-04,1.9717e-02,1.3370e-02,5.8818e-02,-8.4272e-04,1.3599e-03,-1.2655e-05,6.3459e-02,1.5999e-03
+21,1.2500e+01,DOWN_FORCE_DETACH,2.9947e-03,1.9704e-02,4.4337e-03,2.5156e+00,-3.6967e-02,3.8088e-02,-1.8497e-04,2.1085e-02,8.3852e-03,6.5040e-02,-5.5079e-04,1.4508e-03,-9.4776e-06,6.8885e-02,1.5518e-03
+22,1.3067e+01,DOWN_FORCE_DETACH,3.1406e-03,2.0794e-02,2.4032e-03,2.5232e+00,-3.6869e-02,3.8160e-02,-1.8222e-04,2.2176e-02,6.3547e-03,7.2718e-02,-4.5303e-04,1.5223e-03,-6.7195e-06,7.6290e-02,1.5883e-03
+23,1.3583e+01,DOWN_FORCE_DETACH,3.2833e-03,2.0474e-02,2.4336e-03,2.5299e+00,-3.6899e-02,3.8139e-02,-1.7989e-04,2.1855e-02,6.3851e-03,7.9407e-02,-4.8333e-04,1.5018e-03,-4.3901e-06,8.2607e-02,1.5777e-03
+24,1.4100e+01,DOWN_FORCE_DETACH,3.4230e-03,2.0081e-02,4.5220e-03,2.5354e+00,-3.7052e-02,3.8113e-02,-1.7751e-04,2.1462e-02,8.4735e-03,8.4868e-02,-6.3625e-04,1.4752e-03,-2.0117e-06,8.7949e-02,1.6066e-03
+25,1.4567e+01,DOWN_FORCE_DETACH,3.5673e-03,1.9649e-02,5.0871e-03,2.5423e+00,-3.7093e-02,3.8081e-02,-1.7564e-04,2.1031e-02,9.0386e-03,9.1739e-02,-6.7725e-04,1.4435e-03,-1.4692e-07,9.4552e-02,1.5945e-03
+26,1.5067e+01,DOWN_FORCE_DETACH,3.7081e-03,1.8286e-02,8.2483e-03,2.5494e+00,-3.7291e-02,3.7986e-02,-1.7360e-04,1.9667e-02,1.2200e-02,9.8925e-02,-8.7462e-04,1.3484e-03,1.8973e-06,1.0160e-01,1.6072e-03
+27,1.5567e+01,DOWN_FORCE_DETACH,3.8525e-03,1.8089e-02,1.3085e-02,2.5580e+00,-3.7589e-02,3.7963e-02,-1.7130e-04,1.9471e-02,1.7036e-02,1.0751e-01,-1.1728e-03,1.3250e-03,4.1934e-06,1.1058e-01,1.7695e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8c48cf574470911614feb1750695e88ae3dfeece
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:ad406c1b698211187b7e31a4fc42842e1e4fb18d0cb836fac9052dd2b0fcfb15
+size 2744320
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e12aa0fc54d431971c8bff760882c01f4bab836
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..13b885f30d3a333fdc2b23f8db2a32b88bc4c8d5
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5ce0f34db81370a8de3f53c2236c5de4217fb9eb
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a9a7e1ebc2dc4249bccdf9d0c8167dbcacc9b780
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,4.415000000e+01,UP_FORCE_RAMP,1792648911992763293,-6.672741886e-05,4.081707022e-05,2.416044749e-03,-6.628296482e-05,3.524664371e-05,2.403774128e-03,-5.847625376e-05,3.512111292e-05,2.403603505e-03,7.014711441e-01,4.236803154e-05,8.431569859e-01,7.014715885e-01,3.679760503e-05,8.431447153e-01,7.016671950e-01,3.680748761e-05,8.321842552e-01
+44,4.518333333e+01,UP_FORCE_RAMP,1792648913534843194,-6.824697044e-05,3.863318774e-05,2.474928894e-03,-6.733428611e-05,3.455744135e-05,2.465558853e-03,-5.939662989e-05,3.443667033e-05,2.465437519e-03,7.014696245e-01,4.018414906e-05,8.432158701e-01,7.014705372e-01,3.610840267e-05,8.432065000e-01,7.016662746e-01,3.612304502e-05,8.322460892e-01
+45,4.643333333e+01,UP_FORCE_RAMP,1792648915412171456,-6.958562308e-05,3.578705602e-05,2.538492079e-03,-7.009780805e-05,4.033715810e-05,2.533657762e-03,-6.195992829e-05,4.017385690e-05,2.533522521e-03,7.014682859e-01,3.733801734e-05,8.432794333e-01,7.014677737e-01,4.188811942e-05,8.432745990e-01,7.016637113e-01,4.186023159e-05,8.323141742e-01
+46,4.756666667e+01,UP_FORCE_RAMP,1792648917113446591,-6.986485657e-05,4.301376523e-05,2.596226479e-03,-6.868326175e-05,4.276719779e-05,2.595812279e-03,-6.029046119e-05,4.261218750e-05,2.595557452e-03,7.014680066e-01,4.456472655e-05,8.433371677e-01,7.014691882e-01,4.431815911e-05,8.433367535e-01,7.016653808e-01,4.429856219e-05,8.323762092e-01
+47,4.863333333e+01,UP_FORCE_RAMP,1792648918712874042,-7.247694843e-05,3.834457128e-05,2.654530378e-03,-6.987204389e-05,4.326600374e-05,2.638212515e-03,-6.130364240e-05,4.311889506e-05,2.638035996e-03,7.014653945e-01,3.989553261e-05,8.433954716e-01,7.014679994e-01,4.481696507e-05,8.433791537e-01,7.016643676e-01,4.480526975e-05,8.324186877e-01
+48,4.966666667e+01,UP_FORCE_RAMP,1792648920262607857,-7.516474255e-05,4.437209027e-05,2.714925444e-03,-7.525739218e-05,4.511304175e-05,2.701348366e-03,-6.660295056e-05,4.490980747e-05,2.700962490e-03,7.014627067e-01,4.592305159e-05,8.434558666e-01,7.014626141e-01,4.666400307e-05,8.434422896e-01,7.016590683e-01,4.659618215e-05,8.324816142e-01
+49,5.073333333e+01,UP_FORCE_RAMP,1792648921847658634,-7.593906924e-05,3.932191744e-05,2.769998952e-03,-7.616915508e-05,4.556333957e-05,2.763849933e-03,-6.729402227e-05,4.538551139e-05,2.763267043e-03,7.014619324e-01,4.087287877e-05,8.435109401e-01,7.014617023e-01,4.711430089e-05,8.435047911e-01,7.016583772e-01,4.707188608e-05,8.325439188e-01
+50,5.185000000e+01,UP_FORCE_RAMP,1792648923528352498,-7.663438304e-05,4.245516688e-05,2.829903947e-03,-7.300814462e-05,4.713179339e-05,2.830845720e-03,-6.391519232e-05,4.691530889e-05,2.830106997e-03,7.014612371e-01,4.400612820e-05,8.435708451e-01,7.014648633e-01,4.868275471e-05,8.435717869e-01,7.016617561e-01,4.860168358e-05,8.326107587e-01
+51,5.281666667e+01,UP_FORCE_RAMP,1792648924967951768,-7.581474592e-05,4.860960337e-05,2.885848564e-03,-7.481518526e-05,4.798370214e-05,2.874912440e-03,-6.560019467e-05,4.774459966e-05,2.874327091e-03,7.014620567e-01,5.016056469e-05,8.436267898e-01,7.014630563e-01,4.953466346e-05,8.436158536e-01,7.016600711e-01,4.943097435e-05,8.326549788e-01
+52,5.391666667e+01,UP_FORCE_RAMP,1792648926652399219,-7.518534539e-05,4.277583312e-05,2.946777724e-03,-7.334308088e-05,4.697426125e-05,2.938619049e-03,-6.395946952e-05,4.671372302e-05,2.938055444e-03,7.014626861e-01,4.432679444e-05,8.436877189e-01,7.014645284e-01,4.852522257e-05,8.436795602e-01,7.016617118e-01,4.840009771e-05,8.327187072e-01
+53,5.433333333e+01,UP_FORCE_RAMP,1792648927333987219,-5.209979853e-05,5.817264131e-05,2.820329128e-03,-5.224454006e-05,5.844741587e-05,2.820630756e-03,-4.299948410e-05,5.804804079e-05,2.822098736e-03,7.014857717e-01,5.972360263e-05,8.435612703e-01,7.014856269e-01,5.999837719e-05,8.435615719e-01,7.016826718e-01,5.973441548e-05,8.326027505e-01
+54,5.503333333e+01,UP_FORCE_RAMP,1792648928483128026,-8.431361916e-05,4.278751427e-05,2.748148569e-03,-8.395913705e-05,4.248746645e-05,2.748125244e-03,-7.526010297e-05,4.229978359e-05,2.749498105e-03,7.014535579e-01,4.433847559e-05,8.434890898e-01,7.014539123e-01,4.403842777e-05,8.434890664e-01,7.016504112e-01,4.398615828e-05,8.325301498e-01
+55,5.548333333e+01,UP_FORCE_RAMP,1792648929161268284,-8.555132334e-05,5.723818346e-05,2.873341043e-03,-8.655998684e-05,6.186333792e-05,2.866743234e-03,-7.753469532e-05,6.152822917e-05,2.866484052e-03,7.014523202e-01,5.878914479e-05,8.436142822e-01,7.014513115e-01,6.341429924e-05,8.436076844e-01,7.016481366e-01,6.321460386e-05,8.326471358e-01
+56,5.588333333e+01,UP_FORCE_HOLD,1792648929798850445,-8.096042397e-05,7.396175474e-05,3.021937061e-03,-8.326674810e-05,7.035693602e-05,3.004834005e-03,-7.379847881e-05,6.993416306e-05,3.003262606e-03,7.014569111e-01,7.551271606e-05,8.437628782e-01,7.014546047e-01,7.190789734e-05,8.437457752e-01,7.016518728e-01,7.162053775e-05,8.327839143e-01
+57,5.648333333e+01,UP_SETTLE,1792648930896729435,-8.081061256e-05,7.660915559e-05,3.225434075e-03,-8.047272054e-05,7.779714237e-05,3.212646561e-03,-7.029903838e-05,7.728263597e-05,3.209680871e-03,7.014570609e-01,7.816011692e-05,8.439663753e-01,7.014573988e-01,7.934810369e-05,8.439535877e-01,7.016553722e-01,7.896901065e-05,8.329903326e-01
+58,5.721666667e+01,UP_SETTLE,1792648932561161557,-7.868897437e-05,7.835019874e-05,3.418693221e-03,-7.711472730e-05,7.416081224e-05,3.407818670e-03,-6.619751985e-05,7.369669556e-05,3.404597910e-03,7.014591825e-01,7.990116006e-05,8.441596344e-01,7.014607568e-01,7.571177356e-05,8.441487599e-01,7.016594737e-01,7.538307025e-05,8.331852496e-01
+59,5.808333333e+01,UP_SETTLE,1792648933996528284,-9.980669162e-05,6.260089434e-05,3.481835572e-03,-9.897872313e-05,6.210037284e-05,3.473436310e-03,-8.823477855e-05,6.175349837e-05,3.471419731e-03,7.014380648e-01,6.415185566e-05,8.442227768e-01,7.014388928e-01,6.365133416e-05,8.442143775e-01,7.016374365e-01,6.343987306e-05,8.332520715e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..be1fe503d524022a1be42f47b6ecf55d3feeb598
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_04/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-8.9994e-04,-3.9151e-03,2.4506e+00,-3.6419e-02,3.6670e-02,-1.7529e-04,-4.9047e-05,3.3854e-05,9.3460e-05,-2.4661e-06,-2.6822e-06,-3.2276e-08,1.1084e-04,3.6438e-06
+1,1.0833e+00,WAIT_W2,2.5554e-04,8.2513e-03,-1.2746e-03,2.4571e+00,-3.6672e-02,3.7388e-02,-2.1463e-04,9.1022e-03,2.6743e-03,6.5913e-03,-2.5523e-04,7.1600e-04,-3.9370e-05,1.1552e-02,7.6115e-04
+2,2.3167e+00,UP_FORCE_RAMP,5.1025e-04,1.1414e-02,9.6803e-03,2.4580e+00,-3.7467e-02,3.7606e-02,-1.8669e-04,1.2265e-02,1.3629e-02,7.5698e-03,-1.0500e-03,9.3368e-04,-1.1432e-05,1.9836e-02,1.4051e-03
+3,3.2833e+00,UP_FORCE_RAMP,7.6722e-04,7.0427e-03,7.3206e-03,2.4478e+00,-3.7324e-02,3.7334e-02,-1.8839e-04,7.8936e-03,1.1270e-02,-2.6908e-03,-9.0733e-04,6.6163e-04,-1.3133e-05,1.4020e-02,1.1230e-03
+4,4.3833e+00,UP_FORCE_RAMP,1.0265e-03,1.0619e-02,4.2974e-03,2.4357e+00,-3.7132e-02,3.7568e-02,-1.8834e-04,1.1470e-02,8.2463e-03,-1.4744e-02,-7.1488e-04,8.9549e-04,-1.3082e-05,2.0419e-02,1.1459e-03
+5,5.3000e+00,UP_FORCE_RAMP,1.2752e-03,1.4988e-02,8.4909e-04,2.4274e+00,-3.6918e-02,3.7859e-02,-1.8731e-04,1.5839e-02,4.7980e-03,-2.3080e-02,-5.0144e-04,1.1868e-03,-1.2057e-05,2.8400e-02,1.2884e-03
+6,5.9500e+00,UP_FORCE_RAMP,1.5366e-03,1.5525e-02,4.9790e-03,2.4819e+00,-3.7238e-02,3.7864e-02,-1.7838e-04,1.6376e-02,8.9279e-03,3.1442e-02,-8.2086e-04,1.1921e-03,-3.1238e-06,3.6558e-02,1.4474e-03
+7,7.0500e+00,UP_FORCE_RAMP,1.7910e-03,2.8255e-02,3.4544e-03,2.4573e+00,-3.7224e-02,3.8762e-02,-9.4508e-05,2.9106e-02,7.4033e-03,6.8789e-03,-8.0711e-04,2.0894e-03,8.0749e-05,3.0811e-02,2.2413e-03
+8,7.7833e+00,UP_FORCE_RAMP,2.0466e-03,2.5789e-02,1.6683e-03,2.4265e+00,-3.7103e-02,3.8635e-02,-9.5132e-05,2.6640e-02,5.6173e-03,-2.3969e-02,-6.8645e-04,1.9626e-03,8.0125e-05,3.6273e-02,2.0807e-03
+9,8.4833e+00,UP_FORCE_RAMP,2.3022e-03,2.7803e-02,-5.3823e-04,2.4105e+00,-3.6962e-02,3.8778e-02,-9.4811e-05,2.8654e-02,3.4107e-03,-3.9969e-02,-5.4472e-04,2.1056e-03,8.0446e-05,4.9297e-02,2.1764e-03
+10,9.4667e+00,UP_FORCE_RAMP,2.5576e-03,3.1472e-02,2.8278e-03,2.4029e+00,-3.7189e-02,3.9031e-02,-9.2329e-05,3.2323e-02,6.7768e-03,-4.7569e-02,-7.7164e-04,2.3588e-03,8.2928e-05,5.7910e-02,2.4832e-03
+11,1.0483e+01,UP_FORCE_RAMP,2.8160e-03,3.1613e-02,2.2060e-03,2.4002e+00,-3.7163e-02,3.9056e-02,-8.8919e-05,3.2464e-02,6.1550e-03,-5.0218e-02,-7.4612e-04,2.3832e-03,8.6338e-05,6.0113e-02,2.4987e-03
+12,1.1367e+01,UP_FORCE_RAMP,3.0704e-03,3.8709e-02,2.3641e-03,2.3966e+00,-3.7175e-02,3.9533e-02,-8.5335e-05,3.9560e-02,6.3130e-03,-5.3849e-02,-7.5848e-04,2.8605e-03,8.9923e-05,6.7115e-02,2.9607e-03
+13,1.2367e+01,UP_FORCE_RAMP,3.3291e-03,3.6093e-02,2.5819e-03,2.3887e+00,-3.7170e-02,3.9388e-02,-8.2178e-05,3.6944e-02,6.5308e-03,-6.1811e-02,-7.5325e-04,2.7151e-03,9.3079e-05,7.2306e-02,2.8192e-03
+14,1.3350e+01,UP_FORCE_RAMP,3.5833e-03,3.3188e-02,5.4490e-03,2.3896e+00,-3.7315e-02,3.9212e-02,-8.1978e-05,3.4039e-02,9.3979e-03,-6.0862e-02,-8.9819e-04,2.5398e-03,9.3279e-05,7.0364e-02,2.6955e-03
+15,1.4333e+01,UP_FORCE_RAMP,3.8390e-03,3.2183e-02,7.4467e-03,2.3935e+00,-3.7397e-02,3.9153e-02,-8.5950e-05,3.3034e-02,1.1396e-02,-5.6952e-02,-9.7990e-04,2.4804e-03,8.9307e-05,6.6818e-02,2.6685e-03
+16,1.5417e+01,UP_FORCE_RAMP,4.0955e-03,3.0883e-02,5.9549e-03,2.4019e+00,-3.7255e-02,3.9069e-02,-9.4456e-05,3.1734e-02,9.9039e-03,-4.8590e-02,-8.3780e-04,2.3965e-03,8.0802e-05,5.8874e-02,2.5400e-03
+17,1.6500e+01,UP_FORCE_RAMP,4.3542e-03,3.0737e-02,3.6063e-03,2.4146e+00,-3.7076e-02,3.9054e-02,-1.0479e-04,3.1588e-02,7.5552e-03,-3.5915e-02,-6.5950e-04,2.3819e-03,7.0467e-05,4.8423e-02,2.4725e-03
+18,1.7617e+01,UP_FORCE_RAMP,4.6101e-03,2.8770e-02,8.3629e-04,2.4198e+00,-3.6885e-02,3.8920e-02,-1.1438e-04,2.9621e-02,4.7852e-03,-3.0668e-02,-4.6856e-04,2.2480e-03,6.0880e-05,4.2905e-02,2.2972e-03
+19,1.8650e+01,UP_FORCE_RAMP,4.8640e-03,2.6988e-02,-1.9454e-03,2.4242e+00,-3.6704e-02,3.8796e-02,-1.2056e-04,2.7839e-02,2.0035e-03,-2.6283e-02,-2.8723e-04,2.1239e-03,5.4701e-05,3.8338e-02,2.1439e-03
+20,1.9733e+01,UP_FORCE_RAMP,5.1189e-03,2.6466e-02,-1.8626e-03,2.4268e+00,-3.6715e-02,3.8754e-02,-1.2297e-04,2.7317e-02,2.0863e-03,-2.3705e-02,-2.9787e-04,2.0812e-03,5.2285e-05,3.6228e-02,2.1030e-03
+21,2.0800e+01,UP_FORCE_RAMP,5.3769e-03,2.7005e-02,-1.7893e-03,2.4286e+00,-3.6723e-02,3.8781e-02,-1.2181e-04,2.7856e-02,2.1597e-03,-2.1842e-02,-3.0641e-04,2.1089e-03,5.3450e-05,3.5463e-02,2.1317e-03
+22,2.1817e+01,UP_FORCE_RAMP,5.6365e-03,2.7008e-02,-1.1228e-03,2.4281e+00,-3.6758e-02,3.8777e-02,-1.1887e-04,2.7859e-02,2.8262e-03,-2.2373e-02,-3.4144e-04,2.1042e-03,5.6392e-05,3.5842e-02,2.1324e-03
+23,2.2850e+01,UP_FORCE_RAMP,5.8899e-03,2.5660e-02,-9.5610e-04,2.4226e+00,-3.6743e-02,3.8686e-02,-1.1531e-04,2.6510e-02,2.9928e-03,-2.7840e-02,-3.2611e-04,2.0133e-03,5.9945e-05,3.8559e-02,2.0404e-03
+24,2.3817e+01,UP_FORCE_RAMP,6.1483e-03,2.4907e-02,-4.6804e-04,2.4196e+00,-3.6734e-02,3.8633e-02,-1.1192e-04,2.5758e-02,3.4809e-03,-3.0899e-02,-3.1741e-04,1.9605e-03,6.3340e-05,4.0377e-02,1.9871e-03
+25,2.4800e+01,UP_FORCE_RAMP,6.3997e-03,2.1187e-02,-5.2998e-03,2.4147e+00,-3.6143e-02,3.8362e-02,-9.1308e-05,2.2038e-02,-1.3508e-03,-3.5783e-02,2.7405e-04,1.6899e-03,8.3950e-05,4.2047e-02,1.7141e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb2d251a1cbb917736e812d815894478b77055c6
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..331ba703a5b130e487222855035bfcd395cec567
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
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+58065,1792649030247263910,17570558000000,1792649030240659344,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760056506508711,-0.004454929542970255,0.09088207557215934,0.9999999826738654,4.0066200397298926e-05,-0.00014878308995708224,4.8512114830431526e-05,0.6761,-0.0045,0.09096544125847474,1.0,0.0,0.0,0.0,-0.08792866544895725,0.012184967856945117,0.10738715978297142,0.0013237838700282042,0.006240776912787373,2.1373926952215818e-05,0.20731329229828702,-0.22065367415205003,0.38466551810690114,-0.00887212925688052,-0.014964274269803596,-0.0006189209001192693,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.6092838298423044,-0.36333343486446473,0.5963461111838891,0.4352491347313331,-0.2613444125368021,-0.26306399095728256,0.9848723482038328,0.10738715978297142,0.3885262370199437,0.3885262370199437,0.37701583817155787,0,0,-1.9223857052026776e-05,9.999997638144293e-05
+58209,1792649031447325217,17571758000000,1792649031440668140,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760108228540747,-0.004458326668841274,0.09085803701403301,0.9999999769947053,0.00012390416430104882,-0.00013778090306821247,5.583577765374198e-05,0.6761,-0.0045,0.09093704474271397,1.0,0.0,0.0,0.0,-0.11290296668955527,0.012970076574792044,0.17140951214352984,0.001396471804541834,0.008115388004638586,-6.602457992282637e-06,0.182338991057689,-0.2198685654342031,0.44868787046745956,-0.00879944132236689,-0.013089663177952383,-0.0006468972850637677,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.6627220143070129,-0.2602135316057556,0.6136401658952332,0.38019169175373196,-0.25719623803614067,-0.2517233827607109,0.9848723482038328,0.17140951214352984,0.37123218230859967,0.37123218230859967,0.46101583817157527,0,0,-2.7272577608787547e-05,-9.987198154449146e-05
+58308,1792649032272478550,17572582999999,1792649032264659455,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.676020649858511,-0.0044567486658663455,0.09084628124315983,0.9999999799547467,0.00011933639944324023,-0.00011863061016681355,5.6735990868296306e-05,0.6761,-0.0045,0.09091179594337531,1.0,0.0,0.0,0.0,-0.13174241418471436,0.01767265184377978,0.20175558438159075,0.002304093365459149,0.010035722241952417,7.660116671700666e-06,0.1634995435625299,-0.21516599016521537,0.47903394270552047,-0.007891819761449575,-0.011169328940638552,-0.0006326347103997844,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.667695752685608,-0.2535677964904788,0.49232499875500174,0.3952155239745134,-0.18913940161846685,-0.23127772966401414,0.9848723482038328,0.20175558438159075,0.4925473494488311,0.4925473494488311,0.5187658381715872,0,0,-3.2634027359564104e-05,9.998118585675115e-05
+58428,1792649033272507452,17573582999999,1792649033268659032,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760232370453148,-0.004458936099092566,0.09081952883378218,0.9999999807273862,0.00011356694117431103,-0.00011721519236952365,5.788989606656053e-05,0.6761,-0.0045,0.09087718939753466,1.0,0.0,0.0,0.0,-0.13701309631890798,0.03735819527759188,0.26855053607339213,0.003228861271574673,0.010077392787844999,-3.05190669380274e-05,0.15822886142833628,-0.19548044673140327,0.5458288943973219,-0.006967051855334051,-0.01112765839474597,-0.0006708138940095125,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7466140899719287,-0.34122320974336906,0.4286256642761255,0.43408464705489025,-0.12737057947092506,-0.27476285985013754,0.9848723482038328,0.26855053607339213,0.5562466839277074,0.5562466839277074,0.5887658381716017,0,0,-3.5015688644420055e-05,9.99921076757559e-05
+58536,1792649034172530656,17574483000000,1792649034164668740,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760268509540638,-0.004461057849869814,0.09079784590202486,0.9999999816459496,0.00010778897013151662,-0.00011412338039616824,5.923138343607987e-05,0.6761,-0.0045,0.09084554810786248,1.0,0.0,0.0,0.0,-0.14262973883058552,0.035930614726674054,0.3228690597633999,0.004221671606787409,0.010697041137228205,-5.813238594757145e-05,0.15261221891665874,-0.1969080272823211,0.6001474180873296,-0.005974241520121315,-0.010508010045362764,-0.0006984272130190565,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7120353960844759,-0.28754909118283467,0.3731633213264686,0.4343859711366095,-0.10781177395670925,-0.22649723873604247,0.9848723482038328,0.3228690597633999,0.6117090268773642,0.6117090268773642,0.6517658381716147,0,0,-3.6022792017338705e-05,5.0300329205948915e-05
+58641,1792649035047537185,17575358000000,1792649035040668461,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760260676329951,-0.004464915948101195,0.09076773385834976,0.9999999817792713,0.00010221859876802349,-0.00011700018394989619,6.120977534891103e-05,0.6761,-0.0045,0.09081620808920425,1.0,0.0,0.0,0.0,-0.14275177942460088,0.03670478841664099,0.3919274061457894,0.0031899822505553456,0.011021914321259978,-0.00012046398362791882,0.1524901783226434,-0.19613385359235416,0.6692057644697191,-0.007005930876353378,-0.010183136861330992,-0.0007607588106994039,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7331198760100719,-0.33723934319647747,0.30380347198053653,0.44747230942803284,-0.055838613877176625,-0.24583330212238155,0.9848723482038328,0.3919274061457894,0.6810688762232964,0.6810688762232964,0.7130158381716274,0,0,-2.8622089799619548e-05,4.9048330701079126e-05
+58773,1792649036147560078,17576457999999,1792649036144658561,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760259927786899,-0.0044583648182480035,0.09073964398588039,0.9999999813653276,0.00010699633635677988,-0.00011571238203908395,6.224658565388197e-05,0.6761,-0.0045,0.09078726143152027,1.0,0.0,0.0,0.0,-0.151115117786525,0.02961840274437169,0.4427465825556485,0.0032485683688009736,0.011059922292293595,-0.00016094476516158708,0.14412683996071926,-0.20322023926462346,0.7200249408795782,-0.0069473447581077504,-0.010145128890297374,-0.0008012395922330722,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.6565959720397868,-0.3645298882187328,0.29657437301374234,0.4667405681897564,-0.07289556724260009,-0.2607530154772907,0.9848723482038328,0.4427465825556485,0.6882979751900905,0.6882979751900905,0.7900158381716433,0,0,-2.893605583895032e-05,-8.983936791573938e-05
+58894,1792649037156702159,17577467000000,1792649037152659465,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.676032242930844,-0.004466318300229881,0.0907189029873159,0.9999999761333889,0.0001559862225469155,-0.0001013113454681143,6.767862021926681e-05,0.6761,-0.0045,0.09074970859914862,1.0,0.0,0.0,0.0,-0.15390585551723246,0.04266075252433815,0.482547806846017,0.004152765340909767,0.012046400509389642,-0.00016741633032411917,0.1413361022300118,-0.190177889484657,0.7598261651699467,-0.006043147785998957,-0.009158650673201327,-0.0008077111573956043,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7218165514075954,-0.39104477905026813,0.10127560364196377,0.46867807324395355,0.06574595467983518,-0.2813981548982179,0.9848723482038328,0.482547806846017,0.8835967445618691,0.8835967445618691,0.860645838171658,0,0,-4.577986111445475e-05,9.982594892233294e-05
+59015,1792649038164690292,17578474999999,1792649038156658931,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760334390432244,-0.004465930818391304,0.09068350306237798,0.9999999763491412,0.00015455990169197927,-9.868377040692457e-05,7.153552733705629e-05,0.6761,-0.0045,0.09070017241847919,1.0,0.0,0.0,0.0,-0.16858983176184705,0.03565921680251441,0.5531728126176456,0.004139261105505306,0.012034516150964963,-0.00022516229981172384,0.1266521259853972,-0.19717942520648074,0.8304511709415753,-0.006056652021403418,-0.009170535031626006,-0.0008654571268832089,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7228690107483784,-0.3987643736904815,0.17485562133207497,0.48121914923569303,0.01776711873622447,-0.27890887518773044,0.9848723482038328,0.5531728126176456,0.8100167268717579,0.8100167268717579,0.9312058381716726,0,0,-5.102997220204764e-05,-9.935937769623421e-05
+59129,1792649039114759592,17579425000000,1792649039112658856,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.676037193550275,-0.004463637096628128,0.09064951313921066,0.9999999765401935,0.00015744024731709216,-8.816059699208295e-05,7.617581346464504e-05,0.6761,-0.0045,0.09065152161343804,1.0,0.0,0.0,0.0,-0.18156240852743447,0.043859028976957704,0.6052901977320368,0.0041001329045773915,0.013822183342958209,-0.000241668167660552,0.1136795492198098,-0.18897961303203745,0.8825685560559666,-0.0060957802223313325,-0.007382867839632761,-0.0008819629947320371,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.7389014047027123,-0.45470714867195416,0.14847760955716766,0.4991395808182975,0.035030171376187344,-0.31368486276923485,0.9848723482038328,0.6052901977320368,0.8363947386466652,0.8363947386466652,0.9977058381716863,0,0,-5.194069875177754e-05,-9.999757552415218e-05
+59242,1792649040056804123,17580366999999,1792649040056659391,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760473758526797,-0.004467430091409842,0.09061573054003284,0.9999999769392245,0.00015830115859528465,-7.282819666719184e-05,8.485995363511458e-05,0.6761,-0.0045,0.09060374226658993,1.0,0.0,0.0,0.0,-0.19809719646127372,0.06452366658017639,0.6507374242280073,0.006097452122756739,0.013999876833526208,-0.00024388390543839274,0.09714476128597055,-0.16831497542881876,0.9280157825519371,-0.004098461004151985,-0.007205174349064762,-0.0008841787325098778,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8276059050450064,-0.3439023159160595,-0.04730427195282026,0.4573904376306681,0.18377509740577214,-0.2434082094240579,0.9848723482038328,0.6507374242280073,1.0321766201566531,1.0321766201566531,1.0636458381717,0,0,-4.9662849933825075e-05,9.966063671396625e-05
+59341,1792649040881888224,17581192000000,1792649040876658925,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760698327794264,-0.0044679678942673275,0.09058919582775475,0.9999999763349151,0.0001659824202831002,-4.829430088715357e-05,9.4289606698314e-05,0.6761,-0.0045,0.09055608215129793,1.0,0.0,0.0,0.0,-0.22183553351986057,0.10136624003025035,0.6851728911821175,0.008064438291032781,0.016991210017382748,-0.00021434352798337607,0.07340642422738368,-0.1314724019787448,0.9624512495060473,-0.0021314748358759426,-0.00421384116520822,-0.0008546383550548612,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.839839757062125,-0.30069775577210633,-0.04021616488159485,0.45306048935461424,0.16761205167049795,-0.21448376571722597,0.9848723482038328,0.6851728911821175,1.0250885130854277,1.0250885130854277,1.121395838171712,0,0,-6.114215521459998e-05,-6.336335702827273e-05
+59473,1792649041981909924,17582292000000,1792649041980658761,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760727586828519,-0.004460552195887819,0.09053595588906045,0.9999999746972544,0.000172100833458029,-4.166744245636084e-05,0.00010340929382270033,0.6761,-0.0045,0.09048974138687517,1.0,0.0,0.0,0.0,-0.2129182208341001,0.10714508611112114,0.7654111799934296,0.009097003055027173,0.01594132974885272,-0.00028227782053091084,0.08232373691314415,-0.125693555897874,1.0426895383173593,-0.0010989100718815509,-0.005263721433738249,-0.000922572647602396,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.910177597609051,-0.3696716407855375,-0.13372925689738643,0.4803066454690274,0.24754004067543492,-0.2563904840108983,0.9848723482038328,0.7654111799934296,1.1186016051012193,1.1186016051012193,1.198395838171728,0,0,-5.973864084826888e-05,3.9218966655685486e-05
+59570,1792649042789950993,17583099999999,1792649042788659202,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760708691033862,-0.004464736542517674,0.09048803049761356,0.9999999741885366,0.00016894765782139398,-4.263305217457719e-05,0.00011271602514392771,0.6761,-0.0045,0.09044130540317631,1.0,0.0,0.0,0.0,-0.21304264837957282,0.11300287642392244,0.8258299242165825,0.009086350589475854,0.015927907045967974,-0.0003310946940188454,0.08219930936767143,-0.11983576558507271,1.1031082825405123,-0.0011095625374328696,-0.005277144136622994,-0.0009713895210903305,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8566653260627215,-0.40439815156529985,-0.256648267042635,0.4799315969368905,0.313037093931424,-0.2821553323345354,0.9848723482038328,0.8258299242165825,1.241520615246468,1.241520615246468,1.2549558381717396,0,0,-5.8545765670133025e-05,9.999997638144293e-05
+59687,1792649043764927553,17584075000000,1792649043764658961,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760722881744713,-0.00446901542372203,0.09043556959990608,0.9999999730570517,0.00016973663806953395,-4.1104213022488455e-05,0.00012177305722388679,0.6761,-0.0045,0.09038435999003953,1.0,0.0,0.0,0.0,-0.21835490711900585,0.10522541086931725,0.8759932756730286,0.00803036372670688,0.01693826080225888,-0.0003707159539912354,0.07688705062823843,-0.1276132311396779,1.1532716339969584,-0.002165549400201844,-0.004266790380332088,-0.0010110107810627205,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8615313575268522,-0.37059872802792543,-0.18167809572077187,0.47069100956433035,0.2658672539960169,-0.26058028218491414,0.9848723482038328,0.8759932756730286,1.1665504439246046,1.1665504439246046,1.3232058381717537,0,0,-5.7351952877120145e-05,-9.976616341245687e-05
+59781,1792649044547969247,17584858000000,1792649044540669004,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760763463760924,-0.004449099193689216,0.09039172246640517,0.999999993437812,5.786090788699249e-05,-2.4566467801210795e-05,2.4816212205435384e-05,0.6761,-0.0045,0.09033729756569028,1.0,0.0,0.0,0.0,-0.18037826433109544,0.1511321035411708,0.9182769195921552,0.012178860047480223,0.013816349160573026,0.0006266301344096656,0.11486369341614884,-0.08170653846782436,1.195555277916085,0.0019829469205714986,-0.007388702022017943,-1.3664692661819569e-05,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9548870398071946,-0.26276790099114483,-0.21369591858979484,0.31946317083562875,0.34080819905764176,-0.15547546105753562,0.9848723482038328,0.9182769195921552,1.1985682667936277,1.1985682667936277,1.378015838171765,0,0,-7.139640252204339e-05,-9.999999025923074e-05
+59890,1792649045457110250,17585767000000,1792649045456659115,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760802714380783,-0.004457011317236014,0.0903272660275322,0.9999999923057544,6.640234438145229e-05,-1.9260257417350756e-05,4.52893659807955e-05,0.6761,-0.0045,0.09026059113263561,1.0,0.0,0.0,0.0,-0.19574387163500478,0.14032375476087006,0.987990685604667,0.01123559014692021,0.014659181759295429,0.0005734280486380203,0.09949808611223948,-0.09251488724812508,1.2652690439285967,0.001039677020011487,-0.00654586942329554,-6.686677843346473e-05,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9272474424604747,-0.2538760595592899,-0.336088123512175,0.34585388057048494,0.4007713285879136,-0.1596025105044632,0.9848723482038328,0.987990685604667,1.320960471716008,1.320960471716008,1.4416458381717783,0,0,-9.128892925045928e-05,6.87795225395964e-05
+59977,1792649046182128084,17586491999999,1792649046176659224,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760745882913899,-0.004461135002363543,0.09025945370738508,0.9999999901080453,8.062471249376709e-05,-3.057411595614319e-05,6.157639887626461e-05,0.6761,-0.0045,0.09019725370811645,1.0,0.0,0.0,0.0,-0.19586832007255123,0.13196041536674374,1.0381421390400791,0.01110663346577712,0.014810187196733472,0.0005338222210021177,0.09937363767469305,-0.10087822664225139,1.315420497364009,0.0009107203388683948,-0.006394863985857498,-0.00010647260606936739,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8893939967910443,-0.291455688518339,-0.37381933190021566,0.4016534653535903,0.40691901514193496,-0.19091945927498255,0.9848723482038328,1.0381421390400791,1.3586916801040485,1.3586916801040485,1.4923958381717888,0,0,-8.086115153435459e-05,-2.446838151393678e-05
+60085,1792649047082160006,17587392000000,1792649047076668283,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760794727791644,-0.0044704026639181505,0.09019961493962392,0.9999999881939509,8.884579839402852e-05,-2.4148976311777937e-05,8.110618709160032e-05,0.6761,-0.0045,0.09012919602434342,1.0,0.0,0.0,0.0,-0.1954019974079314,0.12021168764143023,1.0678395429341827,0.010081375327743959,0.014837459317664576,0.0004985866077508967,0.09983996033931285,-0.11262695436756492,1.3451179012581125,-0.00011453779916476513,-0.006367591864926394,-0.00014170821932058846,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8871484398278275,-0.319774040418347,-0.5116711500661034,0.4671955766339643,0.48289029455394905,-0.21935217890606692,0.9848723482038328,1.0678395429341827,1.4965434982699364,1.4965434982699364,1.5553958381718018,0,0,-7.498559143473559e-05,9.99635194328718e-05
+60175,1792649047832135232,17588142000000,1792649047828659568,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760837533070818,-0.004471809748041016,0.09014687381280259,0.9999999867052776,9.432289778843456e-05,-1.675424116784364e-05,9.40999218752958e-05,0.6761,-0.0045,0.09007381471244578,1.0,0.0,0.0,0.0,-0.1995084236112773,0.12575583978704036,1.0781816138138691,0.010481522021970393,0.014820034383699143,0.0004992397327232632,0.09573353413596698,-0.10708280222195479,1.355459972137799,0.0002856088950616686,-0.006385016798891826,-0.00014105509434822187,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9075952135558865,-0.3720101100023056,-0.46681331918728014,0.48751526500978803,0.4559865875255497,-0.26302648814746404,0.9848723482038328,1.0781816138138691,1.451685667391113,1.451685667391113,1.6078958381718127,0,0,-7.612844274004627e-05,-9.994604729802176e-05
+60289,1792649048782280568,17589092000000,1792649048780668398,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760876796111223,-0.0044696134258633315,0.09007525971481169,0.9999999952581157,7.900423463637147e-06,-5.752895724010631e-06,2.8829163254520547e-05,0.6761,-0.0045,0.08999340991495137,1.0,0.0,0.0,0.0,-0.17009443858018916,0.17151652300957626,1.090488606115004,0.014126681488573184,0.01274502251910829,0.0004983545265867476,0.1251475191670551,-0.06132211899941889,1.3677669644389339,0.003930768361664459,-0.00846002866348268,-0.00014194030048473747,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9526705557175084,-0.2613991957879581,-0.5441231227241845,0.3969820409952895,0.5302799548924868,-0.16391346519896755,0.9848723482038328,1.090488606115004,1.5289954709280174,1.5289954709280174,1.6743958381718265,0,0,-9.698639830969441e-05,-4.842281576739361e-05
+60385,1792649049582219869,17589892000000,1792649049580668937,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760895515808993,-0.004471432005710823,0.08999554624467139,0.9999999941407475,2.473929158344794e-05,-7.389958338569292e-06,4.9947226452466494e-05,0.6761,-0.0045,0.08990637292365344,1.0,0.0,0.0,0.0,-0.18715543681933144,0.1383514902488119,1.1420160253979044,0.012135001176113209,0.013769965388160452,0.0004492112299931121,0.10808652092791284,-0.09448715176018324,1.4192943837218341,0.001939088049204485,-0.007435085794430517,-0.000191083597078373,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9787758744846721,-0.33563228374865517,-0.4995573643202209,0.4830523932725642,0.4932589251927905,-0.23654275838055705,0.9848723482038328,1.1420160253979044,1.4844297125240538,1.4844297125240538,1.730395838171838,0,0,-0.00011585925661502928,-9.999989311471608e-05
+60475,1792649050332246807,17590642000000,1792649050324668671,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6760925417673161,-0.004477069334218191,0.08990831200944747,0.9999999820161029,0.00015082805321513942,-1.399984095418058e-06,6.826123886174563e-05,0.6761,-0.0045,0.08981747234437905,1.0,0.0,0.0,0.0,-0.21100225838776332,0.1288522617311506,1.1685401206451436,0.01108135855845775,0.014796809390279268,0.0004268535948557447,0.08423969935948093,-0.10398638027784454,1.4458184789690733,0.0008854454315490259,-0.006408241792311701,-0.00021344123221574043,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9466542631897443,-0.33146475619560983,-0.6013038044460272,0.45978063945829245,0.5535796957982566,-0.2944281374384066,0.9848723482038328,1.1685401206451436,1.58617615264986,1.58617615264986,1.782895838171849,0,0,-0.00012663616409255696,-9.999999025923074e-05
+60559,1792649051032320738,17591342000000,1792649051028659366,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760955111292822,-0.0044821039788892,0.08982283902787501,0.9999999818070531,0.00014483050052117993,1.541548351531713e-06,8.276779336389535e-05,0.6761,-0.0045,0.08972404240919726,1.0,0.0,0.0,0.0,-0.19567959283348418,0.124460317966153,1.184633292274912,0.010058103047466207,0.014812142506100436,0.0003762532648130394,0.0995623649137601,-0.10837832404284214,1.4619116505988419,-0.00013781007944251703,-0.006392908676490534,-0.0002640415622584457,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9796619877422339,-0.32011984827368567,-0.5178011086456085,0.4809957561249779,0.5055830513150433,-0.26100958665901836,0.9848723482038328,1.184633292274912,1.5026734568494413,1.5026734568494413,1.831895838171859,0,0,-0.00013953190298596064,-9.999919922532569e-05
+60641,1792649051715426968,17592025000000,1792649051712668813,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6760970664772251,-0.004479659760749394,0.08972857735072313,0.9999999850016128,0.00012293900640782186,2.7627698240309216e-06,7.948588729018107e-05,0.6761,-0.0045,0.08962687463248743,1.0,0.0,0.0,0.0,-0.1962576166344239,0.13386896036983578,1.2087137771560703,0.011073980747342855,0.014787445734310428,0.00039619815814540763,0.09898434111282037,-0.09896968163915937,1.48599213548,0.0008780676204341314,-0.006417605448280541,-0.00024409666892607747,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9356558226875883,-0.28097232171695774,-0.6439854867158705,0.501702326603985,0.5669796849013922,-0.2046340472132457,0.9848723482038328,1.2087137771560703,1.6288578349197034,1.6288578349197034,1.879705838171869,0,0,-0.00014490683201559407,-9.999999025923074e-05
+60725,1792649052415376339,17592725000000,1792649052412668221,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.676102064609339,-0.004484917445243298,0.08962754243327153,0.9999999869747531,0.00010231246887533747,9.943823540149181e-06,8.322641971198021e-05,0.6761,-0.0045,0.08952178818978868,1.0,0.0,0.0,0.0,-0.1870575553333,0.12903245484821507,1.2387305860702569,0.010841621108001085,0.014785327079981477,0.0003724527218047363,0.10818440241394425,-0.10380618716078006,1.5160089443941867,0.0006457079810923608,-0.006419724102609491,-0.0002678421052667488,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9631471734464614,-0.38092689182129275,-0.6859367294380038,0.5316856241311531,0.6017038819359698,-0.26604499928704023,0.9848723482038328,1.2387305860702569,1.6708090776418367,1.6708090776418367,1.9287058381718791,0,0,-0.00015382506175362488,-9.967343203432506e-05
+60811,1792649053132387022,17593442000000,1792649053128668982,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761043814241112,-0.0044845348220568316,0.08951931601476859,0.9999999876302156,9.187549621808595e-05,1.3871043767730386e-05,8.688452347676162e-05,0.6761,-0.0045,0.08940733380803628,1.0,0.0,0.0,0.0,-0.18635911882329717,0.11720152513981524,1.2625216057630726,0.010069169534353273,0.013782283565106978,0.0003271326583317531,0.1088828389239471,-0.1156371168691799,1.5397999640870024,-0.0001267435925554508,-0.00742276761748399,-0.000313162168739732,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9313099115206565,-0.39003504815028384,-0.6793307312877995,0.5468305898320572,0.5878155265406174,-0.2697957182633968,0.9848723482038328,1.2625216057630726,1.6642030794916325,1.6642030794916325,1.9788958381718895,0,0,-0.00016465414982433225,-9.999922698090131e-05
+60893,1792649053815493529,17594125000000,1792649053808659103,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761076794923264,-0.004486872674666715,0.08940621379822578,0.9999999874045599,9.368596071410311e-05,1.819752564205374e-05,8.674984287230554e-05,0.6761,-0.0045,0.08929035208681035,1.0,0.0,0.0,0.0,-0.18582609203159667,0.1052472525232499,1.2850638793225637,0.009044647223582987,0.013797849742615997,0.0003009288511557931,0.10941586571564761,-0.12759138948574525,1.5623422376464935,-0.0011512659033257378,-0.007407201439974972,-0.000339365975915692,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.92528130390429,-0.344064463682631,-0.7512717552532656,0.5363781737938687,0.632956379421161,-0.23821674656710978,0.9848723482038328,1.2850638793225637,1.7361441034570984,1.7361441034570984,2.026705838171899,0,0,-0.0001792518548968377,-9.999999025923074e-05
+60957,1792649054348459012,17594658000000,1792649054340668187,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761035197148704,-0.004490988858000569,0.08929378260178963,0.9999999892668006,8.236597899385288e-05,1.0660697853952725e-05,7.753359463262827e-05,0.6761,-0.0045,0.0891909421241896,1.0,0.0,0.0,0.0,-0.1758182305641512,0.0952786599964553,1.3336090304159862,0.008387413296032941,0.013769758506960866,0.00025086404867063843,0.11942372718309308,-0.13755998201253986,1.610887388739916,-0.0018084998308757825,-0.0074352926756301035,-0.00038943077840084667,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9110778426624477,-0.41356728712711605,-0.8236596967275001,0.5657416740176402,0.6777045552231613,-0.28384421976553564,0.9848723482038328,1.3336090304159862,1.808532044931333,1.808532044931333,2.064015838171907,0,0,-0.00019001479272387633,9.541933495971761e-05
+61037,1792649055015517899,17595325000000,1792649055012668188,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761049700941009,-0.004496966693361618,0.08916904289733314,0.9999999887825297,8.186262603702812e-05,1.275316150202974e-05,8.374766948901529e-05,0.6761,-0.0045,0.08906054580870638,1.0,0.0,0.0,0.0,-0.17624849958300848,0.08083613161855094,1.3386051049803942,0.00801031905203822,0.013806432368125579,0.00024338837841423672,0.11899345816423577,-0.1520025103904442,1.615883463304324,-0.0021855940748705047,-0.00739861881446539,-0.0003969064486572484,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9275798151156533,-0.3111257893611057,-0.8004936962947976,0.5502349961566781,0.6629833800380759,-0.21316359172615915,0.9848723482038328,1.3386051049803942,1.7853660444986303,1.7853660444986303,2.1107058381719166,0,0,-0.00020274422969232398,-9.977428191832444e-05
+61097,1792649055515612748,17595825000000,1792649055508668290,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761061353669082,-0.004505962776388716,0.08906687532406858,0.9999999878598695,8.228268070363464e-05,1.2511447645630783e-05,9.37877880586793e-05,0.6761,-0.0045,0.08895717757854511,1.0,0.0,0.0,0.0,-0.17604458476834994,0.08505298517861007,1.35806776445061,0.008007511483170405,0.013801409404541984,0.00022770378624783891,0.11919737297889431,-0.14778565683038508,1.6353461227745398,-0.002188401643738319,-0.0074036417780489845,-0.0004125910408236462,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9204991902192582,-0.334744390445983,-0.8749086564113172,0.5607281608161843,0.7063387723197,-0.22905773159182627,0.9848723482038328,1.35806776445061,1.85978100461515,1.85978100461515,2.145705838171924,0,0,-0.00020859454877095968,8.532490183048454e-05
+61159,1792649056032599110,17596342000000,1792649056024668527,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761014318246692,-0.004503796910005994,0.08894537597568737,0.999999987465143,8.569001334952823e-05,1.6163253719318295e-06,9.574542977260887e-05,0.6761,-0.0045,0.08884555578047534,1.0,0.0,0.0,0.0,-0.18512694652851724,0.07573350189923855,1.3777170769265037,0.008002606745809897,0.013798130146829294,0.00021070909197219717,0.11011501121872701,-0.1571051401097566,1.6549954352504335,-0.0021933063810988264,-0.007406921035761675,-0.00042958573509928793,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.910594924111784,-0.30551642121953654,-0.8443327483809199,0.5652043630050753,0.6816552417940194,-0.2072412395249785,0.9848723482038328,1.3777170769265037,1.8292050965847526,1.8292050965847526,2.1818958381719313,0,0,-0.0002200014908679534,-5.623723295234413e-05
+61229,1792649056615616630,17596925000000,1792649056612668429,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761061800765658,-0.0045058559040524766,0.08882361189557825,0.9999999902012252,6.542520224022094e-05,1.2310928770030415e-05,8.129205341930669e-05,0.6761,-0.0045,0.08871291421818221,1.0,0.0,0.0,0.0,-0.17633229806902123,0.08194184415510006,1.3781011326429173,0.008002971886414792,0.01379854698919697,0.0002114652822167621,0.11890965967822303,-0.1508967978538951,1.6553794909668471,-0.002192941240493933,-0.007406504193394001,-0.000428829544854723,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9055117770005113,-0.3971845527412173,-0.8222889459763357,0.6053301967409743,0.660054600305516,-0.26634892126811927,0.9848723482038328,1.3781011326429173,1.8071612941801685,1.8071612941801685,2.22270583817194,0,0,-0.0002334884325841654,-9.388835128654733e-05
+61281,1792649057048657521,17597358000000,1792649057044658729,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761101123768428,-0.004506885225973823,0.08872379740504707,0.9999999893521623,7.03792119815525e-05,1.7557887827433853e-05,8.646980316455438e-05,0.6761,-0.0045,0.08860944089173907,1.0,0.0,0.0,0.0,-0.18002832697143678,0.0823800528136853,1.3986379996138145,0.007998997405694009,0.013793330920845854,0.00019440998133468256,0.1152136307758075,-0.15045858919530986,1.6759163579377443,-0.0021969157212147154,-0.007411720261745115,-0.00044588484573680255,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9628769884699828,-0.41902919502481145,-0.9108409197338878,0.610123145979082,0.7315502975832151,-0.28369809197239154,0.9848723482038328,1.3986379996138145,1.8957132679377207,1.8957132679377207,2.253015838171946,0,0,-0.0002428534588641912,-7.331656868451086e-05
+61343,1792649057565683660,17597875000000,1792649057560658874,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.676106367458843,-0.004513571411254329,0.08859029347052173,0.9999999888862284,7.141767609485836e-05,1.0383405524068798e-05,9.1989714966935e-05,0.6761,-0.0045,0.08848109458342447,1.0,0.0,0.0,0.0,-0.17980963747305373,0.0667280444343675,1.4086414468305575,0.007968004170919658,0.01379262723897252,0.00018107541134922367,0.11543232027419052,-0.16611059757462765,1.6859198051544872,-0.0022279089559890664,-0.0074124239436184495,-0.00045921941572226143,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9225532684359382,-0.3616335344772672,-0.894740479799343,0.5998590500348254,0.709748935518075,-0.24452595047991227,0.9848723482038328,1.4086414468305575,1.8796128280031759,1.8796128280031759,2.2892058381719536,0,0,-0.00025295309048353607,-9.375054485361573e-05
+61403,1792649058065732995,17598375000000,1792649058060658895,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.676109159277596,-0.004507320930317781,0.0884665802954698,0.9999999878091895,8.081316161035678e-05,1.5039857520053034e-05,9.52235302307104e-05,0.6761,-0.0045,0.08835046507306726,1.0,0.0,0.0,0.0,-0.1870780629485599,0.07421500966774142,1.4360083701631565,0.007973588879095626,0.014429462577072925,0.0001762880888883667,0.10816389479868438,-0.15862363234125373,1.7132867284870863,-0.0022223242478130968,-0.006775588605518045,-0.0004640067381831184,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9207701823452018,-0.3255660215921226,-0.9417007617051458,0.5969963574898577,0.7334553327168577,-0.21880462159352113,0.9848723482038328,1.4360083701631565,1.9265731099089787,1.9265731099089787,2.324205838171961,0,0,-0.0002684439332864815,-8.226199862815804e-05
+61463,1792649058565685394,17598875000000,1792649058560658835,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761081890151786,-0.0045059193845718186,0.08832751886317496,0.9999999872487648,8.632848759025131e-05,1.0693952319362107e-05,9.684196471328766e-05,0.6761,-0.0045,0.08821346219499515,1.0,0.0,0.0,0.0,-0.17961559351372278,0.06809100298815371,1.4414442050632206,0.007988733353033087,0.013784294976402389,0.00015753054354102557,0.11562636423352149,-0.16474763902084144,1.7187225633871503,-0.0022071797738756364,-0.00742075620618858,-0.00048276428353045953,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.982470910119954,-0.4428987200603425,-1.0551544499964491,0.640988700456114,0.8186919081904247,-0.2989066173503009,0.9848723482038328,1.4414442050632206,2.040026798200282,2.040026798200282,2.359205838171968,0,0,-0.0002784680665820786,9.999999025923074e-05
+61517,1792649059015698998,17599325000000,1792649059012658910,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761081078623166,-0.0045140061226253666,0.08819854519246637,0.9999999871099242,8.264286425672941e-05,1.2087332600648725e-05,0.00010122780791145684,0.6761,-0.0045,0.08808533559769129,1.0,0.0,0.0,0.0,-0.1854739412934581,0.06839788268365243,1.4522877247524557,0.007986944392408312,0.013782150464396643,0.0001484879813904422,0.10976801645378617,-0.16444075932534272,1.7295660830763855,-0.0022089687345004123,-0.007422900718194327,-0.0004918068456810429,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9126513719809072,-0.31991707548329357,-0.9309111259775206,0.6152459054138257,0.7149209535253845,-0.21604569806562957,0.9848723482038328,1.4522877247524557,1.9157834741813535,1.9157834741813535,2.3907058381719746,0,0,-0.000290378972807341,-9.941823339432716e-05
+61571,1792649059465794042,17599775000000,1792649059464658905,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761064700235987,-0.004517877587461291,0.0880638215079526,0.9999999862663639,8.826569329842073e-05,5.3757292569834115e-06,0.00010531099370956627,0.6761,-0.0045,0.08795296503563434,1.0,0.0,0.0,0.0,-0.1749176530400044,0.06933231421309471,1.4776004564596417,0.0073357456844426495,0.013793303541726542,0.00012128720933182399,0.12032430470723987,-0.16350632779590044,1.7548788147835714,-0.0028601674424660745,-0.007411747640864426,-0.0005190076177396611,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9418117536184673,-0.47061094482147137,-0.9436843165614813,0.6738563214919636,0.7292697534345793,-0.31574059307656205,0.9848723482038328,1.4776004564596417,1.9285566647653143,1.9285566647653143,2.422205838171981,0,0,-0.00029713375823278563,-9.979612555633394e-05
+61619,1792649059865812760,17600175000000,1792649059860658846,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761080702688541,-0.0045208327950168395,0.08794024234294992,0.9999999862432489,8.588504174256142e-05,1.0143134638874144e-05,0.00010713189470544884,0.6761,-0.0045,0.08783348250317806,1.0,0.0,0.0,0.0,-0.18194220044026937,0.05919280876069771,1.488047813585258,0.007003222826336539,0.013793830162935622,0.00011070131546281629,0.11329975730697489,-0.17364583324829744,1.7653261719091877,-0.003192690300572185,-0.007411221019655348,-0.0005295935116086688,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9356799637327057,-0.3995697470208708,-1.0750988269801485,0.6519982666960191,0.8059597068976513,-0.26950606774216845,0.9848723482038328,1.488047813585258,2.059971175183981,2.059971175183981,2.450205838171987,0,0,-0.00029896437630097674,9.873838832519794e-05
+61673,1792649060315842249,17600625000000,1792649060312659525,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761035092704114,-0.004518828101833619,0.08780433639168851,0.999999985615346,9.293429596105833e-05,-1.5392169105665248e-06,0.00010757797001144426,0.6761,-0.0045,0.08769635603241155,1.0,0.0,0.0,0.0,-0.1668379488974299,0.06669121869547201,1.494430055158296,0.006958370928369102,0.01379247513892341,0.00010711365369420536,0.12840400884981437,-0.16614742331352314,1.7717084134822259,-0.0032375421985396213,-0.007412576043667559,-0.0005331811733772797,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.8856053152213699,-0.35521791207228914,-1.050298547361796,0.6586958674346998,0.7740736089733231,-0.23974558092130496,0.9848723482038328,1.494430055158296,2.0351708955656287,2.0351708955656287,2.4817058381719934,0,0,-0.00031152949896760194,-1.0555160170235673e-05
+61725,1792649060748762385,17601058000000,1792649060744659152,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.676106813534817,-0.004525712307896615,0.08767486058294034,0.9999999854139825,9.236175244621947e-05,6.577733876045622e-06,0.00010973121381719694,0.6761,-0.0045,0.08755941861113095,1.0,0.0,0.0,0.0,-0.17655248879568325,0.04821765504685843,1.4880135223698832,0.00695791912086091,0.01379512080125364,0.00011109307005724325,0.11868946895156103,-0.18462098696213672,1.765291880693813,-0.003237994006047814,-0.007409930381337329,-0.0005292017570142419,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9082028269240318,-0.3982161919368767,-0.9955432056889669,0.6760459886830096,0.7384620366673575,-0.26592528021490036,0.9848723482038328,1.4880135223698832,1.9804155538927999,1.9804155538927999,2.5120158381719997,0,0,-0.00032131912610785927,-9.999999025923074e-05
+61773,1792649061148845419,17601458000000,1792649061144659196,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761062357525174,-0.004526242093120958,0.08754464894421288,0.999999985429146,9.129792770408994e-05,5.035227908373394e-06,0.00011056177881966043,0.6761,-0.0045,0.08742881268167822,1.0,0.0,0.0,0.0,-0.18095058629783317,0.05762223123459248,1.508036675751598,0.006955648221197437,0.013790061757196208,9.440566683755944e-05,0.11429137144941108,-0.17521641077440267,1.7853150340755277,-0.003240264905711287,-0.007414989425394762,-0.0005458891602339257,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9335893519410592,-0.4614006710600031,-0.9989418244627594,0.6993698275242841,0.7431170867084709,-0.309087241153808,0.9848723482038328,1.508036675751598,1.9838141726665923,1.9838141726665923,2.5400158381720055,0,0,-0.00032995792642184627,-9.99239122264683e-05
+61826,1792649061590822512,17601900000000,1792649061588658598,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761062156728601,-0.0045288687236526,0.08740181318964109,0.9999999857494568,8.54390033240127e-05,5.397800035422204e-06,0.00011231647793510928,0.6761,-0.0045,0.08728170225521815,1.0,0.0,0.0,0.0,-0.1775636443840648,0.05499084209967997,1.5116595354231008,0.005935306706502847,0.01380837043058469,8.16450584226648e-05,0.11767831336317947,-0.17784779990931518,1.7889378937470306,-0.004260606420405877,-0.0073966807520062785,-0.0005586497686488203,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9293439493266343,-0.44623774630583324,-1.0967551558037705,0.6991815916836986,0.8006230115077316,-0.29713055509230124,0.9848723482038328,1.5116595354231008,2.0816275040076033,2.0816275040076033,2.570955838172012,0,0,-0.0003372169864850244,-5.36651255561777e-05
+61874,1792649061990872610,17602300000000,1792649061988659070,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761049524115691,-0.004531205013964788,0.08726798164127461,0.9999999858584189,8.401591741649558e-05,3.000703656090367e-06,0.00011250932330666886,0.6761,-0.0045,0.08714532441774527,1.0,0.0,0.0,0.0,-0.1760427620273946,0.057329226419937235,1.5271904478218878,0.006575364071821248,0.014805534052170905,8.107697681630462e-05,0.11919919571984966,-0.17550941558905792,1.8044688061458176,-0.003620549055087476,-0.006399517130420063,-0.0005592178502551805,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.953256620214884,-0.46952093612863666,-1.0410901773569639,0.7194214597649121,0.7713380247714399,-0.31082220154469997,0.9848723482038328,1.5271904478218878,2.0259625255607965,2.0259625255607965,2.5989558381720177,0,0,-0.00034578795047732056,-9.999607672306893e-05
+61922,1792649062390939877,17602700000000,1792649062384659216,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761061867200387,-0.0045332017261880695,0.08713394828909747,0.9999999856519396,8.591415545491231e-05,8.747051369634811e-06,0.00011261097611319981,0.6761,-0.0045,0.08700548043167713,1.0,0.0,0.0,0.0,-0.19505546115646838,0.06682497491698722,1.5082764545238425,0.006902494145019169,0.015785991617046094,0.00012346142724759196,0.10018649659077587,-0.16601366709200793,1.7855548128477723,-0.0032934189818895547,-0.005419059565544875,-0.0005168333998238931,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9470079483943453,-0.47171150957482344,-1.1203362233280023,0.7211037813881748,0.8143258922502348,-0.31499974904460365,0.9848723482038328,1.5082764545238425,2.1052085715318354,2.1052085715318354,2.6269558381720235,0,0,-0.0003544887181253494,-9.896631711215349e-05
+61970,1792649062790951615,17603100000000,1792649062788659173,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761080510397143,-0.004540566466811992,0.08699230537330001,0.9999999850060978,8.893331713241328e-05,9.846811202754092e-06,0.00011586446405673488,0.6761,-0.0045,0.08686121504963172,1.0,0.0,0.0,0.0,-0.19513032056266585,0.06059030185549477,1.5280257204530587,0.006907873052436173,0.01581221085161683,0.00010803285839314713,0.10011163718457841,-0.17224834015350038,1.8053040787769885,-0.0032880400744725513,-0.005392840330974141,-0.000532261968678338,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0254499367536911,-0.3848758686644026,-1.1817977923683667,0.7136397974803834,0.8710268869658008,-0.25175582386749024,0.9848723482038328,1.5280257204530587,2.1666701405721995,2.1666701405721995,2.6549558381720293,0,0,-0.0003654858332965708,8.837617723601027e-05
+62013,1792649063148879216,17603458000000,1792649063148658988,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761113193588294,-0.004539705734356352,0.08686044509690136,0.9999999844045054,8.89475849972644e-05,1.8274383001359555e-05,0.00011995093708679767,0.6761,-0.0045,0.08672869894882007,1.0,0.0,0.0,0.0,-0.21255114321824242,0.06672637014489138,1.5378153134847108,0.00687489588823502,0.016599013322345813,0.00011027606656559448,0.08269081452900184,-0.16611227186410377,1.8150936718086406,-0.003321017238673704,-0.004606037860245155,-0.0005300187605058906,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0091983140780683,-0.4364316609461302,-1.1110347740741462,0.7268023288103089,0.8186002576925167,-0.289023997837719,0.9848723482038328,1.5378153134847108,2.0959071222779793,2.0959071222779793,2.6800158381720345,0,0,-0.00037680566233463795,-9.999999025923074e-05
+62058,1792649063523898379,17603833000000,1792649063520659337,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761069476180055,-0.004545616405101388,0.0867209204503786,0.9999999861629139,6.839642556979758e-05,1.1951973477048764e-05,0.00011956636497955869,0.6761,-0.0045,0.08658566319602574,1.0,0.0,0.0,0.0,-0.2010040075448577,0.058916088429292385,1.5480578760168862,0.006843308588332694,0.015808849658134245,9.04882877728779e-05,0.09423795020238655,-0.17392255357970277,1.825336234340816,-0.00335260453857603,-0.0053962015244567235,-0.0005498065392986072,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0228491952612226,-0.44657891704161157,-1.1218935698716412,0.7383405151473055,0.8334619077753104,-0.2969910984469686,0.9848723482038328,1.5480578760168862,2.106765918075474,2.106765918075474,2.70626583817204,0,0,-0.00038603467601291817,-9.998633451602785e-05
+62099,1792649063866006409,17604175000000,1792649063860659092,DOWN_FORCE_DETACH,5,0.0533,0.05330163240432739,0.6761113440317026,-0.004549993658408828,0.08659050223463992,0.9999999865666162,6.140868437421196e-05,1.545460666535031e-05,0.00011958160596180397,0.6761,-0.0045,0.08645183097462478,1.0,0.0,0.0,0.0,-0.20441177317410353,0.05932905563247609,1.5544575940817211,0.006892117782650407,0.015806921673302558,8.548564340952439e-05,0.09083018457314072,-0.17350958637651906,1.831735952405651,-0.003303795344258317,-0.005398129509288411,-0.0005548091836619607,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9492022598186253,-0.3569749437565807,-1.0951459011533522,0.7187041818504234,0.8005570044213269,-0.231602153694957,0.9848723482038328,1.5544575940817211,2.080018249357185,2.080018249357185,2.730205838172045,0,0,-0.0003966737723113108,-9.999972658126239e-05
+62145,1792649064249117317,17604558000000,1792649064248659089,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761136545461258,-0.004555937090856002,0.08644141477613002,0.9999999868309649,4.9128349676024126e-05,2.201547065401082e-05,0.0001219945032656337,0.6761,-0.0045,0.08629694759935438,1.0,0.0,0.0,0.0,-0.19933941118700432,0.059861770378429796,1.5667814573308152,0.006888493511818194,0.015815686891576,7.549453674774299e-05,0.09590254656023994,-0.17297687163056535,1.844059815654745,-0.0033074196150905304,-0.005389364291014971,-0.0005648002903237421,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0077803398285625,-0.45311885425321285,-1.0762364379839147,0.747176246001209,0.8042627441184398,-0.29894738909619734,0.9848723482038328,1.5667814573308152,2.0611087861877477,2.0611087861877477,2.7570158381720504,0,0,-0.0004122905408979457,-9.999960168117212e-05
+62186,1792649064590995933,17604900000000,1792649064584659546,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761093282092505,-0.004551760846143499,0.08629948315431336,0.9999999864491318,5.1081992081809134e-05,1.5053711186274842e-05,0.0001253340198464965,0.6761,-0.0045,0.08615395947046423,1.0,0.0,0.0,0.0,-0.20319563970226512,0.04419053492419933,1.5777106326069419,0.005848342302689411,0.016465121647722895,6.55354666662159e-05,0.09204631804497915,-0.18864810708479582,1.8549889909308717,-0.004347570824219313,-0.004739929534868072,-0.0005747593604052692,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9966287084250834,-0.4107981810088404,-1.2706397417570374,0.7390097647543822,0.9310725365526487,-0.2692067204400061,0.9848723482038328,1.5777106326069419,2.2555120899608703,2.2555120899608703,2.7809558381720554,0,0,-0.00042243267820288457,9.687500387845489e-05
+62225,1792649064916056729,17605225000000,1792649064908668890,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761002128676813,-0.004559823278764719,0.08615340566262521,0.9999999855797979,5.495939610667533e-05,9.935978357934693e-06,0.00013101148655108826,0.6761,-0.0045,0.08601466017767756,1.0,0.0,0.0,0.0,-0.19478020055480133,0.03857629483711139,1.6079211565188767,0.005859985905115067,0.015815542110116015,3.5123259776599614e-05,0.10046175719244295,-0.19426234717188376,1.8851995148428065,-0.004335927221793657,-0.005389509072474955,-0.0006051715672948855,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0250269905719538,-0.42962354651205875,-1.2461907011780424,0.7514233456070872,0.9299241774293324,-0.2755390660377048,0.9848723482038328,1.6079211565188767,2.2310630493818753,2.2310630493818753,2.80370583817206,0,0,-0.0004336629769216297,9.99526947583817e-05
+62261,1792649065215968425,17605525000000,1792649065212659359,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.6761008355543721,-0.004560710574488601,0.08601960529468941,0.9999999849628766,6.197693985524649e-05,1.5388817844584315e-05,0.00013205739014558846,0.6761,-0.0045,0.08588296687292073,1.0,0.0,0.0,0.0,-0.19464145844171174,0.037889571496254354,1.618051671567673,0.005846193222343907,0.01581274880426221,2.366191487940012e-05,0.10060049930553253,-0.1949490705127408,1.8953300298916027,-0.004349719904564817,-0.005392302378328758,-0.000616632912192085,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.0319866566748939,-0.5032948472413002,-1.1374301607592077,0.7723583404551052,0.8649165608332425,-0.3277434443327145,0.9848723482038328,1.618051671567673,2.1223025089630405,2.1223025089630405,2.8247058381720644,0,0,-0.0004435962253177258,-9.999999025923074e-05
+62297,1792649065516031056,17605825000000,1792649065512659278,DOWN_FORCE_DETACH,5,0.0533,0.05330229178071022,0.676124932193367,-0.004564288790188388,0.08590886142818446,0.9999999728295683,0.00015310261745213056,3.562625968984905e-05,0.00014516916035080594,0.6761,-0.0045,0.08574821370064292,1.0,0.0,0.0,0.0,-0.24199452978835248,0.09482814540632684,1.588105787458509,0.007825153282633925,0.0192192727150475,0.00011886714106548746,0.05324742795889179,-0.13801049660266831,1.8653841457824387,-0.002370759844274799,-0.0019857784675434698,-0.0005214276860059976,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,1.1508561761721423,-0.449072142215699,-1.0772873442167719,0.7353824334307073,0.8534272435461187,-0.3244948471490969,0.9848723482038328,1.588105787458509,2.0621596924206047,2.0621596924206047,2.845705838172069,0,0,-0.0004564646068308794,-9.999999025923074e-05
+62406,1792649066420085201,17606729000000,1792649066412669410,DOWN_PEAK_HOLD,5,0.0533,0.05330229178071022,0.6761099216595471,-0.004556931516368674,0.08579573200345207,0.9999999732403961,0.00014766152644818091,1.326909262823967e-05,0.0001515984035290293,0.6761,-0.0045,0.08567918851641698,1.0,0.0,0.0,0.0,-0.1887943908165304,0.061737266128222834,1.3270318707835354,0.00696518623992338,0.014851654547359747,-0.000773010302887652,0.10644756693071386,-0.17110137588077232,1.6043102291074651,-0.0032307268869853447,-0.0063533966352312225,-0.001413305129959137,0.29524195774724427,-0.23283864200899515,0.2772783583239297,-0.010195913126908724,-0.02120505118259097,-0.0006402948270714851,1,0.9019162389418166,-0.4887884365150681,-0.7629997988639787,0.7365356867250474,0.6052961803345123,-0.33840450879298045,0.9848723482038328,1.3270318707835354,1.7478721470678116,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..121f00afacf3c2bdbc59da26aea31bc1dd65ad12
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..aa16eca87ba367f60d69ba9ad58ae0b207fc051a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.516666667e+00,DOWN_FORCE_DETACH,1792649030243898596,2.841951728e-06,3.190337180e-06,-1.621674973e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.109141859e-07,5.729872613e-08,1.879351617e-07,7.015407134e-01,4.741298501e-06,8.407247244e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260437e-01,1.824134591e-06,8.297808602e-01
+5,3.266666667e+00,DOWN_FORCE_DETACH,1792649031446547476,6.382724838e-06,2.410840555e-06,-4.251096249e-05,4.501451294e-06,1.324577936e-06,-3.934159427e-05,4.930290023e-06,1.397350822e-06,-3.872836355e-05,7.015442542e-01,3.961801876e-06,8.406984302e-01,7.015423729e-01,2.875539257e-06,8.407015996e-01,7.017305630e-01,3.164186687e-06,8.297419439e-01
+6,3.816666667e+00,DOWN_FORCE_DETACH,1792649032276261432,1.575924199e-05,2.738724481e-06,-5.364884532e-05,4.501451294e-06,1.324577936e-06,-3.934159427e-05,4.958095163e-06,1.398227098e-06,-3.886022961e-05,7.015536307e-01,4.289685802e-06,8.406872923e-01,7.015423729e-01,2.875539257e-06,8.407015996e-01,7.017305908e-01,3.165062963e-06,8.297418120e-01
+7,4.483333333e+00,DOWN_FORCE_DETACH,1792649033276130433,1.978411396e-05,5.858462832e-07,-7.997815263e-05,1.713633438e-05,-2.415271108e-06,-7.941876787e-05,1.766039881e-05,-2.310668578e-06,-7.859539956e-05,7.015576556e-01,2.136807604e-06,8.406609630e-01,7.015550078e-01,-8.643097871e-07,8.406615224e-01,7.017432931e-01,-5.438327127e-07,8.297020769e-01
+8,5.083333333e+00,DOWN_FORCE_DETACH,1792649034176330900,2.353889841e-05,-1.611591565e-07,-1.000841746e-04,1.884448729e-05,-2.164558808e-06,-1.005232505e-04,1.933434659e-05,-2.060445310e-06,-9.966849194e-05,7.015614104e-01,1.389802165e-06,8.406408570e-01,7.015567160e-01,-6.135974868e-07,8.406404179e-01,7.017449671e-01,-2.936094447e-07,8.296810038e-01
+9,5.683333333e+00,DOWN_FORCE_DETACH,1792649035051774655,2.180841460e-05,-8.592770445e-07,-1.336116211e-04,2.095541698e-05,2.240990026e-06,-1.213875130e-04,2.146406147e-05,2.306746210e-06,-1.205439927e-04,7.015596799e-01,6.916842766e-07,8.406073296e-01,7.015588269e-01,3.791951347e-06,8.406195537e-01,7.017470968e-01,4.073582075e-06,8.296601283e-01
+10,6.416666667e+00,DOWN_FORCE_DETACH,1792649036150525756,2.335323660e-05,-4.138722912e-06,-1.593787751e-04,2.092289224e-05,-1.952924429e-07,-1.436338884e-04,2.132616389e-05,-9.684684216e-08,-1.428606046e-04,7.015612247e-01,-2.587761591e-06,8.405815624e-01,7.015587944e-01,1.355668878e-06,8.405973073e-01,7.017469589e-01,1.669989023e-06,8.296378117e-01
+11,7.083333333e+00,DOWN_FORCE_DETACH,1792649037152918418,2.667784902e-05,-8.180745168e-06,-1.828042447e-04,2.387638025e-05,-1.193231113e-06,-1.646131402e-04,2.431802734e-05,-1.115596518e-06,-1.639150979e-04,7.015645493e-01,-6.629783847e-06,8.405581369e-01,7.015617479e-01,3.577302084e-07,8.405763280e-01,7.017499508e-01,6.512393471e-07,8.296167572e-01
+12,7.750000000e+00,DOWN_FORCE_DETACH,1792649038160782902,2.966880889e-05,-3.996243538e-06,-2.173201450e-04,3.015940908e-05,1.949986379e-06,-2.038860461e-04,3.060124193e-05,2.047018283e-06,-2.030848245e-04,7.015675403e-01,-2.445282217e-06,8.405236210e-01,7.015680309e-01,3.500947701e-06,8.405370551e-01,7.017562340e-01,3.813854148e-06,8.295775874e-01
+13,8.383333333e+00,DOWN_FORCE_DETACH,1792649039112657626,3.376943312e-05,-6.418363772e-06,-2.500946197e-04,3.032691243e-05,-6.315338722e-06,-2.474221528e-04,3.067984593e-05,-6.140956059e-06,-2.464348408e-04,7.015716409e-01,-4.867402451e-06,8.404908466e-01,7.015681984e-01,-4.764377401e-06,8.404935190e-01,7.017563126e-01,-4.374120194e-06,8.295342374e-01
+14,9.016666667e+00,DOWN_FORCE_DETACH,1792649040054144237,4.148320531e-05,-1.203779303e-05,-2.872756810e-04,4.131987644e-05,-9.944712581e-06,-2.859573190e-04,4.175310616e-05,-9.721921470e-06,-2.848368428e-04,7.015793547e-01,-1.048683171e-05,8.404536655e-01,7.015791914e-01,-8.393751260e-06,8.404549839e-01,7.017673858e-01,-7.955085605e-06,8.294958354e-01
+15,9.566666667e+00,DOWN_FORCE_DETACH,1792649040884589003,6.489441367e-05,-4.977416383e-06,-3.142921627e-04,6.214798718e-05,-6.220105851e-06,-3.150812754e-04,6.296761967e-05,-6.006745436e-06,-3.139156293e-04,7.016027659e-01,-3.426455062e-06,8.404266490e-01,7.016000195e-01,-4.669144530e-06,8.404258599e-01,7.017886004e-01,-4.239909572e-06,8.294667566e-01
+16,1.026666667e+01,DOWN_FORCE_DETACH,1792649041983237481,6.808658620e-05,-9.899980902e-08,-3.645408197e-04,6.654009632e-05,6.327971382e-07,-3.561522633e-04,6.749124150e-05,8.348250417e-07,-3.550240725e-04,7.016059581e-01,1.451961512e-06,8.403764004e-01,7.016044116e-01,2.183758459e-06,8.403847889e-01,7.017931240e-01,2.601660907e-06,8.294256482e-01
+17,1.078333333e+01,DOWN_FORCE_DETACH,1792649042783047198,6.609681496e-05,-4.925513295e-06,-4.125309287e-04,6.564501360e-05,-1.081359921e-06,-4.016027691e-04,6.656650290e-05,-8.468194467e-07,-4.003381232e-04,7.016039683e-01,-3.374551973e-06,8.403284103e-01,7.016035165e-01,4.696014003e-07,8.403393384e-01,7.017921992e-01,9.200164182e-07,8.293803341e-01
+18,1.136666667e+01,DOWN_FORCE_DETACH,1792649043766184119,6.501439422e-05,-5.010087326e-06,-4.692209484e-04,6.495399704e-05,-4.918270981e-06,-4.686419589e-04,6.565846849e-05,-4.666820058e-06,-4.669792770e-04,7.016028859e-01,-3.459126005e-06,8.402717202e-01,7.016028255e-01,-3.367309660e-06,8.402722992e-01,7.017912912e-01,-2.899984193e-06,8.293136930e-01
+19,1.188333333e+01,DOWN_FORCE_DETACH,1792649044551276825,7.191029864e-05,6.778614567e-06,-5.105191112e-04,7.277968683e-05,1.307304627e-05,-5.041506699e-04,7.354962186e-05,1.317477889e-05,-5.025577089e-04,7.016097818e-01,8.329575888e-06,8.402304221e-01,7.016106512e-01,1.462400759e-05,8.402367905e-01,7.017991824e-01,1.494161475e-05,8.292781145e-01
+20,1.248333333e+01,DOWN_FORCE_DETACH,1792649045453437286,7.373471942e-05,3.354226412e-06,-5.742874491e-04,7.223668923e-05,3.358002415e-06,-5.644489045e-04,7.286603213e-05,3.515272886e-06,-5.627243087e-04,7.016116062e-01,4.905187733e-06,8.401666537e-01,7.016101082e-01,4.908963736e-06,8.401764923e-01,7.017984988e-01,5.282108751e-06,8.292179479e-01
+21,1.296666667e+01,DOWN_FORCE_DETACH,1792649046182714132,7.343688629e-05,-1.678721362e-06,-6.357971769e-04,7.322671063e-05,-6.660448100e-06,-6.298096887e-04,7.367606467e-05,-6.438065769e-06,-6.278193764e-04,7.016113084e-01,-1.277600405e-07,8.401051440e-01,7.016110982e-01,-5.109486778e-06,8.401111315e-01,7.017993088e-01,-4.671229904e-06,8.291528529e-01
+22,1.356666667e+01,DOWN_FORCE_DETACH,1792649047082334594,7.634116573e-05,-1.038181668e-05,-6.970427269e-04,7.326681743e-05,-3.514405536e-06,-6.933862940e-04,7.351370218e-05,-3.379710729e-06,-6.913829367e-04,7.016142126e-01,-8.830855358e-06,8.400438985e-01,7.016111383e-01,-1.963444215e-06,8.400475549e-01,7.017991464e-01,-1.612874864e-06,8.290892893e-01
+23,1.406666667e+01,DOWN_FORCE_DETACH,1792649047832644982,8.016697060e-05,-1.092580542e-05,-7.502857810e-04,7.792891527e-05,-1.500022651e-05,-7.510359978e-04,7.801807755e-05,-1.478828885e-05,-7.489842917e-04,7.016180385e-01,-9.374844100e-06,8.399906554e-01,7.016158004e-01,-1.344926519e-05,8.399899052e-01,7.018036508e-01,-1.302145299e-05,8.290316880e-01
+24,1.470000000e+01,DOWN_FORCE_DETACH,1792649048782356565,8.331689585e-05,-8.653479358e-06,-8.265009785e-04,8.044345428e-05,-1.480000643e-05,-8.137057414e-04,8.037345905e-05,-1.463520767e-05,-8.116914694e-04,7.016211884e-01,-7.102518037e-06,8.399144402e-01,7.016183149e-01,-1.324904511e-05,8.399272354e-01,7.018060062e-01,-1.286837180e-05,8.289689808e-01
+25,1.523333333e+01,DOWN_FORCE_DETACH,1792649049582083004,8.486232936e-05,-1.071969057e-05,-9.048223251e-04,8.327662013e-05,-9.137446128e-06,-8.908075657e-04,8.295971928e-05,-9.004416110e-06,-8.885512920e-04,7.016227338e-01,-9.168729246e-06,8.398361189e-01,7.016211481e-01,-7.586484807e-06,8.398501336e-01,7.018085925e-01,-7.237580245e-06,8.288921210e-01
+26,1.573333333e+01,DOWN_FORCE_DETACH,1792649050331962452,8.858153715e-05,-1.736726051e-05,-9.929487493e-04,8.758589083e-05,-1.912029226e-05,-9.783979886e-04,8.697798757e-05,-1.890027476e-05,-9.758479660e-04,7.016264530e-01,-1.581629919e-05,8.397479924e-01,7.016254574e-01,-1.756933094e-05,8.397625432e-01,7.018126107e-01,-1.713343889e-05,8.288048243e-01
+27,1.620000000e+01,DOWN_FORCE_DETACH,1792649051032138219,8.892181213e-05,-2.263411649e-05,-1.081271541e-03,9.061269017e-05,-2.017464946e-05,-1.062236848e-03,8.981073171e-05,-1.988107532e-05,-1.059411848e-03,7.016267933e-01,-2.108315517e-05,8.396596696e-01,7.016284842e-01,-1.862368814e-05,8.396787043e-01,7.018154435e-01,-1.811423946e-05,8.287212604e-01
+28,1.665000000e+01,DOWN_FORCE_DETACH,1792649051714257156,9.537881405e-05,-2.643564726e-05,-1.163510382e-03,9.370531786e-05,-2.358561818e-05,-1.155618383e-03,9.255258397e-05,-2.329680023e-05,-1.152618960e-03,7.016332503e-01,-2.488468594e-05,8.395774308e-01,7.016315768e-01,-2.203465686e-05,8.395853228e-01,7.018181853e-01,-2.152996437e-05,8.286280533e-01
+29,1.711666667e+01,DOWN_FORCE_DETACH,1792649052413012569,9.636252786e-05,-2.287741666e-05,-1.271890429e-03,9.533918269e-05,-2.509754475e-05,-1.263438824e-03,9.385942157e-05,-2.475644737e-05,-1.260246869e-03,7.016342340e-01,-2.132645534e-05,8.394690508e-01,7.016332107e-01,-2.354658343e-05,8.394775024e-01,7.018194922e-01,-2.298961150e-05,8.285204254e-01
+30,1.760000000e+01,DOWN_FORCE_DETACH,1792649053132814293,9.978856800e-05,-2.181731485e-05,-1.380783614e-03,9.769009051e-05,-2.650521170e-05,-1.369288142e-03,9.589617184e-05,-2.615816313e-05,-1.366163327e-03,7.016376600e-01,-2.026635353e-05,8.393601576e-01,7.016355616e-01,-2.495425038e-05,8.393716530e-01,7.018215289e-01,-2.439132726e-05,8.284145089e-01
+31,1.805000000e+01,DOWN_FORCE_DETACH,1792649053813160869,1.034475157e-04,-2.877821138e-05,-1.493584280e-03,1.007706910e-04,-2.684548362e-05,-1.485629561e-03,9.861768384e-05,-2.650375289e-05,-1.482337774e-03,7.016413190e-01,-2.722725006e-05,8.392473569e-01,7.016386422e-01,-2.529452230e-05,8.392553116e-01,7.018242504e-01,-2.473691703e-05,8.282983345e-01
+32,1.841666667e+01,DOWN_FORCE_DETACH,1792649054352959352,9.908771178e-05,-3.046233946e-05,-1.606307942e-03,9.896693606e-05,-3.051747331e-05,-1.606348107e-03,9.643770017e-05,-3.018152808e-05,-1.602500237e-03,7.016369592e-01,-2.891137814e-05,8.391346332e-01,7.016368384e-01,-2.896651199e-05,8.391345931e-01,7.018220704e-01,-2.841469221e-05,8.281781720e-01
+33,1.885000000e+01,DOWN_FORCE_DETACH,1792649055013193465,1.018733895e-04,-3.690370330e-05,-1.727676624e-03,1.002884844e-04,-3.522122361e-05,-1.713752116e-03,9.740510080e-05,-3.480647296e-05,-1.709761685e-03,7.016397449e-01,-3.535274197e-05,8.390132646e-01,7.016381600e-01,-3.367026229e-05,8.390271891e-01,7.018230378e-01,-3.303963710e-05,8.280709106e-01
+34,1.918333333e+01,DOWN_FORCE_DETACH,1792649055513124538,1.008921859e-04,-4.118226419e-05,-1.832443231e-03,9.721836220e-05,-3.958803516e-05,-1.822070780e-03,9.385169030e-05,-3.916844322e-05,-1.817742741e-03,7.016387637e-01,-3.963130287e-05,8.389084980e-01,7.016350898e-01,-3.803707384e-05,8.389188704e-01,7.018194844e-01,-3.740160735e-05,8.279629295e-01
+35,1.953333333e+01,DOWN_FORCE_DETACH,1792649056031788618,1.007765042e-04,-4.120577057e-05,-1.948483114e-03,9.815767876e-05,-4.052923380e-05,-1.932100546e-03,9.444163246e-05,-4.009931740e-05,-1.927571415e-03,7.016386480e-01,-3.965480925e-05,8.387924581e-01,7.016360292e-01,-3.897827248e-05,8.388088406e-01,7.018200744e-01,-3.833248154e-05,8.278531008e-01
+36,1.991666667e+01,DOWN_FORCE_DETACH,1792649056613176944,1.025584041e-04,-4.387643888e-05,-2.073961126e-03,1.004393381e-04,-4.097635669e-05,-2.069079937e-03,9.629842973e-05,-4.052143451e-05,-2.064234556e-03,7.016404299e-01,-4.232547756e-05,8.386669801e-01,7.016383108e-01,-3.942539537e-05,8.386718613e-01,7.018219312e-01,-3.875459864e-05,8.277164377e-01
+37,2.021666667e+01,DOWN_FORCE_DETACH,1792649057051347381,1.033026279e-04,-4.397314168e-05,-2.178984064e-03,1.014482425e-04,-4.971169107e-05,-2.161812993e-03,9.702639458e-05,-4.915800842e-05,-2.156995622e-03,7.016411741e-01,-4.242218036e-05,8.385619571e-01,7.016393197e-01,-4.816072975e-05,8.385791282e-01,7.018226591e-01,-4.739117256e-05,8.276236766e-01
+38,2.056666667e+01,DOWN_FORCE_DETACH,1792649057568015387,1.004210255e-04,-5.335439776e-05,-2.314047091e-03,9.959746901e-05,-5.005320151e-05,-2.303046186e-03,9.465694291e-05,-4.951860525e-05,-2.297949961e-03,7.016382925e-01,-5.180343643e-05,8.384268941e-01,7.016374690e-01,-4.850224018e-05,8.384378950e-01,7.018202897e-01,-4.775176939e-05,8.274827223e-01
+39,2.090000000e+01,DOWN_FORCE_DETACH,1792649058068690892,1.040379616e-04,-4.969345350e-05,-2.437645400e-03,1.035000328e-04,-5.429386058e-05,-2.422006496e-03,9.819438484e-05,-5.373051357e-05,-2.416653045e-03,7.016419094e-01,-4.814249218e-05,8.383032958e-01,7.016413715e-01,-5.274289926e-05,8.383189347e-01,7.018238271e-01,-5.196367771e-05,8.273640192e-01
+40,2.123333333e+01,DOWN_FORCE_DETACH,1792649058568583631,1.037617050e-04,-5.063077652e-05,-2.575761344e-03,1.027199323e-04,-5.232491599e-05,-2.559178287e-03,9.691895080e-05,-5.182323186e-05,-2.553448783e-03,7.016416332e-01,-4.907981520e-05,8.381651798e-01,7.016405914e-01,-5.077395467e-05,8.381817629e-01,7.018225517e-01,-5.005639600e-05,8.272272235e-01
+41,2.153333333e+01,DOWN_FORCE_DETACH,1792649059018920209,1.022886359e-04,-5.040490600e-05,-2.704941780e-03,1.021411779e-04,-5.048349408e-05,-2.705234503e-03,9.581524113e-05,-5.004470397e-05,-2.698905921e-03,7.016401601e-01,-4.885394468e-05,8.380359994e-01,7.016400127e-01,-4.893253276e-05,8.380357067e-01,7.018214480e-01,-4.827786811e-05,8.270817663e-01
+42,2.183333333e+01,DOWN_FORCE_DETACH,1792649059468769197,1.033727276e-04,-5.634346973e-05,-2.836354750e-03,1.030394011e-04,-5.362021105e-05,-2.821166785e-03,9.630072203e-05,-5.313192930e-05,-2.814796978e-03,7.016412442e-01,-5.479250841e-05,8.379045864e-01,7.016409109e-01,-5.206924973e-05,8.379197744e-01,7.018219335e-01,-5.136509344e-05,8.269658753e-01
+43,2.210000000e+01,DOWN_FORCE_DETACH,1792649059868745885,1.033370760e-04,-5.720287531e-05,-2.960175613e-03,1.002059760e-04,-5.700434696e-05,-2.949759210e-03,9.298558712e-05,-5.644471255e-05,-2.943200688e-03,7.016412086e-01,-5.565191399e-05,8.377807656e-01,7.016380775e-01,-5.545338564e-05,8.377911820e-01,7.018186183e-01,-5.467787668e-05,8.268374716e-01
+44,2.240000000e+01,DOWN_FORCE_DETACH,1792649060318435586,1.000713532e-04,-6.086128991e-05,-3.095939216e-03,1.008206931e-04,-5.645669878e-05,-3.079765447e-03,9.313360498e-05,-5.589261325e-05,-3.073374991e-03,7.016379428e-01,-5.931032859e-05,8.376450020e-01,7.016386922e-01,-5.490573746e-05,8.376611757e-01,7.018187663e-01,-5.412577739e-05,8.267072973e-01
+45,2.268333333e+01,DOWN_FORCE_DETACH,1792649060749678566,1.023815317e-04,-6.518578936e-05,-3.225229961e-03,1.020402260e-04,-6.528453234e-05,-3.225514782e-03,9.391251794e-05,-6.465470176e-05,-3.218877430e-03,7.016402530e-01,-6.363482804e-05,8.375157112e-01,7.016399117e-01,-6.373357102e-05,8.375154264e-01,7.018195453e-01,-6.288786589e-05,8.265617948e-01
+46,2.295000000e+01,DOWN_FORCE_DETACH,1792649061149674472,1.018037494e-04,-6.571557458e-05,-3.355441599e-03,9.946173130e-05,-6.242580103e-05,-3.349213814e-03,9.084575014e-05,-6.183360928e-05,-3.342562056e-03,7.016396752e-01,-6.416461326e-05,8.373854996e-01,7.016373332e-01,-6.087483971e-05,8.373917274e-01,7.018164785e-01,-6.006677342e-05,8.264381102e-01
+47,2.325000000e+01,DOWN_FORCE_DETACH,1792649061588641667,1.004788187e-04,-6.850410950e-05,-3.496185182e-03,9.900795927e-05,-6.869527930e-05,-3.479345412e-03,8.983010303e-05,-6.808290167e-05,-3.472658867e-03,7.016383503e-01,-6.695314818e-05,8.372447560e-01,7.016368794e-01,-6.714431798e-05,8.372615958e-01,7.018154628e-01,-6.631606580e-05,8.263080134e-01
+48,2.351666667e+01,DOWN_FORCE_DETACH,1792649061987877852,9.931475173e-05,-6.616945836e-05,-3.632581668e-03,9.895307944e-05,-6.589223433e-05,-3.632254778e-03,8.927234452e-05,-6.523614196e-05,-3.625186067e-03,7.016371862e-01,-6.461849704e-05,8.371083595e-01,7.016368246e-01,-6.434127301e-05,8.371086864e-01,7.018149051e-01,-6.346930609e-05,8.261554862e-01
+49,2.378333333e+01,DOWN_FORCE_DETACH,1792649062393852917,1.044452151e-04,-7.390185524e-05,-3.763225166e-03,1.041262937e-04,-7.396542394e-05,-3.763134415e-03,9.403069849e-05,-7.319270283e-05,-3.756140276e-03,7.016423167e-01,-7.235089392e-05,8.369777160e-01,7.016419978e-01,-7.241446262e-05,8.369778068e-01,7.018196634e-01,-7.142586697e-05,8.260245320e-01
+50,2.405000000e+01,DOWN_FORCE_DETACH,1792649062790107193,1.036190366e-04,-8.003994827e-05,-3.907785170e-03,1.067365897e-04,-7.849922181e-05,-3.889254253e-03,9.622633552e-05,-7.769308229e-05,-3.882426754e-03,7.016414905e-01,-7.848898695e-05,8.368331560e-01,7.016446081e-01,-7.694826049e-05,8.368516869e-01,7.018218591e-01,-7.592624642e-05,8.258982455e-01
+51,2.428333333e+01,DOWN_FORCE_DETACH,1792649063150333266,1.094352144e-04,-8.297322753e-05,-4.035947667e-03,1.055921748e-04,-7.872599348e-05,-4.016940961e-03,9.465896546e-05,-7.791156925e-05,-4.010002774e-03,7.016473067e-01,-8.142226621e-05,8.367049935e-01,7.016434637e-01,-7.717503216e-05,8.367240002e-01,7.018202917e-01,-7.614473339e-05,8.257706695e-01
+52,2.453333333e+01,DOWN_FORCE_DETACH,1792649063520490503,1.026975653e-04,-8.501825753e-05,-4.178673525e-03,1.038751887e-04,-8.473327551e-05,-4.165623214e-03,9.239830055e-05,-8.395227921e-05,-4.158317885e-03,7.016405690e-01,-8.346729620e-05,8.365622677e-01,7.016417467e-01,-8.318231418e-05,8.365753180e-01,7.018180310e-01,-8.218544334e-05,8.256223544e-01
+53,2.476666667e+01,DOWN_FORCE_DETACH,1792649063869165549,1.017456193e-04,-8.814421301e-05,-4.321625130e-03,1.041346462e-04,-8.645999065e-05,-4.307437159e-03,9.216801993e-05,-8.568644251e-05,-4.299764055e-03,7.016396171e-01,-8.659325169e-05,8.364193161e-01,7.016420061e-01,-8.490902932e-05,8.364335040e-01,7.018178008e-01,-8.391960664e-05,8.254809082e-01
+54,2.501666667e+01,DOWN_FORCE_DETACH,1792649064250425335,1.083665085e-04,-8.791925957e-05,-4.460380570e-03,1.093919852e-04,-9.271398434e-05,-4.450242442e-03,9.702219036e-05,-9.193268308e-05,-4.442462792e-03,7.016462380e-01,-8.636829825e-05,8.362805606e-01,7.016472635e-01,-9.116302302e-05,8.362906987e-01,7.018226549e-01,-9.016584721e-05,8.253382095e-01
+55,2.525000000e+01,DOWN_FORCE_DETACH,1792649064589149134,1.022657938e-04,-9.584860231e-05,-4.600873240e-03,1.019722835e-04,-9.570614780e-05,-4.601035429e-03,8.897070403e-05,-9.482588812e-05,-4.593098225e-03,7.016401373e-01,-9.429764099e-05,8.361400679e-01,7.016398438e-01,-9.415518648e-05,8.361399058e-01,7.018146034e-01,-9.305905225e-05,8.251875740e-01
+56,2.546666667e+01,DOWN_FORCE_DETACH,1792649064919550049,9.630855248e-05,-9.959042782e-05,-4.749452467e-03,9.904424007e-05,-9.912308065e-05,-4.730816567e-03,8.554376814e-05,-9.821239666e-05,-4.722987641e-03,7.016341800e-01,-9.803946650e-05,8.359914887e-01,7.016369157e-01,-9.757211933e-05,8.360101246e-01,7.018111765e-01,-9.644556080e-05,8.250576846e-01
+57,2.566666667e+01,DOWN_FORCE_DETACH,1792649065219494273,9.640355128e-05,-1.001840560e-04,-4.880485249e-03,9.778490074e-05,-1.024348833e-04,-4.864883341e-03,8.378117028e-05,-1.015020321e-04,-4.856931809e-03,7.016342750e-01,-9.863309463e-05,8.358604559e-01,7.016356564e-01,-1.008839220e-04,8.358760578e-01,7.018094139e-01,-9.973519620e-05,8.249237404e-01
+58,2.586666667e+01,DOWN_FORCE_DETACH,1792649065519533509,1.229751876e-04,-1.023425577e-04,-4.991647668e-03,1.226651073e-04,-1.023760192e-04,-4.991559083e-03,1.086973586e-04,-1.014586888e-04,-4.983409104e-03,7.016608467e-01,-1.007915964e-04,8.357492935e-01,7.016605366e-01,-1.008250579e-04,8.357493821e-01,7.018343301e-01,-9.969185297e-05,8.247972632e-01
+59,2.646666667e+01,DOWN_PEAK_HOLD,1792649066420008778,1.054896565e-04,-9.640499783e-05,-5.104358540e-03,1.034056288e-04,-9.400834342e-05,-5.105905581e-03,8.891536623e-05,-9.305885008e-05,-5.100240507e-03,7.016433611e-01,-9.485403651e-05,8.356365826e-01,7.016412771e-01,-9.245738209e-05,8.356350356e-01,7.018145481e-01,-9.129201422e-05,8.246804317e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f12dd1bd57a9cd1382898b93d6ec4b79077454e5
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-2.6299e-03,3.1508e-03,2.4586e+00,-3.6952e-02,3.6541e-02,-1.8521e-04,-6.7775e-06,-3.8174e-05,-5.7697e-05,2.3283e-06,-1.6019e-07,-4.3510e-09,6.9514e-05,2.3338e-06
+1,5.8333e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.4775e-04,2.1597e-03,1.9969e-03,2.4566e+00,-3.6904e-02,3.6924e-02,-1.8558e-04,4.7829e-03,-1.1921e-03,-2.1338e-03,5.0452e-05,3.8286e-04,-3.7036e-07,5.3712e-03,3.8617e-04
+2,1.2500e+00,DOWN_FORCE_DETACH,3.0002e-04,9.5056e-03,1.6073e-03,2.4592e+00,-3.6894e-02,3.7424e-02,-1.8471e-04,1.2129e-02,-1.5816e-03,5.4431e-04,6.0603e-05,8.8268e-04,4.9097e-07,1.2244e-02,8.8476e-04
+3,1.8000e+00,DOWN_FORCE_DETACH,4.5202e-04,1.2618e-02,2.4878e-03,2.4612e+00,-3.6978e-02,3.7681e-02,-1.8181e-04,1.5241e-02,-7.0119e-04,2.4886e-03,-2.3600e-05,1.1396e-03,3.3928e-06,1.5459e-02,1.1399e-03
+4,2.5167e+00,DOWN_FORCE_DETACH,5.9818e-04,1.6343e-02,3.1042e-03,2.4624e+00,-3.7060e-02,3.7956e-02,-1.5240e-04,1.8966e-02,-8.4806e-05,3.6993e-03,-1.0566e-04,1.4140e-03,3.2809e-05,1.9324e-02,1.4184e-03
+5,3.2667e+00,DOWN_FORCE_DETACH,7.4822e-04,1.5694e-02,2.8866e-03,2.4835e+00,-3.7038e-02,3.7903e-02,-1.5221e-04,1.8317e-02,-3.0232e-04,2.4841e-02,-8.3432e-05,1.3613e-03,3.2997e-05,3.0865e-02,1.3642e-03
+6,3.8167e+00,DOWN_FORCE_DETACH,8.9868e-04,1.6143e-02,2.4762e-03,2.4808e+00,-3.7013e-02,3.7930e-02,-1.5182e-04,1.8767e-02,-7.1274e-04,2.2106e-02,-5.8491e-05,1.3885e-03,3.3391e-05,2.9007e-02,1.3901e-03
+7,4.4833e+00,DOWN_FORCE_DETACH,1.0490e-03,1.4640e-02,2.6587e-03,2.4816e+00,-3.7025e-02,3.7830e-02,-1.5138e-04,1.7263e-02,-5.3029e-04,2.2951e-02,-7.1138e-05,1.2879e-03,3.3823e-05,2.8724e-02,1.2903e-03
+8,5.0833e+00,DOWN_FORCE_DETACH,1.1967e-03,1.4202e-02,3.5713e-03,2.4849e+00,-3.7083e-02,3.7797e-02,-1.5096e-04,1.6825e-02,3.8235e-04,2.6216e-02,-1.2907e-04,1.2555e-03,3.4244e-05,3.1153e-02,1.2626e-03
+9,5.6833e+00,DOWN_FORCE_DETACH,1.3486e-03,1.4183e-02,3.6285e-03,2.4880e+00,-3.7083e-02,3.7791e-02,-1.5066e-04,1.6806e-02,4.3952e-04,2.9345e-02,-1.2914e-04,1.2496e-03,3.4549e-05,3.3819e-02,1.2567e-03
+10,6.4167e+00,DOWN_FORCE_DETACH,1.4974e-03,1.4612e-02,4.0795e-03,2.4902e+00,-3.7103e-02,3.7814e-02,-1.5036e-04,1.7236e-02,8.9055e-04,3.1550e-02,-1.4878e-04,1.2722e-03,3.4842e-05,3.5962e-02,1.2814e-03
+11,7.0833e+00,DOWN_FORCE_DETACH,1.6443e-03,1.4635e-02,5.1923e-03,2.4897e+00,-3.7160e-02,3.7812e-02,-1.5010e-04,1.7259e-02,2.0034e-03,3.0962e-02,-2.0584e-04,1.2700e-03,3.5110e-05,3.5504e-02,1.2870e-03
+12,7.7500e+00,DOWN_FORCE_DETACH,1.7979e-03,1.4183e-02,6.6818e-03,2.4902e+00,-3.7234e-02,3.7778e-02,-1.4974e-04,1.6806e-02,3.4928e-03,3.1477e-02,-2.8033e-04,1.2363e-03,3.5466e-05,3.5853e-02,1.2682e-03
+13,8.3833e+00,DOWN_FORCE_DETACH,1.9455e-03,1.4787e-02,9.2136e-03,2.4918e+00,-3.7370e-02,3.7812e-02,-1.4901e-04,1.7411e-02,6.0246e-03,3.3062e-02,-4.1570e-04,1.2706e-03,3.6196e-05,3.7849e-02,1.3374e-03
+14,9.0167e+00,DOWN_FORCE_DETACH,2.0980e-03,1.5351e-02,1.1337e-02,2.4931e+00,-3.7477e-02,3.7845e-02,-1.4787e-04,1.7975e-02,8.1478e-03,3.4364e-02,-5.2299e-04,1.3031e-03,3.7332e-05,3.9628e-02,1.4046e-03
+15,9.5667e+00,DOWN_FORCE_DETACH,2.2466e-03,9.8749e-03,1.2468e-02,2.4927e+00,-3.7515e-02,3.7484e-02,-1.4607e-04,1.2498e-02,9.2790e-03,3.4021e-02,-5.6100e-04,9.4251e-04,3.9134e-05,3.7413e-02,1.0975e-03
+16,1.0267e+01,DOWN_FORCE_DETACH,2.3968e-03,1.0720e-02,1.3224e-02,2.4965e+00,-3.7533e-02,3.7531e-02,-1.4335e-04,1.3343e-02,1.0035e-02,3.7786e-02,-5.7842e-04,9.8913e-04,4.1856e-05,4.1310e-02,1.1466e-03
+17,1.0783e+01,DOWN_FORCE_DETACH,2.5465e-03,1.2856e-02,1.2931e-02,2.5000e+00,-3.7494e-02,3.7665e-02,-1.4082e-04,1.5480e-02,9.7420e-03,4.1256e-02,-5.4009e-04,1.1229e-03,4.4382e-05,4.5129e-02,1.2468e-03
+18,1.1367e+01,DOWN_FORCE_DETACH,2.6988e-03,1.6532e-02,1.3340e-02,2.5062e+00,-3.7506e-02,3.7899e-02,-1.3751e-04,1.9155e-02,1.0151e-02,4.7544e-02,-5.5176e-04,1.3570e-03,4.7697e-05,5.2254e-02,1.4656e-03
+19,1.1883e+01,DOWN_FORCE_DETACH,2.8448e-03,1.9420e-02,1.1945e-02,2.5114e+00,-3.7411e-02,3.8084e-02,-1.3451e-04,2.2043e-02,8.7557e-03,5.2751e-02,-4.5735e-04,1.5424e-03,5.0697e-05,5.7838e-02,1.6096e-03
+20,1.2483e+01,DOWN_FORCE_DETACH,2.9943e-03,2.1319e-02,7.1684e-03,2.5178e+00,-3.7112e-02,3.8207e-02,-1.3155e-04,2.3942e-02,3.9794e-03,5.9116e-02,-1.5782e-04,1.6654e-03,5.3655e-05,6.3905e-02,1.6737e-03
+21,1.2967e+01,DOWN_FORCE_DETACH,3.1465e-03,2.3169e-02,5.0529e-03,2.5239e+00,-3.6992e-02,3.8327e-02,-1.2931e-04,2.5792e-02,1.8640e-03,6.5240e-02,-3.8359e-05,1.7852e-03,5.5899e-05,7.0178e-02,1.7865e-03
+22,1.3567e+01,DOWN_FORCE_DETACH,3.2941e-03,2.5011e-02,3.8196e-03,2.5296e+00,-3.6944e-02,3.8447e-02,-1.2688e-04,2.7634e-02,6.3059e-04,7.0909e-02,9.9726e-06,1.9057e-03,5.8328e-05,7.6106e-02,1.9066e-03
+23,1.4067e+01,DOWN_FORCE_DETACH,3.4458e-03,2.5654e-02,3.1330e-03,2.5326e+00,-3.6932e-02,3.8491e-02,-1.2504e-04,2.8277e-02,-5.5923e-05,7.3902e-02,2.1812e-05,1.9490e-03,6.0162e-05,7.9127e-02,1.9501e-03
+24,1.4700e+01,DOWN_FORCE_DETACH,3.5979e-03,2.5008e-02,3.7353e-03,2.5357e+00,-3.7006e-02,3.8451e-02,-1.2282e-04,2.7632e-02,5.4629e-04,7.7044e-02,-5.2307e-05,1.9091e-03,6.2384e-05,8.1851e-02,1.9109e-03
+25,1.5233e+01,DOWN_FORCE_DETACH,3.7456e-03,2.3942e-02,3.6613e-03,2.5404e+00,-3.7020e-02,3.8381e-02,-1.2119e-04,2.6565e-02,4.7229e-04,8.1743e-02,-6.5673e-05,1.8393e-03,6.4020e-05,8.5953e-02,1.8416e-03
+26,1.5733e+01,DOWN_FORCE_DETACH,3.8964e-03,2.3177e-02,6.4325e-03,2.5485e+00,-3.7203e-02,3.8327e-02,-1.1965e-04,2.5800e-02,3.2435e-03,8.9844e-02,-2.4857e-04,1.7850e-03,6.5559e-05,9.3531e-02,1.8034e-03
+27,1.6200e+01,DOWN_FORCE_DETACH,4.0435e-03,2.1836e-02,1.0504e-02,2.5570e+00,-3.7459e-02,3.8232e-02,-1.1838e-04,2.4459e-02,7.3153e-03,9.8296e-02,-5.0464e-04,1.6906e-03,6.6827e-05,1.0156e-01,1.7656e-03
+28,1.6650e+01,DOWN_FORCE_DETACH,4.1919e-03,2.1471e-02,1.4205e-02,2.5664e+00,-3.7685e-02,3.8198e-02,-1.1749e-04,2.4094e-02,1.1016e-02,1.0769e-01,-7.3103e-04,1.6560e-03,6.7715e-05,1.1090e-01,1.8114e-03
+29,1.7117e+01,DOWN_FORCE_DETACH,4.3424e-03,1.9850e-02,1.6959e-02,2.5744e+00,-3.7848e-02,3.8080e-02,-1.1683e-04,2.2473e-02,1.3770e-02,1.1569e-01,-8.9392e-04,1.5389e-03,6.8373e-05,1.1865e-01,1.7810e-03
+30,1.7600e+01,DOWN_FORCE_DETACH,4.4918e-03,1.9295e-02,1.8664e-02,2.5808e+00,-3.7950e-02,3.8032e-02,-1.1576e-04,2.1919e-02,1.5475e-02,1.2208e-01,-9.9601e-04,1.4907e-03,6.9442e-05,1.2500e-01,1.7941e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d0d812479b40c05f3429c7357ee8a3bb44c2a89e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d53910f76f68f3fad653408c7370fca5195a6dd8b12b78541dda81a8f6f9c3c
+size 2744320
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..21c4107a156c888b1a32ef0a8e3d51d4496e8379
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d1b3922396db7ca32a0c1f6e080c86fc1a133c6f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9caccd9a27262e627166cf3ea91160fe467c2541
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0e7151d8f4c50dcf47fd4e14764ea3195e2d7f87
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.930000000e+01,UP_FORCE_RAMP,1792649012277875404,-7.830632999e-05,-1.172379427e-05,1.040308756e-03,-7.340477388e-05,-1.124428533e-05,1.026305601e-03,-7.105714032e-05,-1.110967625e-05,1.025924247e-03,7.014595652e-01,-1.017283294e-05,8.417812499e-01,7.014644667e-01,-9.693324006e-06,8.417672468e-01,7.016545756e-01,-9.342840439e-06,8.308065965e-01
+44,1.976666667e+01,UP_FORCE_RAMP,1792649012977812561,-7.140509889e-05,-1.139724011e-05,1.060071183e-03,-7.539619775e-05,-1.029242575e-05,1.045977802e-03,-7.300357556e-05,-1.014674538e-05,1.045602770e-03,7.014664664e-01,-9.846278791e-06,8.418010124e-01,7.014624753e-01,-8.741464430e-06,8.417869190e-01,7.016526292e-01,-8.379909568e-06,8.308262750e-01
+45,1.981666667e+01,UP_FORCE_RAMP,1792649013047780544,-2.455388109e-05,-1.616800689e-05,1.012781451e-03,-2.516945785e-05,-1.614080212e-05,1.012941403e-03,-2.216888529e-05,-1.599651551e-05,1.013099215e-03,7.015133176e-01,-1.461704557e-05,8.417537226e-01,7.015127020e-01,-1.458984079e-05,8.417538826e-01,7.017034639e-01,-1.422967969e-05,8.307937715e-01
+46,1.985000000e+01,UP_FORCE_RAMP,1792649013107155166,-5.510861028e-05,-2.720322906e-05,8.573149455e-04,-5.527383595e-05,-2.728771779e-05,8.575485590e-04,-5.325692305e-05,-2.701715829e-05,8.598558425e-04,7.014827629e-01,-2.565226774e-05,8.415982561e-01,7.014825976e-01,-2.573675647e-05,8.415984897e-01,7.016723758e-01,-2.525032248e-05,8.306405281e-01
+47,2.013333333e+01,UP_FORCE_RAMP,1792649013528857398,-4.063139383e-05,-3.423581294e-05,8.590249940e-04,-3.542044953e-05,-2.557656663e-05,8.693938987e-04,-3.294110249e-05,-2.532336310e-05,8.711940328e-04,7.014972401e-01,-3.268485162e-05,8.415999662e-01,7.015024510e-01,-2.402560531e-05,8.416103351e-01,7.016926916e-01,-2.355652729e-05,8.306518663e-01
+48,2.060000000e+01,UP_FORCE_RAMP,1792649014228337509,-5.662432183e-05,-2.831414664e-05,8.736169211e-04,-5.623569908e-05,-2.805253726e-05,8.734680063e-04,-5.400610071e-05,-2.776610691e-05,8.746738033e-04,7.014812472e-01,-2.676318532e-05,8.416145581e-01,7.014816358e-01,-2.650157594e-05,8.416144092e-01,7.016716266e-01,-2.599927109e-05,8.306553461e-01
+49,2.075000000e+01,UP_FORCE_RAMP,1792649014448213590,-7.093664415e-05,-2.148893790e-05,9.260905083e-04,-7.082747178e-05,-2.144800333e-05,9.257630021e-04,-6.868569787e-05,-2.119196633e-05,9.261424605e-04,7.014669348e-01,-1.993797658e-05,8.416670317e-01,7.014670440e-01,-1.989704201e-05,8.416667042e-01,7.016569470e-01,-1.942513052e-05,8.307068147e-01
+50,2.103333333e+01,UP_FORCE_RAMP,1792649014878890926,-8.766518542e-05,-8.673088265e-06,9.691761499e-04,-8.059794668e-05,-1.375424263e-05,9.715199170e-04,-7.839680787e-05,-1.358013526e-05,9.713767402e-04,7.014502063e-01,-7.122126944e-06,8.417101173e-01,7.014572735e-01,-1.220328131e-05,8.417124611e-01,7.016472359e-01,-1.181329945e-05,8.307520490e-01
+51,2.113333333e+01,UP_FORCE_RAMP,1792649015028578624,-6.347584487e-05,-7.351091703e-06,1.058296819e-03,-6.347756373e-05,-7.377439150e-06,1.058142483e-03,-6.077014759e-05,-7.281334309e-06,1.056734172e-03,7.014743956e-01,-5.800130382e-06,8.417992380e-01,7.014743939e-01,-5.826477829e-06,8.417990837e-01,7.016648626e-01,-5.514498498e-06,8.308374064e-01
+52,2.136666667e+01,UP_FORCE_HOLD,1792649015378233831,-8.321180639e-05,-5.819662371e-07,1.088782142e-03,-7.393587646e-05,-6.791741739e-06,1.075388147e-03,-7.128802622e-05,-6.673690541e-06,1.074136988e-03,7.014546597e-01,9.689950839e-07,8.418297233e-01,7.014639356e-01,-5.240780418e-06,8.418163293e-01,7.016543447e-01,-4.906854730e-06,8.308548092e-01
+53,2.170000000e+01,UP_SETTLE,1792649015878117401,-8.463386636e-05,-1.795549552e-07,1.167275512e-03,-8.573133450e-05,-3.379317065e-07,1.158768972e-03,-8.299203398e-05,-2.764900212e-07,1.156860686e-03,7.014532376e-01,1.371406366e-06,8.419082167e-01,7.014521401e-01,1.213029615e-06,8.418997102e-01,7.016426407e-01,1.490345790e-06,8.309375329e-01
+54,2.203333333e+01,UP_SETTLE,1792649016377023546,-8.806921605e-05,4.670879340e-06,1.246772366e-03,-8.829784541e-05,3.177112328e-06,1.242254618e-03,-8.530433338e-05,3.239345630e-06,1.239761674e-03,7.014498023e-01,6.221840661e-06,8.419877136e-01,7.014495736e-01,4.728073649e-06,8.419831958e-01,7.016403284e-01,5.006181441e-06,8.310204339e-01
+55,2.240000000e+01,UP_SETTLE,1792649016927656421,-9.397787661e-05,5.597810971e-06,1.318644760e-03,-9.250974064e-05,1.963206318e-06,1.308435738e-03,-8.941211131e-05,2.012895496e-06,1.305848032e-03,7.014438936e-01,7.148772292e-06,8.420595859e-01,7.014453617e-01,3.514167639e-06,8.420493769e-01,7.016362206e-01,3.779731307e-06,8.310865203e-01
+56,2.278333333e+01,UP_SETTLE,1792649017507396551,-9.552816493e-05,5.888530466e-06,1.385280887e-03,-9.388813264e-05,8.381057354e-06,1.372246690e-03,-9.063695832e-05,8.403860445e-06,1.369601989e-03,7.014423433e-01,7.439491787e-06,8.421262221e-01,7.014439833e-01,9.932018675e-06,8.421131879e-01,7.016349958e-01,1.017069626e-05,8.311502742e-01
+57,2.320000000e+01,UP_SETTLE,1792649018127932206,-9.565674071e-05,5.862832817e-06,1.445312272e-03,-9.234411769e-05,8.573287390e-06,1.438753372e-03,-8.895821494e-05,8.517232824e-06,1.435973342e-03,7.014422147e-01,7.413794138e-06,8.421862535e-01,7.014455274e-01,1.012424871e-05,8.421796946e-01,7.016366745e-01,1.028406864e-05,8.312166456e-01
+58,2.356666667e+01,UP_SETTLE,1792649018677175843,-8.982350377e-05,1.323399687e-05,1.491548539e-03,-8.963043501e-05,5.337738300e-06,1.484571735e-03,-8.602425061e-05,5.309179789e-06,1.481857329e-03,7.014480480e-01,1.478495819e-05,8.422324897e-01,7.014482410e-01,6.888699621e-06,8.422255129e-01,7.016396085e-01,7.076015600e-06,8.312625296e-01
+59,2.408333333e+01,UP_SETTLE,1792649019449443323,-8.659802009e-05,1.061620325e-05,1.525974569e-03,-8.695361790e-05,8.090709752e-06,1.525618032e-03,-8.327383526e-05,7.999548353e-06,1.523152486e-03,7.014512735e-01,1.216716457e-05,8.422669158e-01,7.014509179e-01,9.641671073e-06,8.422665592e-01,7.016423589e-01,9.766384164e-06,8.313038247e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e4a4f385ac8445d5ce1c39e4273e74e6ce96e931
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-2.6300e-03,3.1507e-03,2.4586e+00,-3.6952e-02,3.6541e-02,-1.8521e-04,-6.7765e-06,-3.8173e-05,-5.7697e-05,2.3283e-06,-1.5646e-07,-4.3510e-09,6.9513e-05,2.3336e-06
+1,4.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,1.0856e-04,1.8330e-03,2.0556e-03,2.4565e+00,-3.6907e-02,3.6903e-02,-1.8558e-04,4.4562e-03,-1.1333e-03,-2.2106e-03,4.7181e-05,3.6091e-04,-3.7784e-07,5.1019e-03,3.6398e-04
+2,9.0000e-01,WAIT_W2,2.1747e-04,9.9897e-03,1.4097e-03,2.4592e+00,-3.6878e-02,3.7448e-02,-1.8490e-04,1.2613e-02,-1.7792e-03,5.4288e-04,7.5717e-05,9.0678e-04,3.0815e-07,1.2749e-02,9.0994e-04
+3,1.3500e+00,WAIT_W2,3.2452e-04,1.2432e-02,3.0223e-03,2.4616e+00,-3.7011e-02,3.7667e-02,-1.8217e-04,1.5055e-02,-1.6659e-04,2.9087e-03,-5.7314e-05,1.1258e-03,3.0371e-06,1.5335e-02,1.1273e-03
+4,1.8500e+00,WAIT_W2,4.3553e-04,1.1366e-02,1.3957e-02,2.4581e+00,-3.7812e-02,3.7604e-02,-1.6947e-04,1.3989e-02,1.0768e-02,-6.2084e-04,-8.5780e-04,1.0623e-03,1.5731e-05,1.7664e-02,1.3655e-03
+5,2.3333e+00,UP_FORCE_RAMP,5.4518e-04,1.1290e-02,2.5630e-02,2.4574e+00,-3.8668e-02,3.7602e-02,-1.4747e-04,1.3913e-02,2.2441e-02,-1.3256e-03,-1.7141e-03,1.0606e-03,3.7733e-05,2.6437e-02,2.0161e-03
+6,2.9500e+00,UP_FORCE_RAMP,6.5456e-04,1.4030e-02,2.4441e-02,2.4597e+00,-3.8566e-02,3.7792e-02,-1.2205e-04,1.6653e-02,2.1252e-02,9.5844e-04,-1.6117e-03,1.2508e-03,6.3157e-05,2.7017e-02,2.0411e-03
+7,3.3667e+00,UP_FORCE_RAMP,7.6127e-04,1.5444e-02,1.9495e-02,2.4404e+00,-3.8241e-02,3.7890e-02,-1.2296e-04,1.8067e-02,1.6306e-02,-1.8340e-02,-1.2874e-03,1.3480e-03,6.2245e-05,3.0474e-02,1.8651e-03
+8,3.7833e+00,UP_FORCE_RAMP,8.7151e-04,1.5595e-02,1.8635e-02,2.4376e+00,-3.8186e-02,3.7903e-02,-1.2303e-04,1.8218e-02,1.5446e-02,-2.1067e-02,-1.2321e-03,1.3618e-03,6.2172e-05,3.1848e-02,1.8375e-03
+9,4.1667e+00,UP_FORCE_RAMP,9.8220e-04,1.6569e-02,1.7152e-02,2.4341e+00,-3.8091e-02,3.7971e-02,-1.2304e-04,1.9192e-02,1.3963e-02,-2.4549e-02,-1.1373e-03,1.4289e-03,6.2168e-05,3.4146e-02,1.8273e-03
+10,4.6667e+00,UP_FORCE_RAMP,1.0898e-03,1.8324e-02,1.5313e-02,2.4309e+00,-3.7975e-02,3.8090e-02,-1.2281e-04,2.0947e-02,1.2124e-02,-2.7816e-02,-1.0208e-03,1.5481e-03,6.2395e-05,3.6871e-02,1.8554e-03
+11,5.0333e+00,UP_FORCE_RAMP,1.1975e-03,1.9768e-02,1.3479e-02,2.4274e+00,-3.7859e-02,3.8188e-02,-1.2248e-04,2.2391e-02,1.0290e-02,-3.1292e-02,-9.0521e-04,1.6466e-03,6.2724e-05,3.9830e-02,1.8801e-03
+12,5.4500e+00,UP_FORCE_RAMP,1.3085e-03,2.1313e-02,1.1779e-02,2.4242e+00,-3.7754e-02,3.8294e-02,-1.2184e-04,2.3936e-02,8.5896e-03,-3.4510e-02,-7.9944e-04,1.7527e-03,6.3368e-05,4.2868e-02,1.9274e-03
+13,5.8667e+00,UP_FORCE_RAMP,1.4169e-03,2.3516e-02,1.0474e-02,2.4229e+00,-3.7674e-02,3.8443e-02,-1.2084e-04,2.6139e-02,7.2848e-03,-3.5810e-02,-7.2033e-04,1.9017e-03,6.4363e-05,4.4930e-02,2.0346e-03
+14,6.2833e+00,UP_FORCE_RAMP,1.5256e-03,2.6051e-02,9.6446e-03,2.4221e+00,-3.7627e-02,3.8614e-02,-1.1947e-04,2.8674e-02,6.4557e-03,-3.6602e-02,-6.7307e-04,2.0726e-03,6.5735e-05,4.6943e-02,2.1802e-03
+15,6.7500e+00,UP_FORCE_RAMP,1.6321e-03,2.8369e-02,8.2159e-03,2.4202e+00,-3.7543e-02,3.8773e-02,-1.1755e-04,3.0992e-02,5.0270e-03,-3.8455e-02,-5.8883e-04,2.2318e-03,6.7657e-05,4.9645e-02,2.3091e-03
+16,7.0833e+00,UP_FORCE_RAMP,1.7414e-03,2.9761e-02,8.0919e-03,2.4185e+00,-3.7542e-02,3.8871e-02,-1.1588e-04,3.2385e-02,4.9030e-03,-4.0212e-02,-5.8819e-04,2.3290e-03,6.9327e-05,5.1863e-02,2.4032e-03
+17,7.4167e+00,UP_FORCE_RAMP,1.8524e-03,3.2058e-02,1.1561e-02,2.4161e+00,-3.7774e-02,3.9027e-02,-1.1370e-04,3.4681e-02,8.3725e-03,-4.2614e-02,-8.1948e-04,2.4856e-03,7.1501e-05,5.5578e-02,2.6182e-03
+18,7.9167e+00,UP_FORCE_RAMP,1.9621e-03,3.4779e-02,1.2921e-02,2.4133e+00,-3.7876e-02,3.9215e-02,-1.1071e-04,3.7402e-02,9.7318e-03,-4.5389e-02,-9.2180e-04,2.6735e-03,7.4499e-05,5.9614e-02,2.8290e-03
+19,8.3500e+00,UP_FORCE_RAMP,2.0681e-03,3.5672e-02,1.3137e-02,2.4101e+00,-3.7903e-02,3.9284e-02,-1.0812e-04,3.8296e-02,9.9478e-03,-4.8625e-02,-9.4900e-04,2.7423e-03,7.7081e-05,6.2689e-02,2.9029e-03
+20,8.8333e+00,UP_FORCE_RAMP,2.1777e-03,3.5883e-02,1.2563e-02,2.4063e+00,-3.7880e-02,3.9310e-02,-1.0522e-04,3.8506e-02,9.3745e-03,-5.2399e-02,-9.2596e-04,2.7684e-03,7.9983e-05,6.5698e-02,2.9202e-03
+21,9.1833e+00,UP_FORCE_RAMP,2.2881e-03,3.6428e-02,1.2215e-02,2.4032e+00,-3.7866e-02,3.9355e-02,-1.0308e-04,3.9052e-02,9.0257e-03,-5.5459e-02,-9.1203e-04,2.8137e-03,8.2121e-05,6.8426e-02,2.9590e-03
+22,9.5667e+00,UP_FORCE_RAMP,2.3986e-03,4.0607e-02,1.2595e-02,2.4031e+00,-3.7898e-02,3.9635e-02,-1.0068e-04,4.3230e-02,9.4060e-03,-5.5622e-02,-9.4391e-04,3.0938e-03,8.4529e-05,7.1071e-02,3.2357e-03
+23,9.9333e+00,UP_FORCE_RAMP,2.5037e-03,4.3002e-02,1.2205e-02,2.3987e+00,-3.7878e-02,3.9803e-02,-9.8389e-05,4.5625e-02,9.0163e-03,-5.9981e-02,-9.2365e-04,3.2613e-03,8.6816e-05,7.5899e-02,3.3907e-03
+24,1.0317e+01,UP_FORCE_RAMP,2.6139e-03,4.2606e-02,1.2148e-02,2.3931e+00,-3.7876e-02,3.9790e-02,-9.6354e-05,4.5229e-02,8.9588e-03,-6.5572e-02,-9.2202e-04,3.2485e-03,8.8851e-05,8.0160e-02,3.3779e-03
+25,1.0783e+01,UP_FORCE_RAMP,2.7236e-03,4.1575e-02,1.1523e-02,2.3874e+00,-3.7833e-02,3.9739e-02,-9.4078e-05,4.4198e-02,8.3338e-03,-7.1290e-02,-8.7928e-04,3.1969e-03,9.1127e-05,8.4292e-02,3.3169e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2457600
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6eb69f5eff92328477469529ee3217beeb2a89bb
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..519503d69556a2c89fd45a9a4a9d5b8fd24d4924
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+68227,1792649114894284010,17655201000000,1792649114892659255,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760090025551658,-0.004457435859737538,0.09087731297483007,0.9999999769765887,0.00012020629925872173,-0.0001430897273793763,5.0650390312681336e-05,0.6761,-0.0045,0.09095837718772672,1.0,0.0,0.0,0.0,-0.0925756206568838,0.020377910861075432,0.13301705961433963,0.0021485165615270085,0.007355326245359171,2.4241844109528844e-05,0.20844469363355783,-0.22287865217496017,0.40859418491439614,-0.009038000781958096,-0.014090643931498137,-0.0006289742106820755,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6074401971352037,-0.2841767507540842,0.6369646632100232,0.3747502071167633,-0.2787359138529177,-0.25927688363899265,0.9848723482038328,0.13301705961433963,0.34790768499380964,0.34790768499380964,0.36506213175492397,0,0,-2.014994706318334e-05,8.224075081215465e-05
+68340,1792649115835267592,17656142000000,1792649115832659551,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760141597735175,-0.004460160685639304,0.09086270089816913,0.9999999785947413,0.00011559859209185051,-0.0001342559493571362,5.353211043877151e-05,0.6761,-0.0045,0.09093988608591176,1.0,0.0,0.0,0.0,-0.11864044167193799,0.015150076534137052,0.16408705565403564,0.0022509527302802673,0.008361502286952574,1.1978584441912888e-05,0.18237987261850364,-0.22810648650189855,0.43966418095409215,-0.008935564613204838,-0.013084467889904734,-0.0006412374703496915,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6446618705114487,-0.27923930252543805,0.7001153843470445,0.38559316279416617,-0.31315225159738835,-0.24889451307782368,0.9848723482038328,0.16408705565403564,0.2847569638567884,0.2847569638567884,0.4309321317549376,0,0,-2.3537045183734346e-05,-9.999999025923074e-05
+68475,1792649116960308786,17657267000000,1792649116956668475,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.676020243983922,-0.004457767133094865,0.09084176221925609,0.9999999802491824,0.00011512209300346616,-0.00012029487174684006,5.674986270267552e-05,0.6761,-0.0045,0.09090825131764294,1.0,0.0,0.0,0.0,-0.1382430631755585,0.027891026225563526,0.21328778893108186,0.0032080239006848643,0.010357881368393293,1.28920933769465e-05,0.16277725111488311,-0.21536553681047207,0.48886491423113837,-0.00797849344280024,-0.011088088808464016,-0.0006403239614146579,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6956963972661676,-0.30290909396411364,0.50426941310331,0.4083843594970014,-0.18185527167353271,-0.2484574312203642,0.9848723482038328,0.21328778893108186,0.4806029351005229,0.4806029351005229,0.5096821317549539,0,0,-3.204489658761999e-05,8.115005475784471e-05
+68593,1792649117944433529,17658251000000,1792649117936668967,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.676028231463642,-0.004457589258269041,0.09082140025251971,0.9999999821390103,0.00010862976584014964,-0.00011095001892218805,5.526762923552893e-05,0.6761,-0.0045,0.09087556006208483,1.0,0.0,0.0,0.0,-0.14816444365877732,0.04299988616485978,0.27182898765703856,0.004218404585959903,0.010327959993765635,-2.4051513507471547e-05,0.1528558706316643,-0.20025667687117582,0.5474061129570951,-0.006968112757525202,-0.011118010183091673,-0.0006772675682990759,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6731187120170536,-0.37400776597603363,0.48751804754242023,0.44255270368147837,-0.18350002157881581,-0.2806296527663971,0.9848723482038328,0.27182898765703856,0.4973543006614126,0.4973543006614126,0.5785621317549682,0,0,-3.337431705582728e-05,-9.969916145292074e-05
+68719,1792649118994471292,17659301000000,1792649118988659094,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760291663356233,-0.004459855496662158,0.09079239020341992,0.9999999825537532,0.00010485707906913248,-0.00011000756593520941,5.6909455747542996e-05,0.6761,-0.0045,0.09083821023546963,1.0,0.0,0.0,0.0,-0.15061895077876467,0.037346563076287115,0.3341630947764789,0.0041784722344577006,0.011326191704225339,-5.9030765582872985e-05,0.15040136351167696,-0.20590999995974849,0.6097402200765354,-0.007008045109027404,-0.01011977847263197,-0.0007122468203744774,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.7324401306387522,-0.3989927573335278,0.3225290776951959,0.4564358903558097,-0.06300631047119114,-0.28959846250567906,0.9848723482038328,0.3341630947764789,0.662343270508637,0.662343270508637,0.6520621317549834,0,0,-3.6377252131376874e-05,9.999990699250389e-05
+68841,1792649120010541792,17660317000000,1792649120004668518,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760288337887744,-0.004458271869697836,0.09075592503459996,0.9999999818462231,0.0001072669129151233,-0.00011279586343083308,5.934071508102117e-05,0.6761,-0.0045,0.09080461669943848,1.0,0.0,0.0,0.0,-0.1562887590708036,0.03646532993067261,0.420843895911271,0.0035155022511473896,0.011319476774266406,-0.00013705412131166184,0.14473155521963801,-0.206791233105363,0.6964210212113275,-0.007671015092337715,-0.010126493402590902,-0.0007902701761032662,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6407229747669803,-0.32029792341873004,0.37051897459355476,0.44033966769969735,-0.11767286953411299,-0.2347701139252894,0.9848723482038328,0.420843895911271,0.6143533736102781,0.6143533736102781,0.7231821317549981,0,0,-3.1115879549374566e-05,-8.752616273278164e-05
+68968,1792649121069557305,17661376000000,1792649121064669150,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.676032608208086,-0.0044619191953686735,0.09073374890250564,0.9999999821607003,0.00011219858248132729,-0.00010282412195323323,6.292965405910281e-05,0.6761,-0.0045,0.09077103265323219,1.0,0.0,0.0,0.0,-0.15839015656052285,0.03973234718517629,0.46451706850241836,0.004127173721970058,0.012311052630422314,-0.00015000138508896156,0.14263015772991877,-0.2035242158508593,0.7400941938024749,-0.007059343621515047,-0.009134917546434994,-0.000803217439880566,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6812683013171913,-0.4270900619585851,0.30441934975324414,0.4720239907261434,-0.0688236351568861,-0.29746047363377714,0.9848723482038328,0.46451706850241836,0.6804529984505887,0.6804529984505887,0.7973121317550135,0,0,-3.580253521015398e-05,-8.82860132486229e-05
+69076,1792649121969594736,17662276000000,1792649121968658960,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760356088897435,-0.004466249265685641,0.09071101818174146,0.9999999777371855,0.00015052837402632562,-9.456207530709298e-05,6.608869244364253e-05,0.6761,-0.0045,0.09073394932411845,1.0,0.0,0.0,0.0,-0.16795456813677104,0.04123742568947908,0.5065090394146835,0.004155035051951975,0.013286043028373684,-0.00016791401982911276,0.1330657461536706,-0.20201913734655652,0.78208616471474,-0.00703148229153313,-0.008159927148483624,-0.0008211300746207172,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.7244821792651512,-0.3523948353527482,0.20591508243065312,0.45538061584492234,0.006475360251348774,-0.2498516535544931,0.9848723482038328,0.5065090394146835,0.7789572657731797,0.7789572657731797,0.8603121317550265,0,0,-4.612611277240853e-05,-6.289018891625914e-05
+69203,1792649123027656699,17663334000000,1792649123024658628,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760347256414714,-0.0044634130102279915,0.09067131843851052,0.9999999760573139,0.00015715639945768702,-9.66106093266333e-05,7.277700239780442e-05,0.6761,-0.0045,0.0906867612610587,1.0,0.0,0.0,0.0,-0.17620026997296462,0.045879887631648464,0.5751024977064172,0.004872875740049006,0.013286109518777515,-0.00021638883314251806,0.124820044317477,-0.19737667540438714,0.8506796230064737,-0.006313641603436099,-0.008159860658079793,-0.0008696048879341224,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6971126157819999,-0.38305589327170336,0.11556526996908514,0.45916733701546486,0.05458478258766996,-0.2723878035969072,0.9848723482038328,0.5751024977064172,0.8693070782347477,0.8693070782347477,0.9343721317550419,0,0,-4.3472044233110874e-05,-2.0944376071666736e-05
+69335,1792649124127631678,17664434000000,1792649124124658936,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760427417715948,-0.004465623672368995,0.09064066312893776,0.999999977351396,0.000155869192322385,-7.890102826572713e-05,7.886377099291974e-05,0.6761,-0.0045,0.09063580797904872,1.0,0.0,0.0,0.0,-0.1878631300960465,0.05414612867547833,0.6252810276784468,0.005062626463558547,0.014284210464958735,-0.00024008006845892727,0.11315718419439515,-0.18911043436055727,0.9008581529785034,-0.006123890879926558,-0.007161759711898573,-0.0008932961232505317,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.6884743082055333,-0.418661906078462,0.021828747117832815,0.4675717176729729,0.11022580233337627,-0.2948370300372892,0.9848723482038328,0.6252810276784468,0.9630436010860001,0.9630436010860001,1.0113721317550577,0,0,-4.94466778535888e-05,9.764304228910276e-05
+69427,1792649124894650035,17665201000000,1792649124892659116,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760702901985727,-0.004462739087158427,0.0906265285437538,0.9999999782890457,0.00015911762657710773,-4.8831787867785295e-05,8.462747636995446e-05,0.6761,-0.0045,0.09059448740653647,1.0,0.0,0.0,0.0,-0.24552504452583418,0.10715354765498403,0.6366195371379181,0.009046614449122092,0.017886277048854676,-0.000153078672621689,0.055495269764607454,-0.13610301538105157,0.9121966624379746,-0.0021399028943630133,-0.003559693128002632,-0.0008062947274132934,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8494222591387447,-0.3336409799832433,0.06624480219715291,0.44791035292043985,0.10711262266212908,-0.24074393250959886,0.9848723482038328,0.6366195371379181,0.91862754600668,0.91862754600668,1.0650621317550688,0,0,-6.268764357195001e-05,-9.999999025923074e-05
+69523,1792649125694786421,17666001000000,1792649125692659189,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760722735575926,-0.004463576481999974,0.09058281538976934,0.9999999773257677,0.00016218281024294573,-4.33792538846909e-05,9.277017215567673e-05,0.6761,-0.0045,0.0905440712944267,1.0,0.0,0.0,0.0,-0.22959542911869854,0.10343896742992001,0.7261689043284505,0.009046377646587469,0.017224373638225942,-0.00023326164069627578,0.07142488517174309,-0.1398175956061156,1.001746029628507,-0.0021401396968976356,-0.004221596538631366,-0.0008864776954878802,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.850069943023057,-0.3158118816242801,-0.09784620546913521,0.43799754072957964,0.2153956744175802,-0.23010914717550557,0.9848723482038328,0.7261689043284505,1.082718553672968,1.082718553672968,1.1210621317550804,0,0,-6.410422960925898e-05,9.963612854069765e-05
+69644,1792649126702815646,17667009000000,1792649126696659239,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760722623040138,-0.004460835272203692,0.09052857970478573,0.9999999753093509,0.00016838717383242432,-4.0788559976682066e-05,0.00010395294586396743,0.6761,-0.0045,0.09048461859546851,1.0,0.0,0.0,0.0,-0.21895712918872906,0.11333997867645018,0.7912103787429219,0.00903903476399352,0.017033977751488367,-0.0002888054558111311,0.08206318510171255,-0.12991658435958542,1.0667875040429784,-0.0021474825794915837,-0.004411992425368942,-0.0009420215106027355,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8270091863871057,-0.3485608717676492,-0.1779712677596605,0.4513700269636893,0.256655227925548,-0.24660253024988665,0.9848723482038328,0.7912103787429219,1.1628436159634934,1.1628436159634934,1.191622131755095,0,0,-5.422192170670558e-05,9.999999025923074e-05
+69761,1792649127677846695,17667984000000,1792649127676658814,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760718885800269,-0.004460642849229292,0.09047902420097494,0.9999999738979422,0.00017111072734317203,-4.078274859292057e-05,0.00011271586215575045,0.6761,-0.0045,0.09043260311647196,1.0,0.0,0.0,0.0,-0.2275327143011241,0.10195386306394794,0.8510859055334681,0.009051085306049717,0.01618421132245431,-0.0003497917981004785,0.07348759998931755,-0.14130269997208766,1.1266630308335246,-0.002135432037435387,-0.005261758854402996,-0.001003007852892083,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.843394692518986,-0.3714951939322969,-0.16151330302100714,0.452524318578363,0.25462136136057884,-0.26650119549431156,0.9848723482038328,0.8510859055334681,1.14638565122484,1.14638565122484,1.2598721317551091,0,0,-5.271733874020879e-05,-8.691974503894357e-05
+69881,1792649128677912256,17668984000000,1792649128676658658,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760730583285384,-0.004463647018534836,0.09043337202785164,0.9999999735489415,0.00017002372560665166,-3.841979262875786e-05,0.00011815596817089533,0.6761,-0.0045,0.09037968322187301,1.0,0.0,0.0,0.0,-0.22764983150962054,0.09957261406799162,0.8976039725561109,0.009040945468705142,0.016174462903251044,-0.00038652360522284216,0.07337048278082109,-0.14368394896804398,1.1731810978561674,-0.0021455718747799626,-0.005271507273606264,-0.0010397396600144466,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8418357900274416,-0.3187126436572552,-0.291585058989638,0.4429688276072212,0.33901484832591644,-0.2309863361008277,0.9848723482038328,0.8976039725561109,1.276457407193471,1.276457407193471,1.3298721317551236,0,0,-5.4603876799259925e-05,9.441871870319857e-05
+69972,1792649129435850099,17669742000000,1792649129428658989,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760772203919495,-0.004444824699646951,0.09039068033578766,0.9999999934640836,5.877641687230377e-05,-2.2626274839223577e-05,2.3411142279558154e-05,0.6761,-0.0045,0.09033191574771125,1.0,0.0,0.0,0.0,-0.19184923777619228,0.14985337675337926,0.93964545472463,0.012227192173661302,0.014067317927780253,0.0006142610813142771,0.10917107651424933,-0.09340318628265634,1.2152225800246865,0.001040674830176197,-0.007378652249077055,-3.895497347732728e-05,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8072100466689436,-0.23638840457851634,-0.18797513075331443,0.30083127134048265,0.2874407262272714,-0.14552994958900048,0.9848723482038328,0.93964545472463,1.1728474789571472,1.1728474789571472,1.3829321317551346,0,0,-7.84653091348827e-05,-9.999999025923074e-05
+70080,1792649130335967462,17670642000000,1792649130328658816,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6760826347005023,-0.004451083476119945,0.0903254158806943,0.9999999915975436,7.695879117180409e-05,-1.7238649553727713e-05,4.5032773428159196e-05,0.6761,-0.0045,0.09025503557083066,1.0,0.0,0.0,0.0,-0.2049637291436783,0.15167089779508228,1.0197991737225218,0.012102116423652052,0.015068862170160048,0.0005627646043641674,0.09605658514676332,-0.09158566524095332,1.2953762990225783,0.000915599080166948,-0.006377108006697261,-9.045145042743696e-05,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8732280338788327,-0.37307591415825286,-0.4100115084172506,0.38135034278365626,0.43275848617661705,-0.24030885746432082,0.9848723482038328,1.0197991737225218,1.3948838566210835,1.3948838566210835,1.4459321317551477,0,0,-8.455280358224548e-05,9.99992131031135e-05
+70179,1792649131160983577,17671467000000,1792649131156659033,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760819353385865,-0.004453901705695616,0.09026122635051223,0.9999999897881859,8.727376449563808e-05,-1.9880095606464514e-05,6.208513817512775e-05,0.6761,-0.0045,0.09018889437216532,1.0,0.0,0.0,0.0,-0.2012990817851822,0.14386286060152476,1.0799666206804013,0.012089444652820915,0.0150564799677318,0.000514528531608155,0.09972123250525944,-0.09939370243451084,1.3555437459804578,0.0009029273093358105,-0.006389490209125508,-0.0001386875231834494,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8308175505490044,-0.25171600747551254,-0.3609624679136648,0.39694069201220933,0.3815368592113201,-0.17429919424940624,0.9848723482038328,1.0799666206804013,1.3458348161174976,1.3458348161174976,1.5036821317551596,0,0,-7.322685093988224e-05,-9.446527868129379e-05
+70292,1792649132103059239,17672409000000,1792649132100659243,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760830559723048,-0.0044607222790179904,0.09020056307241793,0.9999999880747924,9.430066249672583e-05,-1.7708266914960665e-05,7.801975263758835e-05,0.6761,-0.0045,0.0901239303003526,1.0,0.0,0.0,0.0,-0.20543444811680694,0.14460549686687252,1.098654927944992,0.01208647771752653,0.015052555359369536,0.0004985643376456169,0.0955858661736347,-0.09865106616916307,1.3742320532450485,0.0008999603740414239,-0.006393414817487771,-0.00015465171714598743,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.848887066148983,-0.34547071491680353,-0.4864990894081109,0.4604309537814798,0.46069188815382345,-0.24547273336041855,0.9848723482038328,1.098654927944992,1.4713714376119438,1.4713714376119438,1.5696221317551733,0,0,-6.787281925335095e-05,-9.117844918279765e-06
+70395,1792649132960997736,17673267000000,1792649132960658721,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760864596142171,-0.0044665188064443055,0.09014320737984748,0.9999999860829915,0.00010263875855813275,-1.2141333364557218e-05,9.270789963880337e-05,0.6761,-0.0045,0.09006004598958646,1.0,0.0,0.0,0.0,-0.207880517599202,0.15745671093882946,1.1104398785723366,0.013075956773779976,0.015031723586280184,0.000503542091669294,0.0931397966912396,-0.08579985209720613,1.3860170038723931,0.0018894394302948713,-0.006414246590577125,-0.00014967396312231038,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8710366304904179,-0.2868736191075593,-0.5250250846966796,0.4603961794951658,0.4843676963217297,-0.20683759816107986,0.9848723482038328,1.1104398785723366,1.5098974329005124,1.5098974329005124,1.6296821317551857,0,0,-8.011419722681294e-05,-3.772820173190313e-05
+70484,1792649133703095250,17674009000000,1792649133700659515,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760930283132494,-0.004453770696156688,0.09008126823279271,0.9999999950719111,2.233951046517884e-05,-1.0656116478562887e-06,2.8263990407820545e-05,0.6761,-0.0045,0.08999672415684337,1.0,0.0,0.0,0.0,-0.175280155503688,0.18442517437156436,1.1416055444581323,0.015197017845050249,0.012956958915321273,0.0004711213925086867,0.12574015878675363,-0.05883138866447125,1.4171826697581889,0.004010500501565143,-0.008489011261536035,-0.00018209466228291766,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9317226313052115,-0.28881748427809134,-0.5352131637082759,0.41750601495177775,0.5192935016124715,-0.1961545939409863,0.9848723482038328,1.1416055444581323,1.5200855119121086,1.5200855119121086,1.6816221317551965,0,0,-9.205959555366595e-05,-9.998904068465037e-05
+70596,1792649134636099986,17674942000000,1792649134628668887,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760945451011194,-0.004460019645246427,0.08999690640155014,0.9999999938304829,3.807539427299914e-05,5.728595880775166e-07,4.8289075747177835e-05,0.6761,-0.0045,0.08990387817913185,1.0,0.0,0.0,0.0,-0.1841085174502768,0.16351918401505153,1.189081125938554,0.014164974555838431,0.012985222997653017,0.00042043097819435685,0.11691179684016484,-0.07973737902098407,1.4646582512386106,0.0029784572123533262,-0.008460747179204291,-0.0002327850765972475,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9146969761561502,-0.32840866084669096,-0.4734320343426536,0.4768094991461777,0.4635648169544075,-0.23490514105879143,0.9848723482038328,1.189081125938554,1.4583043825464865,1.4583043825464865,1.74693213175521,0,0,-0.00010484106085647949,-9.999999025923074e-05
+70688,1792649135403098877,17675709000000,1792649135396668606,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760957371449671,-0.004463963812553818,0.0899167673167776,0.9999999808063091,0.00016112302628822618,2.555532795471632e-06,6.215372110958384e-05,0.6761,-0.0045,0.08982058889721145,1.0,0.0,0.0,0.0,-0.18867113857760892,0.16101458787751682,1.2008878192337833,0.013118698571564422,0.013996810768693115,0.00041103772303305774,0.1123491757128327,-0.08224197515851879,1.4764649445338398,0.0019321812280793172,-0.007449159408164195,-0.00024217833175854664,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9678154955368159,-0.1735397851060618,-0.5674456483918232,0.41291200139574424,0.5417720225639737,-0.18873352309630512,0.9848723482038328,1.2008878192337833,1.5523179965956562,1.5523179965956562,1.8006221317552211,0,0,-0.0001167485210410143,-9.999999025923074e-05
+70791,1792649136261220237,17676567000000,1792649136256658937,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6760989942637744,-0.004469350809289333,0.0898133606629439,0.999999981966156,0.00014695592301162418,5.603099456736352e-06,7.670145999644169e-05,0.6761,-0.0045,0.08971247343120996,1.0,0.0,0.0,0.0,-0.18418144242533996,0.15203255702453805,1.2309674675694655,0.013108807260767717,0.013991037725551256,0.00039051110260415365,0.11683887186510167,-0.09122400601149756,1.506544592869522,0.0019222899172826118,-0.0074549324513060525,-0.00026270495218745074,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9421100426358171,-0.19237975903369456,-0.658409953180685,0.44240691375350255,0.5881137076776822,-0.16908627249171015,0.9848723482038328,1.2309674675694655,1.643282301384518,1.643282301384518,1.8606821317552336,0,0,-0.00013295915568120454,-9.99596197744978e-05
+70888,1792649137070208078,17677376000000,1792649137064669165,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761057160563387,-0.004465189159744918,0.08971171738026071,0.9999999856405603,0.00012131659837526362,1.752223936113501e-05,7.167285149834736e-05,0.6761,-0.0045,0.08959983378394741,1.0,0.0,0.0,0.0,-0.18418864358727188,0.15725492071216224,1.2650521220199478,0.013102943337731592,0.013983191232056168,0.00035985177184623694,0.11683167070316973,-0.08600164232387335,1.5406292473200043,0.0019164259942464866,-0.007462778944801141,-0.00029336428294536745,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9443339243379557,-0.2967641811471723,-0.6672885544466816,0.49740952558519014,0.5867902639592286,-0.2146335644792696,0.9848723482038328,1.2650521220199478,1.6521609026505144,1.6521609026505144,1.9173121317552453,0,0,-0.00014542796291791416,-9.999999025923074e-05
+70976,1792649137803302296,17678109000000,1792649137796668895,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.676102906273676,-0.004465817192650864,0.08960267101144352,0.9999999864810392,0.00011081862307577398,1.1369521039147963e-05,7.791503469443617e-05,0.6761,-0.0045,0.08949067234306432,1.0,0.0,0.0,0.0,-0.1775162221676957,0.15124212713418314,1.289600585907973,0.012078954102395846,0.013992749335571018,0.0003326895142932246,0.12350409212274593,-0.09201443590185246,1.5651777112080296,0.000892436758910742,-0.007453220841286291,-0.0003205265404983798,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9663424798467071,-0.3277676502062494,-0.722188973313378,0.520633594017075,0.6273517316166094,-0.2303095137184448,0.9848723482038328,1.289600585907973,1.7070613215172108,1.7070613215172108,1.968622131755256,0,0,-0.0001499045808831242,-9.992985191965004e-05
+71051,1792649138428225934,17678734000000,1792649138424659011,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761080540216942,-0.004470602751304726,0.08950969623918456,0.9999999877469026,9.818296358376442e-05,1.856147367581187e-05,7.72310591892439e-05,0.6761,-0.0045,0.08939355174651602,1.0,0.0,0.0,0.0,-0.18346170678306586,0.1430990681835309,1.3012303508721892,0.012074542287840153,0.013995293339695927,0.000322291041321798,0.11755860750737576,-0.1001574948525047,1.5768074761722457,0.000888024944355048,-0.007450676837161381,-0.0003309250134698064,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8753177821416658,-0.3215493409058452,-0.6579746124007787,0.5253529302246741,0.5585092562365386,-0.223607755088207,0.9848723482038328,1.3012303508721892,1.6428469606046114,1.6428469606046114,2.012372131755265,0,0,-0.00016055584976390336,-9.985503676557812e-05
+71138,1792649139153246642,17679459000000,1792649139148659464,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761108649528917,-0.004474164797750738,0.08939036121407701,0.9999999871564005,0.00010390182697149402,2.2067307630298487e-05,7.646899716574699e-05,0.6761,-0.0045,0.08927270583056364,1.0,0.0,0.0,0.0,-0.1735603345512189,0.1334399805237485,1.3305931627189707,0.011075731007968907,0.012994811757299654,0.00027254780349441986,0.12745997973922274,-0.1098165825122871,1.6061702880190272,-0.00011078633551619818,-0.008451158419557655,-0.0003806682512971845,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9437000882953763,-0.3382295563391614,-0.8203167209099301,0.544404731590627,0.6799110009092949,-0.23144243052563834,0.9848723482038328,1.3305931627189707,1.805189069113763,1.805189069113763,2.0631221317552755,0,0,-0.00017071540014543108,-6.607776412004824e-05
+71219,1792649139828283811,17680134000000,1792649139824668966,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761088264689601,-0.004475998693856843,0.0892672183512509,0.9999999893630874,8.982124924690918e-05,1.97874565506793e-05,6.524790478873073e-05,0.6761,-0.0045,0.08915228710268186,1.0,0.0,0.0,0.0,-0.16464914570626762,0.12505985669876107,1.3606495279053226,0.011067296270347964,0.012988339657812016,0.0002493370029371981,0.136371168584174,-0.11819670633727451,1.636226653205379,-0.00011922107313714089,-0.008457630519045292,-0.0004038790518544063,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.952308815616416,-0.36245246718446206,-0.8853077119501486,0.5520462147500618,0.7255375789612262,-0.2492886821107158,0.9848723482038328,1.3606495279053226,1.8701800601539813,1.8701800601539813,2.1103721317552853,0,0,-0.00018580658195791055,8.578597140840855e-05
+71291,1792649140428303883,17680734000000,1792649140424659441,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761100656842112,-0.004478044906848037,0.08915762082549496,0.9999999881140108,9.516570183788929e-05,2.1848636570199417e-05,7.537220384581407e-05,0.6761,-0.0045,0.08903690722578896,1.0,0.0,0.0,0.0,-0.1822729603951029,0.11786008651325228,1.3704155542943044,0.010024809183300643,0.013795383739464824,0.0002400079423785433,0.11874735389533872,-0.12539647652278332,1.645992679594361,-0.0011617081601844616,-0.007650586437392484,-0.0004132081124130611,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8645801391092262,-0.3569056850295895,-0.7877672833259158,0.5493605076487124,0.6384334261251918,-0.2466842134096336,0.9848723482038328,1.3704155542943044,1.7726396315297488,1.7726396315297488,2.152372131755294,0,0,-0.00020092400880164363,-9.999999025923074e-05
+71354,1792649140953391092,17681259000000,1792649140952668078,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761083594444719,-0.004484307424704183,0.08904286459165708,0.9999999877432145,9.454459189990967e-05,1.519816286384344e-05,8.238186289846623e-05,0.6761,-0.0045,0.08893013445350899,1.0,0.0,0.0,0.0,-0.17265089371647396,0.10769893768169958,1.3997846524003388,0.00901370723087524,0.013236820960623157,0.00019691201321309461,0.12836942057396766,-0.13555762535433602,1.6753617777003953,-0.0021728101126098653,-0.008209149216234151,-0.0004563040415785098,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8879226647349245,-0.3854278937892148,-0.9438359231155675,0.5707111426964857,0.7413383805989612,-0.2627366779391332,0.9848723482038328,1.3997846524003388,1.9287082713194004,1.9287082713194004,2.1891221317553016,0,0,-0.00020608931761559456,7.784884822748523e-05
+71423,1792649141528364925,17681834000000,1792649141520668850,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761096143668304,-0.004485566595614043,0.08892236572370103,0.9999999887944246,8.691816057751199e-05,1.7469804603750358e-05,7.742127830269239e-05,0.6761,-0.0045,0.08880972723841103,1.0,0.0,0.0,0.0,-0.17269533986671698,0.10114646597965368,1.4187101324763414,0.009014951703307128,0.013015883593062848,0.00017840650721023186,0.12832497442372465,-0.14211009705638192,1.6942872577763979,-0.0021715656401779765,-0.00843008658379446,-0.0004748095475813725,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9086749500921493,-0.3992317016469901,-0.8733898610629817,0.5963075785260522,0.6974762625019423,-0.2688016315229955,0.9848723482038328,1.4187101324763414,1.8582622092668144,1.8582622092668144,2.22937213175531,0,0,-0.00021434148101825835,-9.999999025923074e-05
+71495,1792649142128376872,17682434000000,1792649142120668994,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.676107934296526,-0.004489033135343445,0.08878761328589668,0.9999999900881721,7.636956504237873e-05,1.2334612004124723e-05,7.267782951320365e-05,0.6761,-0.0045,0.08867739222576335,1.0,0.0,0.0,0.0,-0.16370457027663077,0.09837708587151414,1.4396406323365911,0.009010622665356231,0.013012049126022834,0.00016229194004187264,0.13731574401381086,-0.14487947716452146,1.7152177576366476,-0.0021758946781288736,-0.008433921050834474,-0.0004909241147497317,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9522090963508026,-0.47903012040936477,-0.997467940358177,0.6222984095366741,0.7865707609991011,-0.3209320535577275,0.9848723482038328,1.4396406323365911,1.9823402885620098,1.9823402885620098,2.2713721317553186,0,0,-0.00022781931017093614,9.962406874309266e-05
+71560,1792649142670465077,17682976000000,1792649142668668265,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.676113011024748,-0.004489442093356261,0.08866980829556041,0.9999999890654725,8.366546795584212e-05,2.130240955305204e-05,7.653898437180154e-05,0.6761,-0.0045,0.08855238494821366,1.0,0.0,0.0,0.0,-0.1778913876168427,0.09874344112725575,1.4500784974328933,0.008981375024798528,0.014021350943941953,0.0001682203270079019,0.12312892667359894,-0.14451312190877985,1.7256556227329498,-0.0022051423186865778,-0.007424619232915356,-0.0004849957277837025,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9481639905128529,-0.4095963851838517,-1.045918959424969,0.6126029594091801,0.8101318126304768,-0.2747898670870246,0.9848723482038328,1.4500784974328933,2.030791307628802,2.030791307628802,2.3093121317553265,0,0,-0.0002353631748705246,9.947899034934977e-05
+71620,1792649143170495082,17683476000000,1792649143168658994,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761106375899293,-0.004494803549915526,0.08854595263993381,0.999999988560713,8.555889047563885e-05,1.6640646440122203e-05,8.200123967262829e-05,0.6761,-0.0045,0.08843198758756902,1.0,0.0,0.0,0.0,-0.17894890625569526,0.09540943805787766,1.4712901125583568,0.008975913634734226,0.014018063125335895,0.00014864338343983398,0.12207140803474638,-0.14784712497815794,1.7468672378584134,-0.0022106037087508794,-0.007427907051521412,-0.0005045726713517704,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9086008439067892,-0.3318320329179795,-0.9443595910839981,0.6036432425387878,0.7301176714554394,-0.2203674525268791,0.9848723482038328,1.4712901125583568,1.929231939287831,1.929231939287831,2.3443121317553337,0,0,-0.00024639792111788426,-9.896738570181469e-05
+71680,1792649143670524561,17683976000000,1792649143668668494,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761108346657988,-0.004501951010450295,0.08842219238908555,0.9999999886186685,8.12523557132125e-05,1.5237623744865174e-05,8.58568394574524e-05,0.6761,-0.0045,0.08830602217342433,1.0,0.0,0.0,0.0,-0.17434011415624862,0.089752574784466,1.4801568126479216,0.008974270807401057,0.014016708375982768,0.0001442630568592333,0.126680200134193,-0.1535039882515696,1.7557339379479782,-0.002212246536084048,-0.00742926180087454,-0.0005089529979323711,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9113181229352546,-0.38350654352872093,-0.9789409676846035,0.6261899491265991,0.7513431507974745,-0.2560703693610332,0.9848723482038328,1.4801568126479216,1.9638133158884363,1.9638133158884363,2.379312131755341,0,0,-0.0002571375033830466,-9.999999025923074e-05
+71740,1792649144170585617,17684476000000,1792649144168668553,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.676113568418556,-0.00450184395595015,0.08829647684065725,0.9999999882580826,8.383047641285349e-05,1.9869397225688793e-05,8.662769332613933e-05,0.6761,-0.0045,0.0881745853508666,1.0,0.0,0.0,0.0,-0.18238847852001394,0.08966600915450013,1.4999125131038495,0.008970625511669978,0.014012600070403555,0.00012717394754750656,0.11863183577042767,-0.15359055388153547,1.775489638403906,-0.0022158918318151265,-0.007433370106453755,-0.0005260421072440978,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9469935698482973,-0.3951406650233766,-1.019654292376399,0.6293144433631875,0.7826648096379225,-0.2669544239312338,0.9848723482038328,1.4999125131038495,2.0045266405802318,2.0045266405802318,2.414312131755348,0,0,-0.00027068331253796005,-9.962384669848773e-05
+71798,1792649144653537608,17684959000000,1792649144652668612,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761110917997785,-0.004500019669165407,0.08816060728417256,0.9999999873543298,9.176788197418648e-05,1.5002218061271197e-05,8.993216225683571e-05,0.6761,-0.0045,0.08804275106420349,1.0,0.0,0.0,0.0,-0.1732069359070896,0.09156997802014005,1.5002307470028506,0.00897069958394768,0.014012208015002824,0.00012818625440003454,0.12781337838335202,-0.15168658501589555,1.7758078723029072,-0.0022158177595374253,-0.0074337621618544856,-0.0005250298003915699,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9016150450567152,-0.39689098556786095,-0.975770230178556,0.6500439629648662,0.7356052387761772,-0.2651681132533094,0.9848723482038328,1.5002307470028506,1.9606425783823889,1.9606425783823889,2.448122131755355,0,0,-0.0002782946618526668,-9.999999025923074e-05
+71852,1792649145103503021,17685409000000,1792649145096668537,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761084560103734,-0.004504500032266555,0.08803064917712046,0.9999999870167404,9.297231796700432e-05,9.616789196502742e-06,9.312920433602017e-05,0.6761,-0.0045,0.08791599614133845,1.0,0.0,0.0,0.0,-0.17181152522822596,0.08203502388459338,1.529023614154314,0.008988179419848911,0.013122402810327529,9.141695855001734e-05,0.12920878906221567,-0.16122153915144222,1.8046007394543706,-0.002198337923636194,-0.00832356736652978,-0.000561799096241587,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9177533732762189,-0.36318157393164213,-1.051290171949167,0.6428187253955823,0.7874331243222896,-0.2445532383348932,0.9848723482038328,1.529023614154314,2.036162520153,2.036162520153,2.4796221317553617,0,0,-0.00028643011675963246,-9.964408051311153e-05
+71909,1792649145578578697,17685884000000,1792649145572668593,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761082452762904,-0.0045043169560094725,0.08789112626869605,0.9999999867423123,9.422484276005452e-05,8.656718954785696e-06,9.489457317503225e-05,0.6761,-0.0045,0.08777884298642086,1.0,0.0,0.0,0.0,-0.16500717020616593,0.08203611975316652,1.5401158347423147,0.008989190313519885,0.01299336624100779,8.125354579616867e-05,0.1360131440842757,-0.16122044328286908,1.8156929600423712,-0.0021973270299652206,-0.008452603935849519,-0.0005719625089954357,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8780527660619067,-0.37736101766175584,-1.0850515101737745,0.6540849851815898,0.7925337948957093,-0.25307515938444997,0.9848723482038328,1.5401158347423147,2.0699238583776074,2.0699238583776074,2.5128721317553686,0,0,-0.000291549329230227,-8.529859737838592e-05
+71960,1792649146003599273,17686309000000,1792649146000668087,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.676111400306207,-0.004505126757869316,0.08776633001293219,0.9999999858734341,9.948138369566708e-05,1.3571016310418639e-05,9.805752376035763e-05,0.6761,-0.0045,0.08765300725316745,1.0,0.0,0.0,0.0,-0.16378985471884736,0.08224570938634385,1.5491103175659262,0.008987577293452242,0.012988992722939477,7.411860572366803e-05,0.13723045957159427,-0.16101085364969175,1.8246874428659827,-0.002198940050032863,-0.008456977453917831,-0.0005790974490679364,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9192949468946998,-0.37608936784099495,-1.1096972340678,0.6646462512695391,0.8154075916986773,-0.25129250089583577,0.9848723482038328,1.5491103175659262,2.0945695822716326,2.0945695822716326,2.5426221317553748,0,0,-0.00030039872809669985,-9.999999025923074e-05
+72020,1792649146503547161,17686809000000,1792649146496659616,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761114435078391,-0.004509174727499511,0.0876251245326996,0.9999999855432053,0.00010232484491969098,1.173737650202341e-05,9.873354913225973e-05,0.6761,-0.0045,0.08749870445364426,1.0,0.0,0.0,0.0,-0.16372467545484212,0.0894480768540219,1.5404333663482912,0.008960374304260159,0.012990667365493726,8.082911826804622e-05,0.1372956388355995,-0.1538084861820137,1.8160104916483477,-0.002226143039224947,-0.008455302811363582,-0.0005723869365235582,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8796853745232467,-0.3470198205601114,-1.0468374116523615,0.664585325317399,0.7613956904247128,-0.23291402364491617,0.9848723482038328,1.5404333663482912,2.031709759856194,2.031709759856194,2.577622131755382,0,0,-0.0003177741924695595,-9.999999025923074e-05
+72068,1792649146903667734,17687209000000,1792649146900668467,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761095104328729,-0.0045085641913587575,0.08749167343643595,0.999999985759669,9.898343565157116e-05,1.0584423237119079e-05,0.00010006885584620285,0.6761,-0.0045,0.08736897607981083,1.0,0.0,0.0,0.0,-0.1732749868131896,0.08315838097034986,1.5564492886823236,0.008959401580543033,0.014000796418968064,8.468744215713096e-05,0.12774532747725204,-0.16009818206568574,1.83202641398238,-0.0022271157629420715,-0.007445173757889245,-0.0005685286126344734,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9086494167210415,-0.3674651128810838,-1.0982474807294094,0.6802158888772264,0.7975172232279313,-0.24643492956982163,0.9848723482038328,1.5564492886823236,2.083119828933242,2.083119828933242,2.605622131755388,0,0,-0.0003297994293730274,-9.999999025923074e-05
+72116,1792649147303693061,17687609000000,1792649147300658365,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761104798884701,-0.004511231172474379,0.0873617982850508,0.9999999856045386,9.780286330137078e-05,1.0864539608045343e-05,0.00010271489071868148,0.6761,-0.0045,0.0872358690966904,1.0,0.0,0.0,0.0,-0.17812943500424255,0.08932058547960606,1.5687080555346995,0.008931284890294378,0.013997630238009522,7.159497128233496e-05,0.12289087928619909,-0.15393597755642954,1.844285180834756,-0.002255232453190728,-0.007448339938847786,-0.0005816210835092694,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9027214284413854,-0.437750480450561,-1.0941803363787512,0.7085577469451059,0.7907503235914275,-0.29073484156179863,0.9848723482038328,1.5687080555346995,2.0790526845825843,2.0790526845825843,2.6336221317553936,0,0,-0.00033782871366602594,-9.999999025923074e-05
+72164,1792649147703672823,17688009000000,1792649147700658827,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761085143036745,-0.0045146146978699364,0.08722800026382937,0.9999999861416963,9.337101693983227e-05,8.871555979890665e-06,0.0001017969568064032,0.6761,-0.0045,0.0870994338452418,1.0,0.0,0.0,0.0,-0.16864809169803396,0.08095124740267573,1.5901123718504424,0.007933418595910994,0.013962696299830267,4.362962692584533e-05,0.13237222259240766,-0.16230531563335987,1.865689497150499,-0.003253098747574112,-0.007483273877027042,-0.0006095864278657591,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9191795167970788,-0.40856363865953266,-1.184084248272666,0.7080390921608328,0.8515827355649749,-0.2700297223559211,0.9848723482038328,1.5901123718504424,2.168956596476499,2.168956596476499,2.6616221317553994,0,0,-0.0003437696344721802,-1.1073133566162911e-05
+72212,1792649148103715748,17688409000000,1792649148096659639,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761122332625298,-0.004512161021309784,0.08709201861642782,0.9999999849413135,0.00010326258286195262,1.482601680452493e-05,0.00010333085445652969,0.6761,-0.0045,0.08695940123901456,1.0,0.0,0.0,0.0,-0.1829980866224547,0.08388586970599607,1.5803902252070956,0.008926818667933678,0.015009054430550351,7.803474333414992e-05,0.11802222766798691,-0.15937069333003953,1.8559673505071521,-0.0022596986755514265,-0.006436915746306957,-0.0005751813114574545,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9612536350806404,-0.4698930160523809,-1.076663618970257,0.7401081135784268,0.7890492616430713,-0.3068434501958077,0.9848723482038328,1.5803902252070956,2.06153596717409,2.06153596717409,2.689622131755405,0,0,-0.0003565444940775971,-9.999790859105957e-05
+72260,1792649148503670040,17688809000000,1792649148496659038,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761161628908318,-0.004518151544570965,0.0869570152960547,0.9999999848766891,0.00010097192341328295,2.0722564659660625e-05,0.00010518903046868915,0.6761,-0.0045,0.0868142676638013,1.0,0.0,0.0,0.0,-0.19207902617637734,0.10176574094467164,1.6004977486019754,0.008925796963094257,0.015003394684973383,6.061934415475313e-05,0.10894128811406428,-0.14149082209136396,1.8760748739020319,-0.0022607203803908476,-0.006442575491883926,-0.0005925967106368513,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9529993850201072,-0.4681718967200474,-1.2309626809839351,0.7440151069986702,0.8857982123477841,-0.3078142349284036,0.9848723482038328,1.6004977486019754,2.215835029187768,2.215835029187768,2.717622131755411,0,0,-0.0003684100418663031,7.233078999491766e-05
+72304,1792649148870756892,17689176000000,1792649148864659199,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761125760051027,-0.0045235498470562316,0.08681357053094917,0.9999999855769914,9.119135854950029e-05,1.792837607449767e-05,0.00010794253521796098,0.6761,-0.0045,0.0866777592210013,1.0,0.0,0.0,0.0,-0.19210386207154062,0.0844387113105412,1.6004717429725297,0.008923848885241111,0.015004520926768988,6.061372206140161e-05,0.10891645221890102,-0.1588178517254944,1.8760488682725862,-0.0022626684582439933,-0.006441449250088319,-0.0005926023327302028,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9977656500176971,-0.498372476545345,-1.186753287317615,0.7511179116646924,0.8721644382521173,-0.33028845026431963,0.9848723482038328,1.6004717429725297,2.1716256355214476,2.1716256355214476,2.7433121317554163,0,0,-0.00037594739190768687,-9.999758940193999e-05
+72350,1792649149253773210,17689559000000,1792649149252659363,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761108179049131,-0.004523244219155851,0.08666564270725201,0.999999986521684,7.940014578724528e-05,1.6348866780538275e-05,0.00010875581711182217,0.6761,-0.0045,0.08653183238515176,1.0,0.0,0.0,0.0,-0.19168603090673308,0.09413185758808532,1.620498719361425,0.008923487404178483,0.014875352642403791,4.298632084709256e-05,0.10933428338370856,-0.14912470544795028,1.8960758446614816,-0.0022630299393066222,-0.006570617534453517,-0.0006102297339445118,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9393680557858958,-0.445140501411124,-1.154840702984774,0.7494104484375262,0.8376700842423289,-0.29118367258503913,0.9848723482038328,1.620498719361425,2.1397130511886067,2.1397130511886067,2.770122131755422,0,0,-0.00038631369772143396,-9.924170793341176e-05
+72392,1792649149603791698,17689909000000,1792649149596659443,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761161597909551,-0.004524990958425947,0.08653604990517211,0.9999999865602693,7.409855836621754e-05,2.157086531497169e-05,0.00011120443812861653,0.6761,-0.0045,0.08639452338710885,1.0,0.0,0.0,0.0,-0.1830199437054063,0.0952653229837098,1.6302954650104062,0.008918979294641971,0.014997318673755904,3.7496215288641225e-05,0.11800037058503532,-0.1479912400523258,1.9058725903104627,-0.0022675380488431335,-0.006448651503101403,-0.0006157198395029632,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.9825993022455028,-0.37056451686911324,-1.1539382641538043,0.735593957069452,0.8482774280613677,-0.2435028017514262,0.9848723482038328,1.6302954650104062,2.138810612357637,2.138810612357637,2.794622131755427,0,0,-0.0003977272264546735,-9.999953229223308e-05
+72434,1792649149953729261,17690259000000,1792649149952659469,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761168854293222,-0.00453184930135246,0.08640264798173285,0.9999999873081996,6.116781337975952e-05,2.7674572638215342e-05,0.00011099135824071088,0.6761,-0.0045,0.08625247266051035,1.0,0.0,0.0,0.0,-0.1921818984426909,0.08486743271289032,1.6306883494629034,0.008917683530743119,0.014998298374535046,3.617352705741336e-05,0.10883841584775072,-0.15838913032314528,1.90626547476296,-0.002268833812741986,-0.006447671802322262,-0.000617042527734191,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,1.02281037708227,-0.47384876130656617,-1.1737406751125699,0.7664089487702724,0.8736819818634812,-0.30998863690328593,0.9848723482038328,1.6306883494629034,2.158613023316403,2.158613023316403,2.819122131755432,0,0,-0.0004123311309847929,-9.998841618419902e-05
+72476,1792649150303738098,17690609000000,1792649150296659557,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761105235494241,-0.004533839429705797,0.08625460728095612,0.9999999863422743,6.173821436765734e-05,2.2108528165916265e-05,0.00012024109781587045,0.6761,-0.0045,0.08610586759184778,1.0,0.0,0.0,0.0,-0.19136823416409443,0.07295264380098315,1.6373287521465965,0.00789510211694012,0.015016434520230859,2.053069072726569e-05,0.10965208012634718,-0.17030391923505245,1.912905877446653,-0.003291415226544985,-0.0064295356566264495,-0.0006326853640643387,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,1.00698814008383,-0.3806028195656873,-1.3025032904057305,0.7378982024590617,0.9564837763114994,-0.24751103493066068,0.9848723482038328,1.6373287521465965,2.2873756386095634,2.2873756386095634,2.843622131755437,0,0,-0.00042423634740299123,9.980468815141136e-05
+72515,1792649150628716055,17690934000000,1792649150628658934,DOWN_FORCE_DETACH,6,0.0531,0.053102005273103714,0.6761005655781509,-0.0045352427960068135,0.08611350674427685,0.9999999862332981,7.173291730571858e-05,8.626484767180342e-06,0.00011728700017998247,0.6761,-0.0045,0.0859662408520549,1.0,0.0,0.0,0.0,-0.16860287842143382,0.061486584697656915,1.6613583879423497,0.007399643559979682,0.013138465497035104,-4.066485455240772e-05,0.1324174358690078,-0.18176997833837868,1.9369355132424062,-0.0037868737835054234,-0.008307504679822204,-0.0006938809093440121,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,1.029837309834502,-0.3664051135510153,-1.233074922882134,0.7431931493637359,0.9306817844773,-0.23358727070336496,0.9848723482038328,1.6613583879423497,2.2179472710859667,2.2179472710859667,2.866372131755442,0,0,-0.00043544410374271445,-8.965572314967857e-05
+72552,1792649150936759636,17691242000000,1792649150932659540,DOWN_FORCE_DETACH,6,0.0531,0.053101349622011185,0.6761359744703465,-0.004536559865830174,0.08600103947417405,0.999999969649981,0.00018335806989592824,4.911048774308611e-05,0.00012692864038700818,0.6761,-0.0045,0.08583063110927319,1.0,0.0,0.0,0.0,-0.19188015878357584,0.09167433385640567,1.67257178069841,0.007887875198516348,0.015639747349061747,1.091231161413431e-05,0.1091401555068658,-0.15158222917962993,1.9481489059984665,-0.003298642144968756,-0.005806222827795563,-0.0006423037431774701,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,1.0887182615767197,-0.35054376603833143,-1.1041352904912844,0.7103884344982571,0.8634695736597994,-0.27240332553212204,0.9848723482038328,1.67257178069841,2.0890076386951173,2.0890076386951173,2.8879321317554463,0,0,-0.00044613458263373227,-9.998326752492232e-05
+72584,1792649151197845426,17691503000000,1792649151196659420,DOWN_SETTLE,6,0.0531,0.053101349622011185,0.6761280656225332,-0.004545280900933794,0.08587699084410248,0.9999999706563325,0.00016712479696397674,4.248100577267786e-05,0.00014281059027020812,0.6761,-0.0045,0.08571356533350888,1.0,0.0,0.0,0.0,-0.22326905265483288,0.10915939253188242,1.660827488422267,0.009822185406289626,0.01801215651643611,6.661284363327204e-05,0.07775126163560873,-0.13409717050415318,1.9364046137223234,-0.0013643319371954784,-0.0034338136604211986,-0.0005866032111583324,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,1.0421267249869746,-0.3275341482338602,-1.2294375275237008,0.7081149062712675,0.9253212321087028,-0.2404459593458496,0.9848723482038328,1.660827488422267,2.2143098757275337,0.0,0.0,0,0,-0.00039543458017465827,0.0024500000097407693
+72685,1792649152035871349,17692341000000,1792649152032658852,DOWN_PEAK_HOLD,6,0.0531,0.053101349622011185,0.6761100134482709,-0.004539398484461982,0.08579183378387654,0.9999999718940357,0.00016138867559896574,1.4881279392951744e-05,0.00014624306791236508,0.6761,-0.0045,0.08567376926813597,1.0,0.0,0.0,0.0,-0.19063456254027367,0.07360507328472837,1.383410727895957,0.00794904755962211,0.015024493268799479,0.00021953117165813537,0.11038575175016795,-0.16965148975130723,1.6589878531960136,-0.003237469783862995,-0.006421476908057829,-0.000433684883133469,0.3010203142904416,-0.2432565630360356,0.2755771253000565,-0.011186517343485105,-0.02144597017685731,-0.0006532160547916044,1,0.8472762912792843,-0.4147408597752828,-0.6918380012266382,0.7303572224396367,0.5491624758726024,-0.2810786621139244,0.9848723482038328,1.383410727895957,1.6767103494304711,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1ea8cb89da452414c4570ca6aef1f3c209152a28
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6fa1f6311ddd063ac02d162c5867dc9e597dea85
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.750000000e+00,DOWN_FORCE_DETACH,1792649114892961049,-7.080417059e-07,4.256680718e-06,-2.875388953e-05,-3.480608333e-06,6.595052275e-06,-1.844578788e-05,-3.061976475e-06,6.632203214e-06,-1.797808505e-05,7.015371634e-01,5.807642039e-06,8.407121873e-01,7.015343909e-01,8.146013596e-06,8.407224954e-01,7.017225470e-01,8.441954067e-06,8.297627175e-01
+5,3.383333333e+00,DOWN_FORCE_DETACH,1792649115834623560,4.034449964e-06,7.829438117e-06,-3.971468118e-05,2.084544516e-06,7.529019250e-06,-3.863709999e-05,2.543499534e-06,7.569933480e-06,-3.793350237e-05,7.015419059e-01,9.380399438e-06,8.407012265e-01,7.015399560e-01,9.079980571e-06,8.407023041e-01,7.017281525e-01,9.379684334e-06,8.297427621e-01
+6,4.116666667e+00,DOWN_FORCE_DETACH,1792649116960367198,1.145220514e-05,4.619615349e-06,-6.017094569e-05,1.097492917e-05,6.818808960e-07,-5.469752435e-05,1.158385086e-05,7.622675025e-07,-5.395040708e-05,7.015493237e-01,6.170576670e-06,8.406807702e-01,7.015488464e-01,2.232842217e-06,8.406862437e-01,7.017371928e-01,2.572018356e-06,8.297267452e-01
+7,4.733333333e+00,DOWN_FORCE_DETACH,1792649117944892483,1.827765697e-05,2.296145498e-06,-8.245836591e-05,1.871442766e-05,-3.184857264e-08,-7.291012505e-05,1.940916634e-05,7.509663189e-08,-7.202253139e-05,7.015561491e-01,3.847106819e-06,8.406584828e-01,7.015565859e-01,1.519112748e-06,8.406680311e-01,7.017450182e-01,1.884847485e-06,8.297086731e-01
+8,5.433333333e+00,DOWN_FORCE_DETACH,1792649118994603205,2.189377517e-05,2.092129522e-06,-1.072730774e-04,1.844567849e-05,8.243680976e-08,-9.468167658e-05,1.910904500e-05,1.888885870e-07,-9.376914298e-05,7.015597653e-01,3.643090843e-06,8.406336681e-01,7.015563172e-01,1.633398131e-06,8.406462595e-01,7.017447180e-01,1.998639440e-06,8.296869265e-01
+9,6.066666667e+00,DOWN_FORCE_DETACH,1792649120013885377,2.001227701e-05,2.686089814e-06,-1.436822267e-04,1.946364593e-05,1.856571045e-06,-1.368414917e-04,2.004901170e-05,1.969385650e-06,-1.356798369e-04,7.015578838e-01,4.237051135e-06,8.405972590e-01,7.015573351e-01,3.407532366e-06,8.406040997e-01,7.017456580e-01,3.779136504e-06,8.296450158e-01
+10,6.700000000e+00,DOWN_FORCE_DETACH,1792649121071004996,2.500734389e-05,4.873541504e-07,-1.676589573e-04,2.004586726e-05,-1.023948664e-06,-1.581904072e-04,2.060490899e-05,-9.067609310e-07,-1.570751015e-04,7.015628788e-01,2.038315471e-06,8.405732822e-01,7.015579173e-01,5.270126568e-07,8.405827508e-01,7.017462139e-01,9.029899224e-07,8.296236205e-01
+11,7.300000000e+00,DOWN_FORCE_DETACH,1792649121965643449,2.531630680e-05,-9.314465737e-07,-1.921594319e-04,2.475823609e-05,-1.823434658e-06,-1.778486450e-04,2.539929092e-05,-1.680465966e-06,-1.767989354e-04,7.015631878e-01,6.195147474e-07,8.405487818e-01,7.015626297e-01,-2.724733365e-07,8.405630925e-01,7.017510083e-01,1.292848870e-07,8.296038967e-01
+12,8.000000000e+00,DOWN_FORCE_DETACH,1792649123025435037,2.697735019e-05,-3.307244088e-06,-2.280380392e-04,2.526256904e-05,-1.854084759e-06,-2.197737252e-04,2.575734622e-05,-1.717420051e-06,-2.186414455e-04,7.015648488e-01,-1.756282767e-06,8.405129031e-01,7.015631341e-01,-3.031234378e-07,8.405211675e-01,7.017513663e-01,9.233080244e-08,8.295620542e-01
+13,8.733333333e+00,DOWN_FORCE_DETACH,1792649124125401609,3.418259064e-05,-2.003698443e-06,-2.635728134e-04,2.873248572e-05,-8.364578017e-07,-2.636517072e-04,2.920663491e-05,-6.566484985e-07,-2.624269209e-04,7.015720541e-01,-4.527371217e-07,8.404773684e-01,7.015666040e-01,7.145035194e-07,8.404772895e-01,7.017548156e-01,1.153102355e-06,8.295182687e-01
+14,9.250000000e+00,DOWN_FORCE_DETACH,1792649124895276592,5.897026026e-05,-1.498472460e-06,-2.794636271e-04,5.598580111e-05,6.035927720e-07,-2.649531310e-04,5.690778864e-05,7.524241426e-07,-2.640556890e-04,7.015968417e-01,5.248886114e-08,8.404614776e-01,7.015938573e-01,2.154554093e-06,8.404759881e-01,7.017825168e-01,2.562174996e-06,8.295166399e-01
+15,9.783333333e+00,DOWN_FORCE_DETACH,1792649125694716356,6.295825426e-05,3.846068150e-07,-3.232318430e-04,5.853283340e-05,-2.236869071e-07,-3.092540010e-04,5.949103016e-05,-3.404574190e-08,-3.081432704e-04,7.016008297e-01,1.935568136e-06,8.404177093e-01,7.015964043e-01,1.327274414e-06,8.404316872e-01,7.017851000e-01,1.775705111e-06,8.294725523e-01
+16,1.046666667e+01,DOWN_FORCE_DETACH,1792649126700380262,6.455100357e-05,3.855864636e-07,-3.704844732e-04,6.241379187e-05,3.854826515e-06,-3.706650971e-04,6.333957351e-05,4.055699824e-06,-3.693348978e-04,7.016024225e-01,1.936547785e-06,8.403704567e-01,7.016002853e-01,5.405787836e-06,8.403702761e-01,7.017889486e-01,5.865450678e-06,8.294113607e-01
+17,1.111666667e+01,DOWN_FORCE_DETACH,1792649127681207682,6.238274979e-05,2.853794767e-06,-4.223924798e-04,6.077486974e-05,2.071671540e-06,-4.155220616e-04,6.162116402e-05,2.280719004e-06,-4.141038142e-04,7.016002542e-01,4.404756088e-06,8.403185487e-01,7.015986464e-01,3.622632861e-06,8.403254191e-01,7.017872302e-01,4.090469858e-06,8.293665918e-01
+18,1.178333333e+01,DOWN_FORCE_DETACH,1792649128681172173,6.281848602e-05,-4.338422535e-06,-4.716985483e-04,6.217508017e-05,1.351779787e-06,-4.581583027e-04,6.302576976e-05,1.584060238e-06,-4.567548061e-04,7.016006900e-01,-2.787461214e-06,8.402692426e-01,7.016000466e-01,2.902741108e-06,8.402827829e-01,7.017886348e-01,3.393811091e-06,8.293239408e-01
+19,1.228333333e+01,DOWN_FORCE_DETACH,1792649129432105121,6.942593358e-05,1.379673700e-05,-5.104345211e-04,6.661461269e-05,1.593680662e-05,-5.042393317e-04,6.740350459e-05,1.606602388e-05,-5.026217884e-04,7.016072974e-01,1.534769832e-05,8.402305067e-01,7.016044861e-01,1.748776795e-05,8.402367019e-01,7.017930125e-01,1.787577474e-05,8.292780738e-01
+20,1.288333333e+01,DOWN_FORCE_DETACH,1792649130332572624,7.410458640e-05,1.105338882e-05,-5.761169640e-04,7.269870975e-05,1.426345129e-05,-5.651623565e-04,7.343780385e-05,1.437698853e-05,-5.633172526e-04,7.016119761e-01,1.260435014e-05,8.401648242e-01,7.016105702e-01,1.581441261e-05,8.401757788e-01,7.017990468e-01,1.618673938e-05,8.292173784e-01
+21,1.343333333e+01,DOWN_FORCE_DETACH,1792649131161777016,7.344035434e-05,8.451180616e-06,-6.402850934e-04,7.068208219e-05,9.448917799e-06,-6.288083171e-04,7.123759584e-05,9.582885251e-06,-6.268648286e-04,7.016113118e-01,1.000214194e-05,8.401006561e-01,7.016085536e-01,1.099987912e-05,8.401121329e-01,7.017968466e-01,1.139263610e-05,8.291538308e-01
+22,1.406666667e+01,DOWN_FORCE_DETACH,1792649132101916206,7.544800207e-05,6.657842868e-06,-7.022753194e-04,7.447080210e-05,5.996654175e-07,-6.920090655e-04,7.482372678e-05,7.809250527e-07,-6.900362735e-04,7.016133195e-01,8.208804189e-06,8.400386659e-01,7.016123423e-01,2.150626739e-06,8.400489321e-01,7.018004327e-01,2.590675906e-06,8.290906593e-01
+23,1.463333333e+01,DOWN_FORCE_DETACH,1792649132961727281,7.796462997e-05,-4.165920132e-06,-7.583040641e-04,7.780566605e-05,-4.129841820e-06,-7.583725223e-04,7.803352994e-05,-3.927617005e-06,-7.561495415e-04,7.016158361e-01,-2.614958811e-06,8.399826371e-01,7.016156771e-01,-2.578880499e-06,8.399825687e-01,7.018036425e-01,-2.117866152e-06,8.290245461e-01
+24,1.511666667e+01,DOWN_FORCE_DETACH,1792649133699967789,8.250009260e-05,9.291964754e-06,-8.213441606e-04,8.239537614e-05,9.449062690e-06,-8.209726513e-04,8.247201518e-05,9.543632016e-06,-8.185235127e-04,7.016203716e-01,1.084292607e-05,8.399195970e-01,7.016202669e-01,1.100002401e-05,8.399199685e-01,7.018080810e-01,1.135338287e-05,8.289621721e-01
+25,1.568333333e+01,DOWN_FORCE_DETACH,1792649134636571069,8.640693222e-05,1.353051935e-06,-9.024316579e-04,8.361115807e-05,4.534687663e-06,-8.839462941e-04,8.345506891e-05,4.659784870e-06,-8.814564386e-04,7.016242784e-01,2.904013256e-06,8.398385095e-01,7.016214826e-01,6.085648984e-06,8.398569949e-01,7.018090641e-01,6.469535724e-06,8.288992392e-01
+26,1.620000000e+01,DOWN_FORCE_DETACH,1792649135406327587,8.777168067e-05,-3.256693187e-06,-9.863905987e-04,8.574625304e-05,-1.532303307e-06,-9.732769143e-04,8.531154250e-05,-1.377950362e-06,-9.704149088e-04,7.016256432e-01,-1.705731866e-06,8.397545506e-01,7.016236177e-01,1.865801388e-08,8.397676643e-01,7.018109205e-01,4.318004914e-07,8.288102807e-01
+27,1.675000000e+01,DOWN_FORCE_DETACH,1792649136264354805,9.106197943e-05,-7.512350576e-06,-1.087866972e-03,9.087369092e-05,-7.457315802e-06,-1.087581612e-03,9.015284632e-05,-7.234898754e-06,-1.084082941e-03,7.016289335e-01,-5.961389254e-06,8.396530742e-01,7.016287452e-01,-5.906354481e-06,8.396533596e-01,7.018157618e-01,-5.425147900e-06,8.286966127e-01
+28,1.725000000e+01,DOWN_FORCE_DETACH,1792649137066024613,9.521055370e-05,-7.082078281e-06,-1.191614355e-03,9.393744907e-05,-2.482251285e-06,-1.174224241e-03,9.285427155e-05,-2.314859009e-06,-1.170753596e-03,7.016330820e-01,-5.531116960e-06,8.395493268e-01,7.016318089e-01,-9.312899635e-07,8.395667169e-01,7.018184633e-01,-5.051081552e-07,8.286099420e-01
+29,1.775000000e+01,DOWN_FORCE_DETACH,1792649137801695861,9.560084737e-05,-3.178303039e-06,-1.300300620e-03,9.611177628e-05,-8.284771858e-06,-1.287469634e-03,9.470440150e-05,-8.048485099e-06,-1.283841211e-03,7.016334723e-01,-1.627341718e-06,8.394406406e-01,7.016339833e-01,-6.733810537e-06,8.394534716e-01,7.018203134e-01,-6.238734245e-06,8.284968544e-01
+30,1.816666667e+01,DOWN_FORCE_DETACH,1792649138429811068,9.955903744e-05,-8.249864993e-06,-1.391815205e-03,9.987023639e-05,-7.058506692e-06,-1.378938454e-03,9.820506775e-05,-6.822890423e-06,-1.375339793e-03,7.016374305e-01,-6.698903672e-06,8.393491260e-01,7.016377417e-01,-5.507545371e-06,8.393620027e-01,7.018238141e-01,-5.013139570e-06,8.284053558e-01
+31,1.865000000e+01,DOWN_FORCE_DETACH,1792649139149348793,1.011122358e-04,-1.179967391e-05,-1.512533398e-03,9.852676689e-05,-1.230055408e-05,-1.496911599e-03,9.643027646e-05,-1.206060119e-05,-1.493193814e-03,7.016389837e-01,-1.024871259e-05,8.392284078e-01,7.016363982e-01,-1.074959276e-05,8.392440296e-01,7.018220393e-01,-1.025085034e-05,8.282875018e-01
+32,1.910000000e+01,DOWN_FORCE_DETACH,1792649139830112314,1.003604583e-04,-1.380352386e-05,-1.635274232e-03,1.001074519e-04,-1.399171331e-05,-1.635267269e-03,9.756051591e-05,-1.374784410e-05,-1.630947533e-03,7.016382319e-01,-1.225256254e-05,8.391056670e-01,7.016379789e-01,-1.244075199e-05,8.391056739e-01,7.018231695e-01,-1.193809325e-05,8.281497481e-01
+33,1.950000000e+01,DOWN_FORCE_DETACH,1792649140430686542,1.023953733e-04,-1.559553093e-05,-1.744658834e-03,1.015398038e-04,-1.368717087e-05,-1.729371541e-03,9.869383724e-05,-1.346511558e-05,-1.724996146e-03,7.016402669e-01,-1.404456960e-05,8.389962824e-01,7.016394113e-01,-1.213620955e-05,8.390115696e-01,7.018243028e-01,-1.165536472e-05,8.280556995e-01
+34,1.985000000e+01,DOWN_FORCE_DETACH,1792649140950070826,9.965223470e-05,-2.308171359e-05,-1.859382970e-03,1.019882604e-04,-2.423698246e-05,-1.843756840e-03,9.873361987e-05,-2.387127269e-05,-1.838944851e-03,7.016375237e-01,-2.153075227e-05,8.388815582e-01,7.016398597e-01,-2.268602114e-05,8.388971843e-01,7.018243426e-01,-2.206152184e-05,8.279417508e-01
+35,2.023333333e+01,DOWN_FORCE_DETACH,1792649141530512051,9.989250834e-05,-2.092672995e-05,-1.979765250e-03,1.014478567e-04,-2.342271216e-05,-1.960472157e-03,9.778596316e-05,-2.307526205e-05,-1.955384931e-03,7.016377640e-01,-1.937576863e-05,8.387611759e-01,7.016393193e-01,-2.187175084e-05,8.387804690e-01,7.018233950e-01,-2.126551120e-05,8.278253107e-01
+36,2.063333333e+01,DOWN_FORCE_DETACH,1792649142130284556,1.001573203e-04,-2.680107151e-05,-2.113105312e-03,1.010377008e-04,-2.476122321e-05,-2.104680797e-03,9.689042188e-05,-2.437572842e-05,-2.099165589e-03,7.016380288e-01,-2.525011019e-05,8.386278359e-01,7.016389092e-01,-2.321026189e-05,8.386362604e-01,7.018224994e-01,-2.256597757e-05,8.276815300e-01
+37,2.100000000e+01,DOWN_FORCE_DETACH,1792649142669837759,1.011165496e-04,-3.287874501e-05,-2.235822979e-03,1.024167898e-04,-2.635692786e-05,-2.225204285e-03,9.789066457e-05,-2.592633217e-05,-2.219606875e-03,7.016389880e-01,-3.132778369e-05,8.385051182e-01,7.016402883e-01,-2.480596654e-05,8.385157369e-01,7.018234997e-01,-2.411658131e-05,8.275610887e-01
+38,2.133333333e+01,DOWN_FORCE_DETACH,1792649143169769705,1.049200089e-04,-3.332996613e-05,-2.352867424e-03,1.018437876e-04,-3.214271128e-05,-2.338639394e-03,9.690300721e-05,-3.165050070e-05,-2.332990194e-03,7.016427915e-01,-3.177900481e-05,8.383880738e-01,7.016397153e-01,-3.059174996e-05,8.384023018e-01,7.018225120e-01,-2.984074985e-05,8.274477054e-01
+39,2.166666667e+01,DOWN_FORCE_DETACH,1792649143671859762,1.032824177e-04,-3.269014497e-05,-2.475992111e-03,1.035436634e-04,-3.057949835e-05,-2.459160245e-03,9.826654037e-05,-3.012354231e-05,-2.453221325e-03,7.016411539e-01,-3.113918365e-05,8.382649491e-01,7.016414151e-01,-2.902853702e-05,8.382817809e-01,7.018238755e-01,-2.831379146e-05,8.273274743e-01
+40,2.200000000e+01,DOWN_FORCE_DETACH,1792649144170946372,1.044958789e-04,-3.318839501e-05,-2.604059804e-03,1.044464687e-04,-3.652261459e-05,-2.597159309e-03,9.863779671e-05,-3.604035312e-05,-2.590787257e-03,7.016423674e-01,-3.163743369e-05,8.381368814e-01,7.016423180e-01,-3.497165327e-05,8.381437819e-01,7.018242468e-01,-3.423060227e-05,8.271899084e-01
+41,2.231666667e+01,DOWN_FORCE_DETACH,1792649144650947268,1.018724669e-04,-4.061583833e-05,-2.741094572e-03,1.009248893e-04,-3.953458366e-05,-2.728975256e-03,9.459240020e-05,-3.907457001e-05,-2.722195931e-03,7.016397439e-01,-3.906487701e-05,8.379998466e-01,7.016387964e-01,-3.798362233e-05,8.380119659e-01,7.018202014e-01,-3.726481915e-05,8.270584997e-01
+42,2.261666667e+01,DOWN_FORCE_DETACH,1792649145099959256,1.017002911e-04,-3.773586473e-05,-2.868712616e-03,1.016096118e-04,-3.762360401e-05,-2.868167613e-03,9.477816894e-05,-3.718314293e-05,-2.860874400e-03,7.016395718e-01,-3.618490341e-05,8.378722286e-01,7.016394811e-01,-3.607264269e-05,8.378727736e-01,7.018203872e-01,-3.537339208e-05,8.269198212e-01
+43,2.293333333e+01,DOWN_FORCE_DETACH,1792649145576052792,1.017388571e-04,-4.045240031e-05,-3.006803175e-03,1.024258010e-04,-3.920813137e-05,-2.993105255e-03,9.518780177e-05,-3.873659432e-05,-2.985874927e-03,7.016396103e-01,-3.890143899e-05,8.377341380e-01,7.016402973e-01,-3.765717005e-05,8.377478359e-01,7.018207968e-01,-3.692684347e-05,8.267948207e-01
+44,2.321666667e+01,DOWN_FORCE_DETACH,1792649146002242299,1.034906859e-04,-4.257168473e-05,-3.135925394e-03,9.926356610e-05,-4.336981314e-05,-3.121399863e-03,9.147884236e-05,-4.287111525e-05,-3.114108521e-03,7.016413622e-01,-4.102072341e-05,8.376050158e-01,7.016371350e-01,-4.181885182e-05,8.376195413e-01,7.018170878e-01,-4.106136439e-05,8.266665871e-01
+45,2.355000000e+01,DOWN_FORCE_DETACH,1792649146501264550,1.029485236e-04,-4.682184119e-05,-3.276386911e-03,9.934238891e-05,-4.379179072e-05,-3.262024230e-03,9.111258423e-05,-4.325627068e-05,-3.254859305e-03,7.016408200e-01,-4.527087987e-05,8.374645543e-01,7.016372139e-01,-4.224082940e-05,8.374789170e-01,7.018167216e-01,-4.144651983e-05,8.265258363e-01
+46,2.381666667e+01,DOWN_FORCE_DETACH,1792649146900544634,1.035220297e-04,-4.228857040e-05,-3.406435084e-03,1.034100666e-04,-4.208168444e-05,-3.406090009e-03,9.476301214e-05,-4.155696155e-05,-3.398436055e-03,7.016413935e-01,-4.073760908e-05,8.373345061e-01,7.016412815e-01,-4.053072311e-05,8.373348512e-01,7.018203720e-01,-3.974721069e-05,8.263822596e-01
+47,2.408333333e+01,DOWN_FORCE_DETACH,1792649147300316879,1.033597639e-04,-4.513815237e-05,-3.537790138e-03,1.019081071e-04,-4.614227224e-05,-3.528830200e-03,9.280511431e-05,-4.561731515e-05,-3.521121305e-03,7.016412312e-01,-4.358719105e-05,8.372031510e-01,7.016397796e-01,-4.459131092e-05,8.372121110e-01,7.018184141e-01,-4.380756429e-05,8.262595743e-01
+48,2.435000000e+01,DOWN_FORCE_DETACH,1792649147700597335,9.877103396e-05,-5.219336020e-05,-3.674595008e-03,9.865994415e-05,-5.222507991e-05,-3.674836545e-03,8.895909779e-05,-5.158359644e-05,-3.666704251e-03,7.016366425e-01,-5.064239888e-05,8.370663462e-01,7.016365314e-01,-5.067411859e-05,8.370661046e-01,7.018145681e-01,-4.977384559e-05,8.261139914e-01
+49,2.461666667e+01,DOWN_FORCE_DETACH,1792649148101823379,1.051803222e-04,-5.455196959e-05,-3.807960132e-03,1.050227109e-04,-5.477882081e-05,-3.807916747e-03,9.495613305e-05,-5.406924049e-05,-3.799814047e-03,7.016430518e-01,-5.300100827e-05,8.369329811e-01,7.016428942e-01,-5.322785948e-05,8.369330244e-01,7.018205651e-01,-5.225948964e-05,8.259808816e-01
+50,2.488333333e+01,DOWN_FORCE_DETACH,1792649148500412888,1.095795470e-04,-5.517370776e-05,-3.944647030e-03,1.095566188e-04,-5.509849430e-05,-3.944465182e-03,9.911359336e-05,-5.439109067e-05,-3.936357273e-03,7.016474510e-01,-5.362274644e-05,8.367962942e-01,7.016474281e-01,-5.354753298e-05,8.367964760e-01,7.018247226e-01,-5.258133982e-05,8.258443383e-01
+51,2.513333333e+01,DOWN_FORCE_DETACH,1792649148869682103,1.038073440e-04,-5.454762260e-05,-4.086267932e-03,1.051633992e-04,-5.565054061e-05,-4.071868674e-03,9.418397638e-05,-5.497658889e-05,-4.063792887e-03,7.016416788e-01,-5.299666128e-05,8.366546733e-01,7.016430349e-01,-5.409957929e-05,8.366690725e-01,7.018197930e-01,-5.316683804e-05,8.257169027e-01
+52,2.538333333e+01,DOWN_FORCE_DETACH,1792649149250552272,1.033632851e-04,-5.920132851e-05,-4.235481674e-03,1.034298846e-04,-6.184469893e-05,-4.225500186e-03,9.188477289e-05,-6.109202830e-05,-4.216945188e-03,7.016412348e-01,-5.765036719e-05,8.365054595e-01,7.016413014e-01,-6.029373760e-05,8.365154410e-01,7.018174938e-01,-5.928227745e-05,8.255637504e-01
+53,2.561666667e+01,DOWN_FORCE_DETACH,1792649149599941254,1.055995935e-04,-6.613971367e-05,-4.367324046e-03,1.070921102e-04,-6.047388398e-05,-4.352151523e-03,9.520333812e-05,-5.981616994e-05,-4.343406943e-03,7.016434711e-01,-6.458875235e-05,8.363736171e-01,7.016449636e-01,-5.892292266e-05,8.363887897e-01,7.018208123e-01,-5.800641908e-05,8.254372887e-01
+54,2.585000000e+01,DOWN_FORCE_DETACH,1792649149954774874,1.083105385e-04,-6.591975086e-05,-4.498945467e-03,1.067472634e-04,-6.450914228e-05,-4.485499601e-03,9.433037134e-05,-6.387772360e-05,-4.476600896e-03,7.016461820e-01,-6.436878954e-05,8.362419957e-01,7.016446187e-01,-6.295818096e-05,8.362554416e-01,7.018199394e-01,-6.206797274e-05,8.253040947e-01
+55,2.608333333e+01,DOWN_FORCE_DETACH,1792649150300026036,1.031681176e-04,-7.224173391e-05,-4.644409920e-03,1.023957068e-04,-7.245816371e-05,-4.624530963e-03,8.946628107e-05,-7.170109214e-05,-4.615609489e-03,7.016410396e-01,-7.069077259e-05,8.360965313e-01,7.016402672e-01,-7.090720239e-05,8.361164102e-01,7.018150753e-01,-6.989134128e-05,8.251650861e-01
+56,2.630000000e+01,DOWN_FORCE_DETACH,1792649150630415969,9.265804628e-05,-7.526308203e-05,-4.789707750e-03,9.345071551e-05,-7.069459711e-05,-4.778550173e-03,7.985375023e-05,-6.994509813e-05,-4.769329863e-03,7.016305295e-01,-7.371212071e-05,8.359512334e-01,7.016313222e-01,-6.914363579e-05,8.359623910e-01,7.018054627e-01,-6.813534727e-05,8.250113658e-01
+57,2.650000000e+01,DOWN_FORCE_DETACH,1792649150936923892,1.305441902e-04,-7.389973379e-05,-4.896239678e-03,1.299810334e-04,-7.402752047e-05,-4.896288594e-03,1.163794103e-04,-7.328852372e-05,-4.887186474e-03,7.016684157e-01,-7.234877247e-05,8.358447015e-01,7.016678525e-01,-7.247655915e-05,8.358446526e-01,7.018419884e-01,-7.147877287e-05,8.248935091e-01
+58,2.668333333e+01,DOWN_SETTLE,1792649151200268285,1.189040278e-04,-8.018955910e-05,-5.027145053e-03,1.204498189e-04,-7.759517456e-05,-5.013932704e-03,1.064864513e-04,-7.677722017e-05,-5.004612684e-03,7.016567755e-01,-7.863859778e-05,8.357137961e-01,7.016583213e-01,-7.604421324e-05,8.357270085e-01,7.018320954e-01,-7.496746932e-05,8.247760829e-01
+59,2.723333333e+01,DOWN_PEAK_HOLD,1792649152037880457,1.045662397e-04,-7.088142138e-05,-5.107010018e-03,1.086371753e-04,-7.441549080e-05,-5.095089240e-03,9.431371038e-05,-7.356857863e-05,-5.088428676e-03,7.016424377e-01,-6.933046006e-05,8.356339312e-01,7.016465087e-01,-7.286452948e-05,8.356458519e-01,7.018199227e-01,-7.175882777e-05,8.246922669e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5fa78b0d0e48e2db5ea970ab69d951d732784602
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-4.0594e-03,1.1268e-04,2.4558e+00,-3.6785e-02,3.6524e-02,-7.6007e-06,3.6143e-05,4.9362e-05,-2.3842e-06,-3.2112e-06,2.2948e-06,-1.0549e-07,6.1226e-05,3.9483e-06
+1,7.1667e-01,DOWN_FORCE_DETACH,1.4566e-04,3.7954e-03,5.8100e-03,2.4606e+00,-3.7294e-02,3.7112e-02,-1.5392e-04,7.8910e-03,5.7466e-03,4.7901e-03,-5.1194e-04,5.9067e-04,-1.4642e-04,1.0874e-02,7.9524e-04
+2,1.3667e+00,DOWN_FORCE_DETACH,3.0007e-04,1.3230e-02,5.4632e-03,2.4624e+00,-3.7253e-02,3.7710e-02,-1.5291e-04,1.7325e-02,5.3999e-03,6.5601e-03,-4.7152e-04,1.1888e-03,-1.4542e-04,1.9297e-02,1.2871e-03
+3,2.0833e+00,DOWN_FORCE_DETACH,4.4759e-04,1.8522e-02,4.7583e-03,2.4664e+00,-3.7202e-02,3.8065e-02,-1.4929e-04,2.2617e-02,4.6949e-03,1.0618e-02,-4.1983e-04,1.5432e-03,-1.4179e-04,2.5423e-02,1.6056e-03
+4,2.7500e+00,DOWN_FORCE_DETACH,5.9568e-04,2.2451e-02,1.2835e-03,2.4775e+00,-3.6980e-02,3.8356e-02,-1.0685e-04,2.6546e-02,1.2202e-03,2.1695e-02,-1.9782e-04,1.8344e-03,-9.9357e-05,3.4305e-02,1.8477e-03
+5,3.3833e+00,DOWN_FORCE_DETACH,7.4564e-04,2.1048e-02,1.0661e-03,2.4877e+00,-3.6974e-02,3.8293e-02,-9.6518e-05,2.5144e-02,1.0027e-03,3.1932e-02,-1.9191e-04,1.7720e-03,-8.9023e-05,4.0656e-02,1.7846e-03
+6,4.1167e+00,DOWN_FORCE_DETACH,8.9412e-04,1.7142e-02,5.6877e-03,2.4916e+00,-3.7276e-02,3.8021e-02,-9.3126e-05,2.1238e-02,5.6244e-03,3.5774e-02,-4.9445e-04,1.4999e-03,-8.5631e-05,4.1982e-02,1.5816e-03
+7,4.7333e+00,DOWN_FORCE_DETACH,1.0449e-03,1.5199e-02,5.6037e-03,2.4964e+00,-3.7285e-02,3.7873e-02,-8.8429e-05,1.9295e-02,5.5404e-03,4.0628e-02,-5.0354e-04,1.3512e-03,-8.0934e-05,4.5317e-02,1.4442e-03
+8,5.4333e+00,DOWN_FORCE_DETACH,1.1908e-03,1.7439e-02,5.6060e-03,2.4955e+00,-3.7286e-02,3.8011e-02,-8.7268e-05,2.1534e-02,5.5427e-03,3.9712e-02,-5.0426e-04,1.4892e-03,-7.9772e-05,4.5514e-02,1.5743e-03
+9,6.0667e+00,DOWN_FORCE_DETACH,1.3430e-03,1.9276e-02,5.6786e-03,2.4989e+00,-3.7288e-02,3.8125e-02,-8.6289e-05,2.3371e-02,5.6153e-03,4.3075e-02,-5.0613e-04,1.6033e-03,-7.8794e-05,4.9327e-02,1.6831e-03
+10,6.7000e+00,DOWN_FORCE_DETACH,1.4899e-03,2.0617e-02,6.3284e-03,2.5015e+00,-3.7323e-02,3.8208e-02,-8.5332e-05,2.4713e-02,6.2651e-03,4.5748e-02,-5.4096e-04,1.6867e-03,-7.7836e-05,5.2372e-02,1.7731e-03
+11,7.3000e+00,DOWN_FORCE_DETACH,1.6387e-03,2.0872e-02,7.5247e-03,2.5017e+00,-3.7388e-02,3.8223e-02,-8.4389e-05,2.4968e-02,7.4613e-03,4.5948e-02,-6.0622e-04,1.7012e-03,-7.6894e-05,5.2823e-02,1.8076e-03
+12,8.0000e+00,DOWN_FORCE_DETACH,1.7901e-03,2.1420e-02,8.9384e-03,2.5027e+00,-3.7457e-02,3.8255e-02,-8.3193e-05,2.5515e-02,8.8751e-03,4.6902e-02,-6.7458e-04,1.7340e-03,-7.5698e-05,5.4126e-02,1.8621e-03
+13,8.7333e+00,DOWN_FORCE_DETACH,1.9381e-03,2.2034e-02,1.1407e-02,2.5022e+00,-3.7582e-02,3.8293e-02,-8.1679e-05,2.6129e-02,1.1344e-02,4.6369e-02,-7.9990e-04,1.7717e-03,-7.4183e-05,5.4420e-02,1.9453e-03
+14,9.2500e+00,DOWN_FORCE_DETACH,2.0887e-03,1.9027e-02,1.2365e-02,2.5005e+00,-3.7613e-02,3.8097e-02,-8.0457e-05,2.3122e-02,1.2302e-02,4.4669e-02,-8.3094e-04,1.5752e-03,-7.2962e-05,5.1781e-02,1.7825e-03
+15,9.7833e+00,DOWN_FORCE_DETACH,2.2366e-03,1.6478e-02,1.3582e-02,2.5006e+00,-3.7658e-02,3.7928e-02,-7.8850e-05,2.0574e-02,1.3519e-02,4.4789e-02,-8.7584e-04,1.4067e-03,-7.1354e-05,5.1109e-02,1.6586e-03
+16,1.0467e+01,DOWN_FORCE_DETACH,2.3844e-03,1.7245e-02,1.4242e-02,2.5041e+00,-3.7658e-02,3.7971e-02,-7.6312e-05,2.1340e-02,1.4178e-02,4.8316e-02,-8.7594e-04,1.4499e-03,-6.8817e-05,5.4689e-02,1.6954e-03
+17,1.1117e+01,DOWN_FORCE_DETACH,2.5340e-03,2.0061e-02,1.4728e-02,2.5087e+00,-3.7656e-02,3.8149e-02,-7.3518e-05,2.4156e-02,1.4664e-02,5.2907e-02,-8.7390e-04,1.6279e-03,-6.6023e-05,5.9981e-02,1.8488e-03
+18,1.1783e+01,DOWN_FORCE_DETACH,2.6810e-03,2.3240e-02,1.4797e-02,2.5125e+00,-3.7638e-02,3.8353e-02,-7.0452e-05,2.7335e-02,1.4734e-02,5.6664e-02,-8.5595e-04,1.8321e-03,-6.2957e-05,6.4615e-02,2.0232e-03
+19,1.2283e+01,DOWN_FORCE_DETACH,2.8338e-03,2.4577e-02,1.0753e-02,2.5157e+00,-3.7369e-02,3.8440e-02,-6.8462e-05,2.8672e-02,1.0690e-02,5.9934e-02,-5.8721e-04,1.9189e-03,-6.0967e-05,6.7294e-02,2.0077e-03
+20,1.2883e+01,DOWN_FORCE_DETACH,2.9832e-03,2.5737e-02,6.4798e-03,2.5207e+00,-3.7096e-02,3.8516e-02,-6.6418e-05,2.9833e-02,6.4165e-03,6.4914e-02,-3.1393e-04,1.9943e-03,-5.8923e-05,7.1729e-02,2.0198e-03
+21,1.3433e+01,DOWN_FORCE_DETACH,3.1281e-03,2.7733e-02,4.4949e-03,2.5286e+00,-3.6982e-02,3.8644e-02,-6.4716e-05,3.1829e-02,4.4316e-03,7.2812e-02,-2.0025e-04,2.1231e-03,-5.7221e-05,7.9589e-02,2.1333e-03
+22,1.4067e+01,DOWN_FORCE_DETACH,3.2818e-03,2.9379e-02,2.6936e-03,2.5343e+00,-3.6896e-02,3.8752e-02,-6.3122e-05,3.3475e-02,2.6303e-03,7.8502e-02,-1.1404e-04,2.2305e-03,-5.5627e-05,8.5382e-02,2.2341e-03
+23,1.4633e+01,DOWN_FORCE_DETACH,3.4305e-03,2.9747e-02,1.2659e-03,2.5368e+00,-3.6836e-02,3.8777e-02,-6.1912e-05,3.3842e-02,1.2026e-03,8.1039e-02,-5.4237e-05,2.2561e-03,-5.4417e-05,8.7829e-02,2.2574e-03
+24,1.5117e+01,DOWN_FORCE_DETACH,3.5802e-03,2.9223e-02,-1.8798e-04,2.5407e+00,-3.6770e-02,3.8744e-02,-6.0872e-05,3.3318e-02,-2.5130e-04,8.4915e-02,1.2349e-05,2.2231e-03,-5.3377e-05,9.1218e-02,2.2238e-03
+25,1.5683e+01,DOWN_FORCE_DETACH,3.7292e-03,2.8437e-02,-6.7259e-04,2.5488e+00,-3.6762e-02,3.8692e-02,-5.9682e-05,3.2533e-02,-7.3591e-04,9.3023e-02,2.0284e-05,2.1703e-03,-5.2187e-05,9.8550e-02,2.1711e-03
+26,1.6200e+01,DOWN_FORCE_DETACH,3.8757e-03,2.7949e-02,1.6981e-03,2.5586e+00,-3.6923e-02,3.8655e-02,-5.8543e-05,3.2044e-02,1.6348e-03,1.0278e-01,-1.4108e-04,2.1334e-03,-5.1048e-05,1.0767e-01,2.1386e-03
+27,1.6750e+01,DOWN_FORCE_DETACH,4.0260e-03,2.6707e-02,4.6938e-03,2.5702e+00,-3.7113e-02,3.8565e-02,-5.7785e-05,3.0803e-02,4.6305e-03,1.1438e-01,-3.3068e-04,2.0433e-03,-5.0290e-05,1.1855e-01,2.0705e-03
+28,1.7250e+01,DOWN_FORCE_DETACH,4.1753e-03,2.5865e-02,7.8143e-03,2.5828e+00,-3.7302e-02,3.8496e-02,-5.7711e-05,2.9961e-02,7.7510e-03,1.2703e-01,-5.1980e-04,1.9751e-03,-5.0216e-05,1.3075e-01,2.0429e-03
+29,1.7750e+01,DOWN_FORCE_DETACH,4.3262e-03,2.4803e-02,1.0317e-02,2.5934e+00,-3.7448e-02,3.8412e-02,-5.8273e-05,2.8898e-02,1.0254e-02,1.3756e-01,-6.6611e-04,1.8904e-03,-5.0778e-05,1.4093e-01,2.0049e-03
+30,1.8167e+01,DOWN_FORCE_DETACH,4.4725e-03,2.3922e-02,1.1627e-02,2.5992e+00,-3.7524e-02,3.8342e-02,-5.8734e-05,2.8017e-02,1.1564e-02,1.4338e-01,-7.4229e-04,1.8208e-03,-5.1239e-05,1.4655e-01,1.9670e-03
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+54,2.5850e+01,DOWN_FORCE_DETACH,8.0457e-03,3.1357e-02,4.1848e-02,2.8051e+00,-3.9368e-02,3.8585e-02,-3.5584e-05,3.5452e-02,4.1785e-02,3.4927e-01,-2.5858e-03,2.0632e-03,-2.8089e-05,3.5354e-01,3.3081e-03
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+56,2.6300e+01,DOWN_FORCE_DETACH,8.3546e-03,3.2894e-02,4.5371e-02,2.8195e+00,-3.9570e-02,3.8661e-02,-3.5606e-05,3.6990e-02,4.5308e-02,3.6370e-01,-2.7881e-03,2.1399e-03,-2.8111e-05,3.6837e-01,3.5148e-03
+57,2.6500e+01,DOWN_FORCE_DETACH,8.5071e-03,3.4092e-02,4.7030e-02,2.8256e+00,-3.9666e-02,3.8729e-02,-3.5487e-05,3.8188e-02,4.6967e-02,3.6977e-01,-2.8840e-03,2.2078e-03,-2.7992e-05,3.7469e-01,3.6322e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d8dc097a26f6e0cf392aa27ba53fd70a2ffeb932
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a824851948cccccd2ccc41be1742acc712914d9ee9aad5bbb92e7cc87bf3b8ec
+size 2744320
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dca1d7bc5d8a9bc15ac11c11d527435bfd52a74a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f9935463bf990fc9fa7ce787a2c82495919fd29d
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bab01c30ad5eb1f06e988b8a6187e07f68aaf8eb
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..04cd338e98cae20c7e99495534ff3928877358b2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.720000000e+01,UP_FORCE_HOLD,1792649097326397341,-2.186164331e-05,2.153597743e-05,7.687870946e-04,-2.214826613e-05,2.138326782e-05,7.693801077e-04,-1.979704796e-05,2.118304112e-05,7.700916076e-04,7.015160098e-01,2.308693875e-05,8.415097283e-01,7.015157232e-01,2.293422914e-05,8.415103213e-01,7.017058119e-01,2.299279197e-05,8.305507872e-01
+44,1.721666667e+01,UP_FORCE_HOLD,1792649097356988937,-3.362624552e-05,2.184700091e-05,6.884936724e-04,-3.388907204e-05,2.181506384e-05,6.889268343e-04,-3.190195736e-05,2.166423481e-05,6.908071966e-04,7.015042452e-01,2.339796223e-05,8.414294349e-01,7.015039824e-01,2.336602516e-05,8.414298680e-01,7.016937070e-01,2.347398566e-05,8.304715028e-01
+45,1.750000000e+01,UP_FORCE_HOLD,1792649097774904716,-2.781939303e-05,1.364307315e-05,6.654800449e-04,-2.456699939e-05,8.971593196e-06,6.765665496e-04,-2.245263828e-05,8.973671868e-06,6.782704450e-04,7.015100521e-01,1.519403447e-05,8.414064212e-01,7.015133045e-01,1.052255452e-05,8.414175077e-01,7.017031564e-01,1.078342272e-05,8.304589661e-01
+46,1.791666667e+01,UP_FORCE_HOLD,1792649098395710661,-3.595734548e-05,1.026466342e-05,6.815095117e-04,-2.456699939e-05,8.971593196e-06,6.765665496e-04,-2.236611082e-05,8.976648429e-06,6.779493805e-04,7.015019141e-01,1.181562474e-05,8.414224507e-01,7.015133045e-01,1.052255452e-05,8.414175077e-01,7.017032429e-01,1.078639928e-05,8.304586450e-01
+47,1.808333333e+01,UP_FORCE_HOLD,1792649098655578585,-6.394619682e-05,2.299541590e-05,7.179152964e-04,-6.386589431e-05,2.286405263e-05,7.176491736e-04,-6.205827170e-05,2.279972549e-05,7.182451151e-04,7.014739253e-01,2.454637722e-05,8.414588565e-01,7.014740056e-01,2.441501395e-05,8.414585904e-01,7.016635507e-01,2.460947634e-05,8.304989407e-01
+48,1.833333333e+01,UP_FORCE_HOLD,1792649099024597817,-5.064617118e-05,2.823257885e-05,7.798803798e-04,-4.999365861e-05,2.446972729e-05,7.641168317e-04,-4.785682672e-05,2.436536095e-05,7.641629108e-04,7.014872253e-01,2.978354017e-05,8.415208216e-01,7.014878778e-01,2.602068861e-05,8.415050580e-01,7.016777522e-01,2.617511180e-05,8.305448585e-01
+49,1.846666667e+01,UP_FORCE_HOLD,1792649099225439930,-8.048844748e-05,3.557381741e-05,8.295392865e-04,-7.978453683e-05,3.585306710e-05,8.291016089e-04,-7.781860549e-05,3.565245790e-05,8.281646241e-04,7.014573830e-01,3.712477874e-05,8.415704805e-01,7.014580869e-01,3.740402842e-05,8.415700428e-01,7.016477904e-01,3.746220875e-05,8.306088602e-01
+50,1.858333333e+01,UP_FORCE_HOLD,1792649099394693108,-6.783562067e-05,3.640184990e-05,8.633471966e-04,-6.735438468e-05,4.013762768e-05,8.563578469e-04,-6.516761063e-05,3.988410764e-05,8.552275307e-04,7.014700359e-01,3.795281122e-05,8.416042884e-01,7.014705171e-01,4.168858900e-05,8.415972990e-01,7.016604414e-01,4.169385850e-05,8.306359231e-01
+51,1.890000000e+01,UP_FORCE_HOLD,1792649099875387157,-7.877540538e-05,3.544611282e-05,9.269842435e-04,-6.729409951e-05,3.678706041e-05,9.180271042e-04,-6.490354900e-05,3.656222846e-05,9.163702864e-04,7.014590961e-01,3.699707415e-05,8.416679254e-01,7.014705774e-01,3.833802173e-05,8.416589683e-01,7.016607054e-01,3.837197932e-05,8.306970659e-01
+52,1.916666667e+01,UP_SETTLE,1792649100279148343,-9.416570329e-05,3.899828676e-05,9.850529390e-04,-9.615968949e-05,3.605826986e-05,9.722208403e-04,-9.411949475e-05,3.590955157e-05,9.701468314e-04,7.014437058e-01,4.054924808e-05,8.417259941e-01,7.014417118e-01,3.760923118e-05,8.417131620e-01,7.016314895e-01,3.771930242e-05,8.307508424e-01
+53,1.946666667e+01,UP_SETTLE,1792649100724918636,-1.037003751e-04,3.944776783e-05,1.047728906e-03,-9.988467100e-05,3.534933626e-05,1.042162225e-03,-9.774045010e-05,3.514948221e-05,1.039666063e-03,7.014341711e-01,4.099872915e-05,8.417886701e-01,7.014379868e-01,3.690029758e-05,8.417831034e-01,7.016278685e-01,3.695923306e-05,8.308203617e-01
+54,1.976666667e+01,UP_SETTLE,1792649101174177310,-1.040216571e-04,4.057960236e-05,1.107069259e-03,-1.024708421e-04,4.218477257e-05,1.089563959e-03,-1.003129424e-04,4.189555361e-05,1.087034172e-03,7.014338498e-01,4.213056368e-05,8.418480104e-01,7.014354006e-01,4.373573389e-05,8.418305051e-01,7.016252960e-01,4.370530446e-05,8.308677298e-01
+55,2.010000000e+01,UP_SETTLE,1792649101675299728,-1.049865976e-04,4.295807148e-05,1.169860429e-03,-1.030603290e-04,4.578923117e-05,1.160951941e-03,-1.007403594e-04,4.546086494e-05,1.158018738e-03,7.014328849e-01,4.450903280e-05,8.419108016e-01,7.014348112e-01,4.734019249e-05,8.419018931e-01,7.016248686e-01,4.727061580e-05,8.309387144e-01
+56,2.045000000e+01,UP_SETTLE,1792649102192713928,-1.028321262e-04,4.413927709e-05,1.224904153e-03,-1.026299266e-04,4.432052002e-05,1.224710686e-03,-1.001000535e-04,4.397590457e-05,1.221668776e-03,7.014350394e-01,4.569023841e-05,8.419658453e-01,7.014352416e-01,4.587148134e-05,8.419656519e-01,7.016255089e-01,4.578565542e-05,8.310023644e-01
+57,2.083333333e+01,UP_SETTLE,1792649102774864312,-1.014255455e-04,4.673063059e-05,1.267704238e-03,-1.005471909e-04,4.899589489e-05,1.266708364e-03,-9.784210857e-05,4.861918475e-05,1.263810248e-03,7.014364459e-01,4.828159191e-05,8.420086454e-01,7.014373243e-01,5.054685621e-05,8.420076496e-01,7.016277669e-01,5.042893560e-05,8.310445059e-01
+58,2.108333333e+01,UP_SETTLE,1792649103155783882,-9.749787670e-05,4.925758015e-05,1.291460049e-03,-9.741375223e-05,4.918847879e-05,1.291415183e-03,-9.459455506e-05,4.882901318e-05,1.288595464e-03,7.014403736e-01,5.080854147e-05,8.420324012e-01,7.014404577e-01,5.073944011e-05,8.420323564e-01,7.016310144e-01,5.063876403e-05,8.310692911e-01
+59,2.145000000e+01,UP_SETTLE,1792649103694056055,-9.854131248e-05,4.602104606e-05,1.307031381e-03,-9.741375223e-05,4.918847879e-05,1.291415183e-03,-9.459046055e-05,4.882581017e-05,1.289225279e-03,7.014393302e-01,4.757200738e-05,8.420479726e-01,7.014404577e-01,5.073944011e-05,8.420323564e-01,7.016310185e-01,5.063556102e-05,8.310699209e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a6ce39f19c0e91d4b3fff95a0b690f403b217440
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-4.0594e-03,1.1268e-04,2.4558e+00,-3.6785e-02,3.6524e-02,-7.6007e-06,3.6143e-05,4.9362e-05,-2.3842e-06,-3.2112e-06,2.2948e-06,-1.0549e-07,6.1226e-05,3.9483e-06
+1,5.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,9.5418e-05,2.7885e-03,5.8077e-03,2.4608e+00,-3.7297e-02,3.7049e-02,-1.5389e-04,6.8841e-03,5.7443e-03,5.0037e-03,-5.1518e-04,5.2804e-04,-1.4639e-04,1.0268e-02,7.5211e-04
+2,8.5000e-01,WAIT_W2,1.9026e-04,4.5289e-03,5.8002e-03,2.4606e+00,-3.7291e-02,3.7158e-02,-1.5390e-04,8.6244e-03,5.7369e-03,4.7860e-03,-5.0951e-04,6.3673e-04,-1.4641e-04,1.1410e-02,8.2853e-04
+3,1.3500e+00,WAIT_W2,2.8504e-04,1.3223e-02,5.7392e-03,2.4624e+00,-3.7272e-02,3.7710e-02,-1.5291e-04,1.7318e-02,5.6759e-03,6.5558e-03,-4.9017e-04,1.1883e-03,-1.4542e-04,1.9368e-02,1.2936e-03
+4,1.8500e+00,WAIT_W2,3.8107e-04,1.5543e-02,1.7172e-02,2.4639e+00,-3.8077e-02,3.7902e-02,-1.2796e-04,1.9638e-02,1.7109e-02,8.1422e-03,-1.2955e-03,1.3801e-03,-1.2046e-04,2.7289e-02,1.8967e-03
+5,2.2500e+00,WAIT_W2,4.7520e-04,1.8791e-02,1.7558e-02,2.4639e+00,-3.8112e-02,3.8142e-02,-9.4061e-05,2.2887e-02,1.7495e-02,8.1108e-03,-1.3300e-03,1.6210e-03,-8.6566e-05,2.9927e-02,2.0986e-03
+6,2.7000e+00,UP_FORCE_RAMP,5.6973e-04,2.0185e-02,1.6527e-02,2.4663e+00,-3.8046e-02,3.8226e-02,-9.3651e-05,2.4281e-02,1.6464e-02,1.0481e-02,-1.2643e-03,1.7049e-03,-8.6155e-05,3.1152e-02,2.1243e-03
+7,3.1500e+00,UP_FORCE_RAMP,6.6560e-04,1.4476e-02,1.6011e-02,2.4560e+00,-3.8019e-02,3.7859e-02,-9.1983e-05,1.8572e-02,1.5947e-02,2.4295e-04,-1.2375e-03,1.3373e-03,-8.4488e-05,2.4481e-02,1.8240e-03
+8,3.5000e+00,UP_FORCE_RAMP,7.5905e-04,1.5402e-02,1.6117e-02,2.4550e+00,-3.8028e-02,3.7916e-02,-9.1618e-05,1.9498e-02,1.6054e-02,-8.3017e-04,-1.2456e-03,1.3951e-03,-8.4123e-05,2.5270e-02,1.8721e-03
+9,3.8833e+00,UP_FORCE_RAMP,8.5545e-04,2.1402e-02,1.6417e-02,2.4368e+00,-3.8054e-02,3.8306e-02,-8.9766e-05,2.5498e-02,1.6354e-02,-1.8957e-02,-1.2725e-03,1.7849e-03,-8.2271e-05,3.5734e-02,2.1936e-03
+10,4.2833e+00,UP_FORCE_RAMP,9.4830e-04,2.2277e-02,1.4257e-02,2.4353e+00,-3.7917e-02,3.8367e-02,-8.9365e-05,2.6372e-02,1.4194e-02,-2.0524e-02,-1.1356e-03,1.8454e-03,-8.1870e-05,3.6307e-02,2.1683e-03
+11,4.6833e+00,UP_FORCE_RAMP,1.0453e-03,2.3395e-02,1.3465e-02,2.4327e+00,-3.7869e-02,3.8444e-02,-8.8731e-05,2.7490e-02,1.3401e-02,-2.3111e-02,-1.0872e-03,1.9225e-03,-8.1236e-05,3.8333e-02,2.2101e-03
+12,5.0833e+00,UP_FORCE_RAMP,1.1420e-03,2.5304e-02,1.2070e-02,2.4297e+00,-3.7782e-02,3.8573e-02,-8.7923e-05,2.9400e-02,1.2007e-02,-2.6127e-02,-1.0004e-03,2.0519e-03,-8.0427e-05,4.1123e-02,2.2842e-03
+13,5.4833e+00,UP_FORCE_RAMP,1.2348e-03,2.6856e-02,1.1089e-02,2.4261e+00,-3.7723e-02,3.8680e-02,-8.6983e-05,3.0952e-02,1.1026e-02,-2.9697e-02,-9.4086e-04,2.1587e-03,-7.9488e-05,4.4289e-02,2.3561e-03
+14,5.9500e+00,UP_FORCE_RAMP,1.3298e-03,2.9053e-02,9.1306e-03,2.4240e+00,-3.7601e-02,3.8830e-02,-8.5683e-05,3.3148e-02,9.0673e-03,-3.1818e-02,-8.1936e-04,2.3083e-03,-7.8188e-05,4.6834e-02,2.4507e-03
+15,6.3833e+00,UP_FORCE_RAMP,1.4244e-03,3.0925e-02,8.2210e-03,2.4217e+00,-3.7549e-02,3.8959e-02,-8.4019e-05,3.5020e-02,8.1577e-03,-3.4104e-02,-7.6660e-04,2.4375e-03,-7.6524e-05,4.9558e-02,2.5564e-03
+16,6.7833e+00,UP_FORCE_RAMP,1.5211e-03,3.2421e-02,7.5740e-03,2.4194e+00,-3.7512e-02,3.9063e-02,-8.2277e-05,3.6516e-02,7.5106e-03,-3.6421e-02,-7.3053e-04,2.5418e-03,-7.4782e-05,5.2118e-02,2.6457e-03
+17,7.1500e+00,UP_FORCE_RAMP,1.6257e-03,3.3946e-02,6.0330e-03,2.4173e+00,-3.7418e-02,3.9169e-02,-8.0567e-05,3.8041e-02,5.9697e-03,-3.8512e-02,-6.3639e-04,2.6477e-03,-7.3072e-05,5.4460e-02,2.7241e-03
+18,7.3333e+00,UP_FORCE_RAMP,1.7097e-03,3.5028e-02,8.8540e-03,2.4159e+00,-3.7605e-02,3.9243e-02,-7.9274e-05,3.9124e-02,8.7907e-03,-3.9914e-02,-8.2342e-04,2.7219e-03,-7.1779e-05,5.6578e-02,2.8446e-03
+19,7.7333e+00,UP_FORCE_RAMP,1.8064e-03,3.7899e-02,9.6902e-03,2.4132e+00,-3.7667e-02,3.9439e-02,-7.6744e-05,4.1994e-02,9.6268e-03,-4.2559e-02,-8.8543e-04,2.9172e-03,-6.9249e-05,6.0560e-02,3.0494e-03
+20,8.1500e+00,UP_FORCE_RAMP,1.9028e-03,4.0008e-02,1.0177e-02,2.4101e+00,-3.7708e-02,3.9585e-02,-7.4175e-05,4.4103e-02,1.0114e-02,-4.5692e-02,-9.2611e-04,3.0636e-03,-6.6680e-05,6.4305e-02,3.2012e-03
+21,8.5333e+00,UP_FORCE_RAMP,1.9971e-03,4.1027e-02,1.0075e-02,2.4077e+00,-3.7710e-02,3.9660e-02,-7.1849e-05,4.5123e-02,1.0012e-02,-4.8070e-02,-9.2803e-04,3.1390e-03,-6.4354e-05,6.6686e-02,3.2740e-03
+22,8.9167e+00,UP_FORCE_RAMP,2.0890e-03,4.1729e-02,9.7922e-03,2.4050e+00,-3.7700e-02,3.9716e-02,-6.9373e-05,4.5824e-02,9.7289e-03,-5.0798e-02,-9.1836e-04,3.1947e-03,-6.1878e-05,6.9101e-02,3.3247e-03
+23,9.2333e+00,UP_FORCE_RAMP,2.1882e-03,4.4820e-02,9.4354e-03,2.4041e+00,-3.7683e-02,3.9925e-02,-6.7384e-05,4.8916e-02,9.3721e-03,-5.1667e-02,-9.0154e-04,3.4036e-03,-5.9889e-05,7.1764e-02,3.5215e-03
+24,9.6167e+00,UP_FORCE_RAMP,2.2807e-03,4.7751e-02,8.8510e-03,2.4014e+00,-3.7652e-02,4.0127e-02,-6.4842e-05,5.1846e-02,8.7877e-03,-5.4444e-02,-8.7029e-04,3.6053e-03,-5.7347e-05,7.5693e-02,3.7093e-03
+25,1.0017e+01,UP_FORCE_RAMP,2.3741e-03,4.9439e-02,8.2397e-03,2.3963e+00,-3.7618e-02,4.0250e-02,-6.2220e-05,5.3535e-02,8.1764e-03,-5.9500e-02,-8.3559e-04,3.7291e-03,-5.4725e-05,8.0455e-02,3.8220e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2355200
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..97a98a2721ec5be492016cdb0e19b971f0b9a0e8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a8ab7065bfaa39cbf1c87004f8931963c992a2d0
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
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+77979,1792649196107542958,17736411000000,1792649196100658753,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760333001806814,-0.00445953154502527,0.09075174151406103,0.9999999752329212,0.00016607530489818207,-0.00010138077388637769,5.583863493865586e-05,0.6761,-0.0045,0.0908041244175693,1.0,0.0,0.0,0.0,-0.029324582478100297,-0.0027226731554632067,0.17382319168287952,-0.0003275058576285173,0.0027868414017727765,-8.570403148048297e-05,0.16799800547531588,-0.22093365212138982,0.6892404825005332,-0.00903649545477684,-0.011111616114480985,-0.0008129127650304906,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.5730459243867176,-0.34351065631965233,0.45202480012279744,0.3780457540307925,-0.1557762213907031,-0.2861367072830436,0.9848723482038328,0.17382319168287952,0.5328475480810354,0.5328475480810354,0.5808518535168885,0,0,-2.2761795388818957e-05,-9.700616285102654e-05
+78099,1792649197107624660,17737411000000,1792649197104668266,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760356741884846,-0.004455335970829475,0.09073300337545488,0.9999999750601597,0.00016976146581120177,-9.551454662455101e-05,5.814258609336485e-05,0.6761,-0.0045,0.09077688436550505,1.0,0.0,0.0,0.0,-0.04627562684989939,0.0005441485954384706,0.20425333357441589,0.00045841382610663055,0.0033768401279368927,-0.0001020278440031409,0.15104696110351679,-0.21766683037048815,0.7196706243920695,-0.008250575771041692,-0.010521617388316869,-0.0008292365775531485,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.5777900559175438,-0.3398509782846294,0.2729115275552634,0.37872308371845353,-0.04353764513807619,-0.27814976816516873,0.9848723482038328,0.20425333357441589,0.7119608206485695,0.7119608206485695,0.650851853516903,0,0,-2.9933590929538727e-05,9.999897718072077e-05
+78211,1792649198041577281,17738345000000,1792649198040668483,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760374293857926,-0.004456674085349749,0.09070968578683901,0.9999999762266861,0.00016390031943158803,-9.214891358641957e-05,6.028892284577828e-05,0.6761,-0.0045,0.09074215877923018,1.0,0.0,0.0,0.0,-0.056213615032243425,-0.008878274373440631,0.24421943249876232,0.0002471637529779299,0.003774478769948939,-0.00012602598184877187,0.14110897292117275,-0.22708925333936725,0.759636723316416,-0.008461825844170393,-0.010123978746304822,-0.0008532347153987795,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.5800449281283778,-0.3613444019328291,0.27318983439386396,0.39447373715910355,-0.04929407932080958,-0.27727102549191424,0.9848723482038328,0.24421943249876232,0.7116825138099689,0.7116825138099689,0.7162318535169165,0,0,-4.43294795773611e-05,9.375036444237423e-05
+78319,1792649198941705950,17739245000000,1792649198940659247,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760399362651432,-0.004454704566808507,0.09068316687911773,0.9999999764122135,0.00016353063200034442,-8.777791344182387e-05,6.458488165766952e-05,0.6761,-0.0045,0.09070132522572323,1.0,0.0,0.0,0.0,-0.0635100870454273,0.003831696691623837,0.3145632029163967,0.0006118490780276948,0.004734136971321981,-0.00016124683581709726,0.13381250090798888,-0.21437928227430278,0.8299804937340504,-0.008097140519120628,-0.00916432054493178,-0.0008884555693671049,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.5481240018983266,-0.3967483999791418,0.27499780891761655,0.41592860721626695,-0.059552318460667525,-0.2942873127868802,0.9848723482038328,0.3145632029163967,0.7098745392862162,0.7098745392862162,0.7792318535169296,0,0,-4.3995017170961106e-05,-4.601113929836599e-05
+78425,1792649199824720639,17740128000000,1792649199820658861,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760495653930161,-0.004458586054135199,0.0906610266007325,0.9999999762162495,0.00016860467678555632,-7.330698795004731e-05,7.21728022890233e-05,0.6761,-0.0045,0.09066061742212593,1.0,0.0,0.0,0.0,-0.07366148483988644,0.012950696062508232,0.3452761506361075,0.001597249337122516,0.005750516289978712,-0.00015944526431869955,0.12366110311352974,-0.20526028290341838,0.8606934414537611,-0.0071117402600258065,-0.00814794122627505,-0.0008866539978687072,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.595844818751035,-0.27151038640515696,0.23865256827261525,0.3807634026696193,-0.027981904196089025,-0.21104640749105594,0.9848723482038328,0.3452761506361075,0.7462197799312176,0.7462197799312176,0.8410418535169424,0,0,-4.8766841477558505e-05,-9.999017866325061e-05
+78521,1792649200624750357,17740928000000,1792649200620659282,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760696872057788,-0.004456233648194727,0.0906374664756199,0.9999999775918095,0.0001669387041232739,-5.0091671208144585e-05,7.669118817821558e-05,0.6761,-0.0045,0.09061688688754262,1.0,0.0,0.0,0.0,-0.12114742227951063,0.040931549029897624,0.3861037624672031,0.004708470722625913,0.008722343503610966,-0.00011510048442540857,0.07617516567390555,-0.177279429936029,0.9015210532848568,-0.004000518874522409,-0.0051761140126427956,-0.0008423092179754162,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.6713462684204121,-0.29317692643959675,0.1900815470045849,0.380744857160495,0.011814669106800754,-0.22783537093286754,0.9848723482038328,0.3861037624672031,0.7947908011992479,0.7947908011992479,0.897041853516954,0,0,-5.675446523442507e-05,-9.739510173212835e-05
+78641,1792649201624719335,17741928000000,1792649201624659358,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760712887613727,-0.004455391752200471,0.09059134269008615,0.9999999770812885,0.00016755492555935815,-4.3348232205826784e-05,8.559535336371032e-05,0.6761,-0.0045,0.09056556163142623,1.0,0.0,0.0,0.0,-0.11955791675466254,0.06186954782042753,0.4666996380671625,0.005350881683400735,0.008770145084433254,-0.0001693474903805269,0.07776467119875363,-0.1563414311454991,0.9821169288848162,-0.0033581079137475875,-0.005128312431820508,-0.0008965562239305346,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.6692030395882347,-0.41792473880567915,0.10193845911993284,0.42565534266013905,0.06487646486236807,-0.304333826245082,0.9848723482038328,0.4666996380671625,0.8829338890839,0.8829338890839,0.9670418535169685,0,0,-4.242546165353212e-05,-9.94142227136507e-05
+78761,1792649202624830769,17742928000000,1792649202624659409,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760727388084332,-0.004458403474033256,0.09055964089799075,0.9999999760687722,0.0001702055386368497,-3.854506709298204e-05,9.407269284488458e-05,0.6761,-0.0045,0.09052448135310705,1.0,0.0,0.0,0.0,-0.12307885378260272,0.06245556294986984,0.5068069619959908,0.005549468911788068,0.009468267906117812,-0.00018725062975625238,0.07424373417081345,-0.15575541601605677,1.0222242528136445,-0.0031595206853602545,-0.00443018961013595,-0.00091445936330626,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.6873809821349997,-0.43514024899851056,-0.09097198495512931,0.423288794208439,0.19232540197752362,-0.31823650098790385,0.9848723482038328,0.5068069619959908,1.0758443331589622,1.0758443331589622,1.037041853516983,0,0,-4.175205595560871e-05,9.805078557268416e-05
+78881,1792649203624828939,17743928000000,1792649203624658610,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760742174853489,-0.004453918491044083,0.09051974218904658,0.9999999746887082,0.00017550469899975236,-3.520180496217382e-05,0.0001001218292640467,0.6761,-0.0045,0.09047647356742802,1.0,0.0,0.0,0.0,-0.12382830066547965,0.06974012228224191,0.5601224584026786,0.006443907105207646,0.00869920436870943,-0.00023226511083945627,0.07349428728793653,-0.1484708566836847,1.0755397492203322,-0.0022650824919406764,-0.005199253147544332,-0.0009594738443894639,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.7509029344708694,-0.28537736156447824,-0.08359059593958651,0.3830077350252573,0.20419135010353723,-0.21723456865529556,0.9848723482038328,0.5601224584026786,1.0684629441434192,1.0684629441434192,1.1070418535169975,0,0,-4.9546119447437025e-05,9.42097330966007e-05
+78991,1792649204541874966,17744845000000,1792649204540658778,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760793633075242,-0.004456233889230041,0.09048013207645245,0.9999999742878071,0.00017425724286061252,-2.8975963976934967e-05,0.00010799100142156416,0.6761,-0.0045,0.09042939355942252,1.0,0.0,0.0,0.0,-0.13230705471179185,0.06159430872264979,0.6167135976653854,0.005895812238248662,0.00964691142261013,-0.00027662814420514013,0.06501553324162432,-0.15661667024327683,1.132130888483039,-0.00281317735889966,-0.004251546093643631,-0.0010038368777551478,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.6744096879683908,-0.33125636884188087,-0.1314805374391012,0.3963595749673758,0.21125104886128174,-0.24747729800853563,0.9848723482038328,0.6167135976653854,1.1163528856429341,1.1163528856429341,1.1712318535170108,0,0,-5.3425728081786576e-05,5e-05
+79087,1792649205341927777,17745645000000,1792649205336659041,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.676084574918019,-0.004435554511832535,0.09043931231187595,0.9999999937613134,6.083366498443119e-05,-1.1997477065774225e-05,8.692714986439074e-06,0.6761,-0.0045,0.09038798396251069,1.0,0.0,0.0,0.0,-0.10598531342193226,0.10871459602312077,0.6713086444804278,0.008416800549528937,0.007563276981466494,0.0007098353428950025,0.09133727453148391,-0.10949638294280585,1.1867259352980815,-0.00029218904761938586,-0.006335180534787268,-1.737339065500517e-05,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.6590045155299251,-0.23748829411418945,0.05459219485380436,0.24696865775546736,0.11559011339565615,-0.1603642296652597,0.9848723482038328,0.6713086444804278,0.9302801533500284,0.9302801533500284,1.2272318535170224,0,0,-5.3582674501588496e-05,-9.999999025923074e-05
+79197,1792649206257896700,17746561000000,1792649206252659164,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760890626827188,-0.004445180027536606,0.09039301116677244,0.9999999931572645,6.747960804258714e-05,-4.103088882567987e-06,2.362207731576111e-05,0.6761,-0.0045,0.09032629690516868,1.0,0.0,0.0,0.0,-0.10644094545624103,0.11200122381036737,0.7293793163389074,0.008612637227106253,0.007552166402371796,0.0006654645900364466,0.09088164249717515,-0.10620975515555925,1.244796607156561,-9.63523700420695e-05,-0.006346291113881965,-6.1744143513561e-05,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8213932644601609,-0.22011323735295898,-0.2631023819457833,0.2622690801622665,0.35557035351527105,-0.14238867334780658,0.9848723482038328,0.7293793163389074,1.247974730149616,1.247974730149616,1.2913518535170356,0,0,-7.214207885655887e-05,9.999489711110527e-05
+79305,1792649207158003349,17747461000000,1792649207152659079,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760886005179592,-0.004448945092901416,0.09033312348634931,0.9999999917407518,7.909233946897156e-05,-7.347266787949601e-06,4.064210070451588e-05,0.6761,-0.0045,0.09026207539864257,1.0,0.0,0.0,0.0,-0.1067283430005007,0.10487690720302414,0.8058601474715591,0.00859781985236163,0.007563020554072329,0.00040590369401094284,0.09059424495291547,-0.11333407176290247,1.3212774382892127,-0.0001111697447866919,-0.0063354369621814325,-0.0003213050395390648,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.7926998776540111,-0.385022111340028,-0.34448051316771294,0.34872509255226686,0.38931017883497937,-0.2630726402065005,0.9848723482038328,0.8058601474715591,1.3293528613715457,1.3293528613715457,1.3543518535170487,0,0,-6.818873557881832e-05,9.999929636984035e-05
+79428,1792649208182935461,17748486000000,1792649208176659050,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760860237007823,-0.004456455889447488,0.09027283866457722,0.9999999899666046,8.921861554806568e-05,-1.2772890149287011e-05,5.819404780277102e-05,0.6761,-0.0045,0.09020021737507011,1.0,0.0,0.0,0.0,-0.09876172182874857,0.09966425358938126,0.8497430832674212,0.008537169274680649,0.00754562693196117,0.0005691346188652142,0.0985608661246676,-0.11854672537654536,1.3651603740850748,-0.00017182032246767294,-0.006352830584292591,-0.00015807411468479345,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.7601974660439704,-0.2569256725612009,-0.2724917842224057,0.3577968170525002,0.32613664366189976,-0.18804069372953472,0.9848723482038328,0.8497430832674212,1.2573641324262386,1.2573641324262386,1.4261018535170635,0,0,-5.6513072037327146e-05,-9.993028213107209e-05
+79536,1792649209082977771,17749386000000,1792649209076659630,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6760895874034584,-0.0044545626367818525,0.09022901526732494,0.9999999880295862,0.00010116345116051955,-8.749778572947463e-06,7.122562295487246e-05,0.6761,-0.0045,0.09014915444969404,1.0,0.0,0.0,0.0,-0.11268367780611094,0.09677828985751731,0.8697595994187118,0.00858385680300907,0.007523305295581993,0.0005512784498187172,0.08463891014730524,-0.1214326891084093,1.3851768902363655,-0.00012513279413925337,-0.0063751522206717684,-0.00017593028373129047,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.7996877552344912,-0.30552697605397344,-0.42667181450586117,0.4060850526495827,0.4289893436046443,-0.22870875192403425,0.9848723482038328,0.8697595994187118,1.411544162709694,1.411544162709694,1.4891018535170766,0,0,-5.9335807414976106e-05,5.096387727079142e-05
+79656,1792649210083008398,17750386000000,1792649210080658993,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.676092541432013,-0.004460253935616509,0.09016867963300573,0.9999999869997779,0.00010289976701258019,-3.713777372481136e-06,8.271127044963761e-05,0.6761,-0.0045,0.09008441416368496,1.0,0.0,0.0,0.0,-0.11560413155244285,0.10774926469255719,0.8898116512709943,0.008554203789877663,0.008524877345996242,0.0005502898119683677,0.08171845640097332,-0.11046171427336943,1.405228942088648,-0.00015478580727066015,-0.00537358017025752,-0.00017691892158163994,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8316850869360053,-0.24179779688685052,-0.5224708974855509,0.4050266875983725,0.4880725825393796,-0.18859573682449476,0.9848723482038328,0.8898116512709943,1.5073432456893836,1.5073432456893836,1.559101853517091,0,0,-7.17600984092862e-05,9.998458591476406e-05
+79759,1792649210942101310,17751245000000,1792649210936658932,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6760975283283046,-0.004453369321056054,0.09010668196222985,0.9999999949052709,2.8646259989432164e-05,8.829066766695015e-06,2.7088039882838594e-05,0.6761,-0.0045,0.0900164222206964,1.0,0.0,0.0,0.0,-0.0818376994864251,0.14815131829681288,0.9377003644515883,0.011591852228034532,0.006045377095096137,0.0005083394386797897,0.11548488846699108,-0.07005966066911375,1.453117655269242,0.0028828626308862095,-0.007853080421157625,-0.00021886929487021796,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8379218780743609,-0.2790693452150524,-0.4281974596227184,0.39692979138338597,0.43463021769702703,-0.20317827036945496,0.9848723482038328,0.9377003644515883,1.4130698078265511,1.4130698078265511,1.6192318535171035,0,0,-8.771991717312767e-05,-9.999847758035969e-05
+79863,1792649211808173026,17752111000000,1792649211800668597,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.676099628199833,-0.0044539918230347645,0.09003442070028145,0.9999999940010529,3.997827533192551e-05,8.443990284382727e-06,4.20855702480378e-05,0.6761,-0.0045,0.08994019120871068,1.0,0.0,0.0,0.0,-0.08938133222936855,0.13388347969367306,0.9710629868451269,0.010607563436647717,0.006447625877425479,0.0004795678546285832,0.10794125572404763,-0.08432749927225355,1.4864802776627806,0.0018985738394993936,-0.007450831638828283,-0.00024764087892142445,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8524417163265186,-0.2795840569257121,-0.5203819963237737,0.4308817556094355,0.4907736805279938,-0.21004280029816974,0.9848723482038328,0.9710629868451269,1.5052543445276065,1.5052543445276065,1.679851853517116,0,0,-9.06213794380203e-05,-9.545723519822075e-05
+79960,1792649212617154558,17752920000000,1792649212612668758,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761003697309302,-0.004457168169330363,0.08996297943034048,0.9999999809411328,0.00016290036465128825,1.0756539406071287e-05,5.392926997504732e-05,0.6761,-0.0045,0.08986280816660677,1.0,0.0,0.0,0.0,-0.0893653110919064,0.13313486722587742,0.991088414896162,0.010496312600374022,0.006445608338692986,0.00046191693239067236,0.10795727686150977,-0.0850761117400492,1.5065057057138156,0.0017873230032257003,-0.007452849177560775,-0.0002652918011593353,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8277709861741317,-0.21625628557468624,-0.5573692887567712,0.3918437046981757,0.5101164571264463,-0.2194695082161413,0.9848723482038328,0.991088414896162,1.542241636960604,1.542241636960604,1.7364818535171278,0,0,-0.00010322089937927904,-9.999944902550623e-05
+80035,1792649213242149543,17753545000000,1792649213240658787,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761068112941635,-0.004457295705680642,0.08990385972827025,0.9999999807585886,0.00015967262015544688,1.9350668766899548e-05,6.368589020967455e-05,0.6761,-0.0045,0.08979484102566827,1.0,0.0,0.0,0.0,-0.09812222879579144,0.1243079471274742,1.0107334080880999,0.00960083032049308,0.007389389516555772,0.0004496943142101977,0.09920035915762473,-0.09390303183845242,1.5261506989057536,0.0008918407233447572,-0.00650906799969799,-0.00027751441933981,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9061602405706245,-0.2122683440154544,-0.6476342508993569,0.40662132052736105,0.584918079830444,-0.195562264056612,0.9848723482038328,1.0107334080880999,1.6325065991031897,1.6325065991031897,1.7802318535171369,0,0,-0.00011328176572203563,3.1858761488595635e-05
+80119,1792649213942238942,17754245000000,1792649213940659005,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761096686907996,-0.004462413304950175,0.0898273541962502,0.9999999821751883,0.00014546328824020717,2.2394937164023003e-05,7.36979380962163e-05,0.6761,-0.0045,0.08971251020414023,1.0,0.0,0.0,0.0,-0.0891348943787839,0.1238371125147472,1.040604769555539,0.009598380907470493,0.006675071213465094,0.0004205453203518659,0.10818769357463227,-0.09437386645117941,1.5560220603731925,0.0008893913103221701,-0.0072233863027886674,-0.00030666341319814176,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9116832592146218,-0.2818120131543893,-0.7365364914169948,0.43798464462014947,0.6385099313140228,-0.22062156413470083,0.9848723482038328,1.040604769555539,1.7214088396208278,1.7214088396208278,1.829231853517147,0,0,-0.00012115759267097991,9.991558555378361e-05
+80211,1792649214708218882,17755011000000,1792649214704669232,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761129884587684,-0.0044589924470198284,0.08973944558879356,0.9999999859330627,0.00012131745423302155,2.825132496732802e-05,6.372344018821139e-05,0.6761,-0.0045,0.08961773168171473,1.0,0.0,0.0,0.0,-0.08599286555905204,0.12636681954136347,1.0512410020403489,0.010248002065818808,0.0064347566958564755,0.00041311773784493804,0.11132972239436413,-0.09184415942456313,1.5666582928580026,0.0015390124686704856,-0.007463700820397286,-0.0003140909957050696,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8715700798843806,-0.2641228249626189,-0.6713012563207125,0.45369622612595745,0.5812170073615979,-0.19712558506884886,0.9848723482038328,1.0512410020403489,1.6561736045245454,1.6561736045245454,1.8828518535171581,0,0,-0.00012800266653153892,-9.303624123735971e-05
+80299,1792649215442257862,17755745000000,1792649215440659129,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761146112200987,-0.004464026208358419,0.08964257470334853,0.999999986969007,0.00010779425199608314,2.982801484523517e-05,7.067912655650438e-05,0.6761,-0.0045,0.08951909337874124,1.0,0.0,0.0,0.0,-0.08920195376675116,0.11521713809516243,1.0810096260764541,0.009592072925482276,0.006486880042155459,0.0003799198786294464,0.10812063418666501,-0.10299384087076419,1.5964269168941077,0.0008830833283339538,-0.007411577474098302,-0.0003472888549205612,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8439726333746802,-0.2915351052568234,-0.706785837059442,0.4640648394455619,0.593306394787059,-0.21243246929902462,0.9848723482038328,1.0810096260764541,1.6916581852632748,1.6916581852632748,1.9342318535171688,0,0,-0.00014091536134771954,-9.973434164501355e-05
+80389,1792649216192289190,17756495000000,1792649216188659687,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761155594032452,-0.004467782661353216,0.08953738263997843,0.9999999879683361,9.745376674660467e-05,3.0045717845111357e-05,7.145775092555212e-05,0.6761,-0.0045,0.08941061290229539,1.0,0.0,0.0,0.0,-0.08364660582837512,0.11177506898811455,1.1090506026337703,0.009582614374848206,0.006438151098083696,0.00034931242822683356,0.11367598212504106,-0.10643590997781206,1.624467893451424,0.0008736247776998828,-0.007460306418170065,-0.0003778963053231741,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.902236398271447,-0.31873935297871686,-0.7746606960337306,0.48344318787286983,0.6513855523223835,-0.22628485278694302,0.9848723482038328,1.1090506026337703,1.7595330442375634,1.7595330442375634,1.9867318535171796,0,0,-0.0001484608696769848,-5.4489367211313324e-05
+80473,1792649216892278558,17757195000000,1792649216884659181,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761174818481039,-0.004466714402268324,0.08942648924735958,0.9999999881363129,9.769002216926597e-05,3.362684740352285e-05,6.705321324543091e-05,0.6761,-0.0045,0.08930333890530356,1.0,0.0,0.0,0.0,-0.08685546516625473,0.09257516692943865,1.1365838521513445,0.007914355519400848,0.006415644422013211,0.00031561787154036757,0.11046712278716145,-0.12563581203648796,1.6520011429689982,-0.0007946340777474736,-0.007482813094240551,-0.0004115908620096401,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8889995893577787,-0.265867865013457,-0.843731647435919,0.4843829639631828,0.6912444863328766,-0.18875726869828185,0.9848723482038328,1.1365838521513445,1.8286039956397517,1.8286039956397517,2.0357318535171895,0,0,-0.00015745829722438464,9.961571431483236e-05
+80552,1792649217550338700,17757853000000,1792649217548658742,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761155836875014,-0.004471465517678602,0.08932156835411792,0.9999999897036925,8.698089074798248e-05,3.168439788200352e-05,5.887191910416205e-05,0.6761,-0.0045,0.08919631750417155,1.0,0.0,0.0,0.0,-0.0696859719422642,0.09467731711789135,1.1583543617502503,0.0075638920057173094,0.005452480082998748,0.00028042445531684384,0.12763661601115198,-0.12353366184803527,1.673771652567904,-0.001145097591431013,-0.008445977433255014,-0.0004467842782331638,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8863126932124642,-0.24148625946148342,-0.9379389153357777,0.48599987201200134,0.7490678923861936,-0.17335491129565261,0.9848723482038328,1.1583543617502503,1.9228112635396104,1.9228112635396104,2.081791853517199,0,0,-0.00016667840716380754,9.999389791038311e-05
+80627,1792649218175295571,17758478000000,1792649218172658985,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761149687797745,-0.004473640046497556,0.08920984224086251,0.999999988292399,9.658432135257488e-05,2.819462741472139e-05,6.880841553692683e-05,0.6761,-0.0045,0.08908854485515212,1.0,0.0,0.0,0.0,-0.07728179564426663,0.0769999192976997,1.1801497886763732,0.006565551508146377,0.006255682429344102,0.00026463891184744237,0.12004079230914955,-0.14121105966822692,1.6955670794940267,-0.0021434380890019457,-0.007642775086909659,-0.0004625698217025653,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8952924293849812,-0.31221909937733533,-0.8527394643091774,0.5112699940200299,0.6937207077460141,-0.21866275551355585,0.9848723482038328,1.1801497886763732,1.83761181251301,1.83761181251301,2.125541853517208,0,0,-0.00017935241699715133,-9.999999025923074e-05
+80696,1792649218750409287,17759053000000,1792649218748668342,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761145585626812,-0.0044829791628181286,0.08910001950561451,0.9999999875362904,9.665577389653162e-05,2.4960432351992805e-05,8.003075378070812e-05,0.6761,-0.0045,0.0889831133196444,1.0,0.0,0.0,0.0,-0.07113458183173382,0.06367536743840324,1.2102789054962129,0.006529995376744276,0.005463384010977925,0.0002267665064768715,0.12618800612168235,-0.15453561152752338,1.7256961963138664,-0.0021789942204040466,-0.008435073505275836,-0.0005004422270731361,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8762112459233871,-0.3511488249962127,-0.8957218999592045,0.5227317284555414,0.7160404651851104,-0.2479745515858641,0.9848723482038328,1.2102789054962129,1.8805942481630373,1.8805942481630373,2.1657918535172165,0,0,-0.0001894069407246387,-8.659784975074131e-05
+80775,1792649219408434566,17759711000000,1792649219400659411,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.676114971267736,-0.004477405248616543,0.08897268728062811,0.9999999881298012,9.373438052275828e-05,2.2725672627874538e-05,7.668553596752956e-05,0.6761,-0.0045,0.0888561707888509,1.0,0.0,0.0,0.0,-0.0840188396380758,0.06454364833428211,1.233919443001319,0.006500830329956192,0.006336968906683227,0.00021718096700030088,0.11330374831534037,-0.1536673306316445,1.7493367338189727,-0.0022081592671921303,-0.0075614886095705346,-0.0005100277665497068,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8800791483726973,-0.3890753265449663,-0.9435822775142603,0.5511080126262312,0.747213985423614,-0.26712309666091005,0.9848723482038328,1.233919443001319,1.9284546257180932,1.9284546257180932,2.211851853517226,0,0,-0.00019810709626610313,-2.7370019524224336e-06
+80847,1792649220008432148,17760311000000,1792649220004659350,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761163664887371,-0.004482754188163906,0.08885803349340413,0.9999999898460461,8.069273205418017e-05,2.7174159902081608e-05,6.708964342654267e-05,0.6761,-0.0045,0.08873527999300969,1.0,0.0,0.0,0.0,-0.07841693173148226,0.06536120053427846,1.2202414201225693,0.006502854733894042,0.006391803773281913,0.00023306726567154487,0.11890565622193391,-0.15284977843164815,1.7356587109402228,-0.0022061348632542803,-0.007506653742971848,-0.0004941414678784628,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9287192835152993,-0.36347290801990884,-0.9673530131991513,0.5597815603747851,0.7668152661419104,-0.24905364811889183,0.9848723482038328,1.2202414201225693,1.9522253614029843,1.9522253614029843,2.2538518535172347,0,0,-0.0002088898889283787,-2.2713692440369364e-05
+80912,1792649220550447621,17760853000000,1792649220548659305,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761141824442721,-0.004476354703025312,0.08873741183079324,0.9999999890049034,9.052445593104773e-05,2.146180288668118e-05,6.912142466305283e-05,0.6761,-0.0045,0.08862055395425827,1.0,0.0,0.0,0.0,-0.07869433467706366,0.053636412085928675,1.2603512474049214,0.006491610035716853,0.006461564904897232,0.00020105732430462464,0.11862825327635251,-0.16457456687999794,1.775768538222575,-0.002217379561431469,-0.007436892611356529,-0.000526151409245383,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8929290252456646,-0.3307506847324738,-0.9446866858083919,0.559792748007084,0.7405898431540303,-0.2279432236858891,0.9848723482038328,1.2603512474049214,1.9295590340122248,1.9295590340122248,2.2917918535172426,0,0,-0.0002160315966629175,-9.980978129953683e-05
+80988,1792649221183411355,17761486000000,1792649221176669115,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761188905200805,-0.004485111636126893,0.08861257672176613,0.9999999885860447,8.803352599744469e-05,3.082753190173636e-05,7.463602745137274e-05,0.6761,-0.0045,0.0884796344146207,1.0,0.0,0.0,0.0,-0.08913156856455237,0.07077050371098126,1.2416446306117814,0.006491910698540186,0.00683906540607424,0.00021705248121421498,0.1081910193888638,-0.14744047525494536,1.757061921429435,-0.002217078898608136,-0.007059392110179521,-0.0005101562523357927,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8872921660366336,-0.3623491650079652,-1.0449163630141984,0.5717705241803471,0.7961194780920609,-0.2484770282035038,0.9848723482038328,1.2416446306117814,2.029788711218031,2.029788711218031,2.3361018535172517,0,0,-0.00023016188132188452,8.831661377073913e-05
+81052,1792649221717515670,17762020000000,1792649221716668511,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761183042202724,-0.0044904723223919765,0.08848396004837265,0.9999999883189065,8.692656929877713e-05,2.8618717142429655e-05,8.018598324524524e-05,0.6761,-0.0045,0.08835433622790054,1.0,0.0,0.0,0.0,-0.07878798354362195,0.06573814793047333,1.2703297609230106,0.006490672965330813,0.006467132825177722,0.0001930614853997098,0.11853460440979423,-0.15247283103545328,1.7857470517406644,-0.002218316631817509,-0.00743132469107604,-0.0005341472481502978,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8430130547453221,-0.3967798607966118,-0.9727765673888499,0.5924468508581575,0.7341089660341946,-0.27345572154807085,0.9848723482038328,1.2703297609230106,1.9576489155926828,1.9576489155926828,2.3734818535172595,0,0,-0.00024069920084443386,-9.890407523383544e-05
+81114,1792649222233476324,17762536000000,1792649222228659021,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.676119707527093,-0.004491574778769816,0.08835607460545855,0.9999999880978988,8.850712368305097e-05,3.0160116609281048e-05,8.064690335805031e-05,0.6761,-0.0045,0.0882277827426848,1.0,0.0,0.0,0.0,-0.0839162415782113,0.04784022179919284,1.2904319830615418,0.006485796150659102,0.0064595583917241885,0.00017614928379988692,0.11340634637520487,-0.17037075716673378,1.8058492738791954,-0.0022231934464892206,-0.007438899124529573,-0.0005510594497501207,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.852513747613218,-0.40019541661260327,-1.1399907218165333,0.6047468380075136,0.8393201551588023,-0.26952393995677937,0.9848723482038328,1.2904319830615418,2.124863070020366,2.124863070020366,2.409601853517267,0,0,-0.0002484917252284794,9.999969882568677e-05
+81176,1792649222750561690,17763053000000,1792649222744668571,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761191012295452,-0.004496058307971105,0.08822587040203353,0.9999999870415447,9.543603237008151e-05,2.7304310005300305e-05,8.663840474603563e-05,0.6761,-0.0045,0.08809641802584328,1.0,0.0,0.0,0.0,-0.08069374644647637,0.06508317049896628,1.310548101835034,0.006482923092206629,0.00645402190878976,0.00015763435013512557,0.1166288415069398,-0.15312780846696034,1.8259653926526878,-0.0022260665049416936,-0.007444435607464001,-0.0005695743834148821,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8795627826463994,-0.4272923332271356,-1.0970352703469926,0.625045153226282,0.8136749074845078,-0.28924219904121046,0.9848723482038328,1.310548101835034,2.0819076185508254,2.0819076185508254,2.4457918535172745,0,0,-0.00025872738804069847,4.04891269109505e-05
+81240,1792649223283485294,17763586000000,1792649223276659424,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761189210725541,-0.0044953685395225824,0.08808246100529932,0.9999999860719232,0.00010124607274952732,2.6875809966970958e-05,9.124659752419888e-05,0.6761,-0.0045,0.0879556508805396,1.0,0.0,0.0,0.0,-0.06937515573512484,0.05792565475580355,1.3301729316176627,0.006506192715550026,0.00543944200678537,0.00013013796991009127,0.12794743221829133,-0.16028532421012306,1.8455902224353165,-0.002202796881598296,-0.008459015509468391,-0.0005970707636399164,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8886125828096904,-0.27319663700602587,-0.9891738300324363,0.5909000313015782,0.7452775250020736,-0.18641884320234214,0.9848723482038328,1.3301729316176627,1.9740461782362693,1.9740461782362693,2.483101853517282,0,0,-0.00026934397969888133,-9.999595182297866e-05
+81296,1792649223750596988,17764053000000,1792649223748668934,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761167070086801,-0.0044927429687423494,0.08795041510377692,0.9999999865397515,9.931521302639258e-05,2.1935056338368435e-05,8.954721027717263e-05,0.6761,-0.0045,0.08782875402651595,1.0,0.0,0.0,0.0,-0.06926288191772428,0.05671243562171552,1.3509507088425408,0.005995730471730602,0.0064066761377968495,0.00012186957906603095,0.1280597060356919,-0.1614985433442111,1.8663679996601945,-0.0027132591254177205,-0.007491781378456912,-0.0006053391544839767,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8682166070818397,-0.4359156313493164,-1.1135888491850021,0.6478490763604017,0.8157820628767152,-0.2937362350300087,0.9848723482038328,1.3509507088425408,2.098461197388835,2.098461197388835,2.515791853517289,0,0,-0.0002721527653751484,-9.804519282419761e-05
+81354,1792649224233609241,17764536000000,1792649224232661089,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761127116167437,-0.004494395170185238,0.08781494084323718,0.9999999858821919,0.00010435473725969288,1.0555939532744452e-05,9.31511754320621e-05,0.6761,-0.0045,0.08769452807275983,1.0,0.0,0.0,0.0,-0.05967167462512296,0.047418429485198116,1.3602924674206922,0.005478845576750565,0.005450732730971667,9.45052833725722e-05,0.1376509133282932,-0.1707925494807285,1.875709758238346,-0.003230144020397757,-0.008447724785282095,-0.0006327034501774355,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8727152676943909,-0.3918234534996607,-1.1960640110424736,0.6418947128367886,0.8660576190870516,-0.2645370543687841,0.9848723482038328,1.3602924674206922,2.1809363592463065,2.1809363592463065,2.549601853517296,0,0,-0.0002825987784657328,7.500996632015528e-05
+81411,1792649224708626216,17765011000000,1792649224700659756,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761181281958117,-0.004497291526600774,0.0876860861097508,0.9999999853526481,0.00010622162118625768,2.185790492191932e-05,9.47458028903246e-05,0.6761,-0.0045,0.08755697997843555,1.0,0.0,0.0,0.0,-0.06071044599914374,0.05247960465498572,1.3607469184606993,0.006416409637378288,0.005461378719350284,0.00010659179001497028,0.13661214195427243,-0.1657313743109409,1.8761642092783528,-0.0022925799597700346,-0.008437078796903478,-0.0006206169435350374,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8747088207761645,-0.3821685470068433,-1.1596037425540342,0.6547580562570389,0.839895875096593,-0.25673738257571577,0.9848723482038328,1.3607469184606993,2.144476090757867,2.144476090757867,2.582851853517303,0,0,-0.00029731453130984873,-8.915308355306734e-05
+81468,1792649225183552323,17765486000000,1792649225176659175,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761174554894887,-0.004498765174948112,0.08754230554764324,0.9999999850064225,0.00010552085230982953,2.3222037931295267e-05,9.877300081471063e-05,0.6761,-0.0045,0.08741236994146594,1.0,0.0,0.0,0.0,-0.07464591943257666,0.03886646638901059,1.3703230504104313,0.005456459741031027,0.006459904048419913,0.00010119420391665297,0.12267666852083951,-0.17934451257691603,1.8857403412280849,-0.003252529856117296,-0.007438553467833849,-0.0006260145296333547,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8609390289232588,-0.3562211670578222,-1.0407267097196606,0.6605678326338408,0.7540954705486459,-0.2351878963490764,0.9848723482038328,1.3703230504104313,2.0255990579234933,2.0255990579234933,2.6161018535173097,0,0,-0.0003125058449058012,-9.999999025923074e-05
+81519,1792649225608666390,17765911000000,1792649225604660746,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761168454064367,-0.004505686674932055,0.08741488735073218,0.9999999855108377,9.843287672542744e-05,2.0181130215122307e-05,0.000101611414292509,0.6761,-0.0045,0.08727760188639963,1.0,0.0,0.0,0.0,-0.06961833126578587,0.0451593693444676,1.3806326019098707,0.005872917072769752,0.00565610411707884,9.311791556429819e-05,0.1277042566876303,-0.17305160962145902,1.8960498927275242,-0.0028360725243785703,-0.008242353399174921,-0.0006340908179857095,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8363492757218371,-0.44380689883941987,-1.159488817141592,0.68501157830799,0.8181967346465914,-0.30106891333661223,0.9848723482038328,1.3806326019098707,2.144361165345425,2.144361165345425,2.645851853517316,0,0,-0.00032165871253628096,-9.999969882568677e-05
+81570,1792649226033686013,17766336000000,1792649226032659801,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761179266202981,-0.004505483760003777,0.08728030577324672,0.9999999859735074,9.699283038060362e-05,2.3649055031630403e-05,9.761640451736207e-05,0.6761,-0.0045,0.08713878648422546,1.0,0.0,0.0,0.0,-0.07772506136387064,0.049585040651933976,1.3911347343074034,0.005460639867789722,0.006456921929860389,8.440362136606476e-05,0.11959752658954553,-0.16862593831399264,1.906552025125057,-0.0032483497293586,-0.007441535586393372,-0.0006428051121839429,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8414715839309884,-0.40615344042448465,-1.157970320133222,0.6949524424946901,0.8145350303484413,-0.2683512945382414,0.9848723482038328,1.3911347343074034,2.142842668337055,2.142842668337055,2.675601853517322,0,0,-0.00033120694796082004,-9.999999025923074e-05
+81620,1792649226450687425,17766753000000,1792649226448659319,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761203509999409,-0.004507022242191154,0.08714137668390359,0.9999999839257119,0.00010942569684264932,2.7728348168967333e-05,0.0001041565942994603,0.6761,-0.0045,0.0869986496317557,1.0,0.0,0.0,0.0,-0.09759912724403942,0.04885081151792606,1.4006672689772586,0.006075753423603612,0.00745138982860818,9.988167894398319e-05,0.09972346070937675,-0.16936016744800056,1.9160845597949123,-0.0026332361735447105,-0.006447067687645582,-0.0006273270546060245,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.8596974710674837,-0.4237259773011306,-1.1656563978996761,0.6999911143038787,0.8231828737304879,-0.2795627261108326,0.9848723482038328,1.4006672689772586,2.150528746103509,2.150528746103509,2.704791853517328,0,0,-0.0003421330727435264,-9.999994862586731e-05
+81672,1792649226883602344,17767186000000,1792649226876660012,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761219454796906,-0.00451102473622383,0.08699577353040643,0.999999983948737,0.000108811474237858,2.9794742216026e-05,0.00010400830006094546,0.6761,-0.0045,0.08684860116324503,1.0,0.0,0.0,0.0,-0.09675861522283909,0.057227714218842346,1.41083643842402,0.006407466567411587,0.008089566337314173,0.00010387489040459641,0.10056397273057709,-0.16098326474708427,1.9262537292416735,-0.0023015230297367354,-0.005808891178939588,-0.0006233338431454112,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9484018267168635,-0.4256074495247701,-1.308844756840624,0.7157691682685872,0.9351556532965278,-0.27849662866812636,0.9848723482038328,1.41083643842402,2.2937171050444567,2.2937171050444567,2.7351018535173344,0,0,-0.0003517551937545508,9.99946056775613e-05
+81720,1792649227283687735,17767586000000,1792649227276659428,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.676118423121338,-0.004511903740181373,0.08685036965940043,0.9999999846576074,0.00010111565534906535,2.8149859291857075e-05,0.00010540805982871078,0.6761,-0.0045,0.08670637029198289,1.0,0.0,0.0,0.0,-0.0799073605657637,0.05147561840085266,1.431074348133936,0.006293645284166079,0.00747321262539064,7.87685063260681e-05,0.11741522738765248,-0.16673536056507396,1.9464916389515898,-0.0024153443129822432,-0.006425244890863121,-0.0006484402272239396,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9378506856662064,-0.43928272669064083,-1.224443283712792,0.7328910125811285,0.8798783587122951,-0.28456995326155593,0.9848723482038328,1.431074348133936,2.209315631916625,2.209315631916625,2.76310185351734,0,0,-0.00035953450918810157,-9.98985297525678e-05
+81768,1792649227683636737,17767986000000,1792649227680658718,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.6761241225481639,-0.00452209176017587,0.08671290400173777,0.9999999857248855,8.094428329309332e-05,3.621983804484893e-05,0.00011013282720800994,0.6761,-0.0045,0.08655936827936833,1.0,0.0,0.0,0.0,-0.09830123782754498,0.061596488121633625,1.4307399971773456,0.0064019460826650245,0.008455536608902779,9.565491402132057e-05,0.0990213501258712,-0.156614490844293,1.9461572879949993,-0.0023070435144832975,-0.005442920907350982,-0.0006315538195286871,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9705901838568445,-0.3730146875301194,-1.1911622879313664,0.7089795918075417,0.8691663285086201,-0.24545295078734958,0.9848723482038328,1.4307399971773456,2.176034636135199,2.176034636135199,2.791101853517346,0,0,-0.000375393218672608,-9.999999025923074e-05
+81809,1792649228025712744,17768328000000,1792649228020659110,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761219868975462,-0.004520056547505376,0.08658454680635919,0.9999999863143247,7.894646358818639e-05,3.2205555021355414e-05,0.00010744520803358593,0.6761,-0.0045,0.08642915918323905,1.0,0.0,0.0,0.0,-0.09754953283007779,0.04971029801990026,1.4501316883578572,0.005381456529599733,0.008470847755078413,7.037030030115172e-05,0.09977305512333838,-0.16850068094602635,1.9655489791755107,-0.0033275330675485897,-0.0054276097611753475,-0.0006568384332488559,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9598506052257846,-0.5011207450485522,-1.2434155994427432,0.76265504812486,0.8981939744883672,-0.32379108733905804,0.9848723482038328,1.4501316883578572,2.2282879476465762,2.2282879476465762,2.815041853517351,0,0,-0.0003868033903828546,-8.884179089475026e-05
+81855,1792649228408755780,17768711000000,1792649228408659133,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761215975747307,-0.004531185498229535,0.08643568419872753,0.9999999868089022,6.424544357733902e-05,3.530501133803494e-05,0.00011158467123054785,0.6761,-0.0045,0.08627851625265895,1.0,0.0,0.0,0.0,-0.09817940189909799,0.051429919609768365,1.4559037874072311,0.006391703134084589,0.00845932276632792,6.715829687583955e-05,0.09914318605431818,-0.16678105935615825,1.971321078224885,-0.0023172864630637328,-0.005439134749925841,-0.0006600504366741681,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,1.0078652832748638,-0.3929458707800509,-1.2460127490115571,0.7341997549090363,0.9181786688282789,-0.25380295050180024,0.9848723482038328,1.4559037874072311,2.23088509721539,2.23088509721539,2.8418518535173565,0,0,-0.0004001765067193893,-8.297256911949375e-05
+81900,1792649228783672844,17769086000000,1792649228780658594,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761192077763951,-0.004533131155550175,0.08628695188683394,0.9999999860997775,6.25556500647131e-05,3.534908633628383e-05,0.00011866146054124714,0.6761,-0.0045,0.08612558491327191,1.0,0.0,0.0,0.0,-0.10256065480634359,0.03728332934969672,1.4721410515875042,0.004354896942602647,0.008485798298850222,3.580054950238728e-05,0.09476193314707258,-0.1809276496162299,1.9875583424051577,-0.004354092654545676,-0.005412659217403539,-0.0006914081840476204,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9991582652540973,-0.4612604057470337,-1.3269539972265356,0.7572392386184083,0.9735613010169029,-0.29455853124318143,0.9848723482038328,1.4721410515875042,2.3118263454303687,2.3118263454303687,2.868101853517362,0,0,-0.0004142512608676111,9.955123811267725e-05
+81936,1792649229083759994,17769386000000,1792649229076659018,DOWN_FORCE_DETACH,7,0.0529,0.052902378141880035,0.676108065282555,-0.004537837689871679,0.08615559121183172,0.9999999852630265,7.271612123832591e-05,1.8966298291692166e-05,0.00012356964248264504,0.6761,-0.0045,0.08600010414219703,1.0,0.0,0.0,0.0,-0.08344393316344766,0.019317991145417768,1.4898552592240324,0.003357245447573408,0.007488264536851978,-3.7533489743431323e-06,0.11387865478996852,-0.19889298782050885,2.005272550041686,-0.005351744149574914,-0.006410192979401783,-0.0007309620825243508,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.966951891348293,-0.4898955778062949,-1.194130319479159,0.7689395045357413,0.8875783999642639,-0.3122615322384928,0.9848723482038328,1.4898552592240324,2.179002667682992,2.179002667682992,2.8891018535173663,0,0,-0.00042214890135924685,-9.987278645618431e-05
+81975,1792649229408758480,17769711000000,1792649229408659468,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761088568736366,-0.004540346399008213,0.08601424627456287,0.9999999733661457,0.00017539512802496502,2.6359552738271785e-05,0.00011511861442356134,0.6761,-0.0045,0.08586116339740431,1.0,0.0,0.0,0.0,-0.0872075944312546,0.01641608322186494,1.4997271228703672,0.0033523578075462176,0.00756876938071373,-1.095858892716543e-05,0.11011499352216157,-0.20179489574406168,2.015144413688021,-0.005356631789602105,-0.0063296881355400314,-0.0007381673224771731,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9425944294803695,-0.571180543766573,-1.313731145932651,0.8119178452045661,0.9551912705074327,-0.3572604642249074,0.9848723482038328,1.4997271228703672,2.2986034941364837,2.2986034941364837,2.911851853517371,0,0,-0.000433330119443938,3.6314100364204196e-05
+82011,1792649229708694055,17770011000000,1792649229704658996,DOWN_FORCE_DETACH,7,0.0529,0.052901722490787506,0.6761364505468478,-0.0045436390686610165,0.08590200452274771,0.9999999713723954,0.00016329129246853434,5.922097328334344e-05,0.00013611356574399355,0.6761,-0.0045,0.08572930323568603,1.0,0.0,0.0,0.0,-0.1615662369501652,0.0733600384133894,1.4729468782181203,0.006289581822688784,0.012487449027274784,0.00011605030490199778,0.03575635100325096,-0.14485094055253722,1.988364169035774,-0.0024194077744595383,-0.0014110084889789776,-0.0006111584286480099,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,1.0168103492073663,-0.41682920921866573,-1.182376877289538,0.7299620843985529,0.8842480850226752,-0.3003140952565537,0.9848723482038328,1.4729468782181203,2.1672492254933706,2.1672492254933706,2.9328518535173753,0,0,-0.0004470201461173869,-9.999999025923074e-05
+82048,1792649230013789486,17770316000000,1792649230008658884,DOWN_SETTLE,7,0.0529,0.052901722490787506,0.6761362447400381,-0.004528301714561653,0.08576737366576023,0.999999989262793,6.0298524101648566e-05,6.833823487099935e-05,6.790620020374097e-05,0.6761,-0.0045,0.08560285144622339,1.0,0.0,0.0,0.0,-0.14449270238911607,0.051076898723771275,1.4902916818238015,0.005293146713379377,0.011502822273984564,7.43906168142901e-05,0.05282988556430011,-0.16713408024215534,2.005708972641455,-0.0034158428837689453,-0.002395635242269197,-0.0006528181167357176,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,1.0179660613840908,-0.46666097200909235,-1.2923448073590338,0.7648705895166982,0.9612226536575269,-0.3103346734586484,0.9848723482038328,1.4902916818238015,2.277217155562867,0.0,0.0,0,0,-0.0002099055581575418,0.002120258163207493
+82144,1792649230809820311,17771112000000,1792649230808659762,DOWN_PEAK_HOLD,7,0.0529,0.052901722490787506,0.676117566134666,-0.004530983456551751,0.0857058451053218,0.9999999895652841,6.983852091616866e-05,3.0217155709236766e-05,8.075766559617663e-05,0.6761,-0.0045,0.0855829497323495,1.0,0.0,0.0,0.0,-0.08680773904812193,0.023873392169330182,1.2230293811184936,0.004452855855716901,0.0066496277318599676,0.00020235142525361122,0.11051484890529424,-0.19433758679659643,1.7384466719361473,-0.004256133741431421,-0.007248829784393794,-0.0005248573082963964,0.19732258795341617,-0.21821097896592662,0.5154172908176536,-0.008708989597148322,-0.013898457516253761,-0.0007272087335500077,1,0.9017170238165024,-0.4320639886171754,-0.803306344493931,0.6392791821681378,0.6598860163007967,-0.2665297457228169,0.9848723482038328,1.2230293811184936,1.7881786926977639,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d687441e4aac4bef1c978752d141bebde1f59a7f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..01d454b60867d794d541d3e31690767c7d643631
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+4,2.283333333e+00,DOWN_FORCE_DETACH,1792649193943863783,1.454798157e-05,1.306156727e-06,-9.739195283e-05,1.231163918e-05,-1.664154425e-06,-9.524663657e-05,1.285665792e-05,-1.515702279e-06,-9.426756070e-05,7.015524195e-01,2.857118048e-06,8.406435492e-01,7.015501831e-01,-1.131931034e-07,8.406456946e-01,7.017384402e-01,2.916177323e-07,8.296864529e-01
+5,2.983333333e+00,DOWN_FORCE_DETACH,1792649195045224562,1.462041121e-05,-3.979365149e-06,-1.224217159e-04,1.254011643e-05,2.701687054e-06,-1.154044029e-04,1.313276665e-05,2.768585136e-06,-1.144237435e-04,7.015524919e-01,-2.428403828e-06,8.406185195e-01,7.015504116e-01,4.252648375e-06,8.406255368e-01,7.017387163e-01,4.575905148e-06,8.296662967e-01
+6,3.683333333e+00,DOWN_FORCE_DETACH,1792649196104540616,1.377470421e-05,-3.553527971e-06,-1.518068700e-04,1.308733144e-05,-2.120336959e-06,-1.362760555e-04,1.359642610e-05,-1.986436484e-06,-1.352107479e-04,7.015516462e-01,-2.002566650e-06,8.405891343e-01,7.015509588e-01,-5.693756380e-07,8.406046651e-01,7.017391799e-01,-1.791164723e-07,8.296455097e-01
+7,4.350000000e+00,DOWN_FORCE_DETACH,1792649197104670692,1.712437783e-05,-3.154514331e-06,-1.671978439e-04,1.376781745e-05,-4.203946872e-06,-1.566696036e-04,1.428150616e-05,-4.032557374e-06,-1.557177759e-04,7.015549959e-01,-1.603553010e-06,8.405737433e-01,7.015516393e-01,-2.652985551e-06,8.405842716e-01,7.017398650e-01,-2.225237363e-06,8.296250027e-01
+8,4.983333333e+00,DOWN_FORCE_DETACH,1792649198043086742,1.903888515e-05,-2.316723829e-07,-1.896109526e-04,1.560948978e-05,-3.147965299e-06,-1.770575552e-04,1.613412866e-05,-2.972191655e-06,-1.760992899e-04,7.015569104e-01,1.319288938e-06,8.405513302e-01,7.015534810e-01,-1.597003978e-06,8.405638836e-01,7.017417176e-01,-1.164871644e-06,8.296046212e-01
+9,5.583333333e+00,DOWN_FORCE_DETACH,1792649198944751233,2.202390292e-05,-8.457912808e-07,-2.170753927e-04,2.087736204e-05,-4.532492979e-06,-2.202119514e-04,2.136086063e-05,-4.336738003e-06,-2.189822949e-04,7.015598954e-01,7.051700402e-07,8.405238658e-01,7.015587488e-01,-2.981531658e-06,8.405207292e-01,7.017469444e-01,-2.529417992e-06,8.295617381e-01
+10,6.166666667e+00,DOWN_FORCE_DETACH,1792649199824258821,3.431222357e-05,-3.595099871e-06,-2.374517231e-04,2.376924791e-05,2.070876428e-06,-2.433380184e-04,2.428697694e-05,2.214143070e-06,-2.421747470e-04,7.015721837e-01,-2.044138550e-06,8.405034895e-01,7.015616407e-01,3.621837749e-06,8.404976032e-01,7.017498705e-01,4.021463081e-06,8.295385457e-01
+11,6.700000000e+00,DOWN_FORCE_DETACH,1792649200626176893,5.227442229e-05,-3.217439465e-06,-2.634347186e-04,4.878891136e-05,-2.323823169e-06,-2.511512276e-04,4.978290247e-05,-2.131376958e-06,-2.501944774e-04,7.015901459e-01,-1.666478144e-06,8.404775065e-01,7.015866604e-01,-7.728618482e-07,8.404897900e-01,7.017753664e-01,-3.240569462e-07,8.295305260e-01
+12,7.366666667e+00,DOWN_FORCE_DETACH,1792649201625127199,5.331223126e-05,-4.729919462e-07,-3.082127132e-04,5.293282624e-05,-4.958358855e-06,-2.932377155e-04,5.402908381e-05,-4.712543401e-06,-2.921582372e-04,7.015911837e-01,1.077969375e-06,8.404327285e-01,7.015908043e-01,-3.407397534e-06,8.404477035e-01,7.017796126e-01,-2.905223389e-06,8.294885622e-01
+13,8.033333333e+00,DOWN_FORCE_DETACH,1792649202623929047,5.808228192e-05,-1.788379713e-06,-3.396540529e-04,5.491674028e-05,-1.130806394e-06,-3.357519068e-04,5.598029162e-05,-8.918417597e-07,-3.345468208e-04,7.015959538e-01,-2.374183915e-07,8.404012871e-01,7.015927882e-01,4.201549267e-07,8.404051893e-01,7.017815638e-01,9.154782518e-07,8.294461736e-01
+14,8.700000000e+00,DOWN_FORCE_DETACH,1792649203623948988,5.764629591e-05,-8.079926734e-06,-3.805754018e-04,5.673217334e-05,-2.936872362e-06,-3.789225915e-04,5.778600372e-05,-2.646185605e-06,-3.775904083e-04,7.015955178e-01,-6.528965413e-06,8.403603658e-01,7.015946037e-01,-1.385911041e-06,8.403620186e-01,7.017833695e-01,-8.388655940e-07,8.294031300e-01
+15,9.316666667e+00,DOWN_FORCE_DETACH,1792649204545081328,6.049578883e-05,1.646570794e-06,-4.215726807e-04,5.918042474e-05,-1.223039418e-06,-4.202418224e-04,6.017424379e-05,-9.064782623e-07,-4.187313298e-04,7.015983673e-01,3.197532115e-06,8.403193685e-01,7.015970519e-01,3.279219033e-07,8.403206994e-01,7.017857578e-01,9.008417492e-07,8.293619891e-01
+16,9.850000000e+00,DOWN_FORCE_DETACH,1792649205345244269,6.555153662e-05,1.791120293e-05,-4.629987110e-04,5.752209154e-05,1.822853235e-05,-4.556157758e-04,5.848930802e-05,1.834682739e-05,-4.540287162e-04,7.016034230e-01,1.946216425e-05,8.402779425e-01,7.015953936e-01,1.977949368e-05,8.402853254e-01,7.017840728e-01,2.015414740e-05,8.293266917e-01
+17,1.046666667e+01,DOWN_FORCE_DETACH,1792649206260755638,6.828247479e-05,7.362573959e-06,-5.107706798e-04,6.457599338e-05,9.899954096e-06,-4.941694276e-04,6.551547023e-05,1.011289358e-05,-4.926459126e-04,7.016061540e-01,8.913535280e-06,8.402301705e-01,7.016024475e-01,1.145091542e-05,8.402467718e-01,7.017910990e-01,1.192021359e-05,8.292880745e-01
+18,1.106666667e+01,DOWN_FORCE_DETACH,1792649207160028125,6.958991989e-05,8.823577483e-06,-5.690586527e-04,6.771128346e-05,6.304913651e-06,-5.556436723e-04,6.848578838e-05,6.501938631e-06,-5.538274886e-04,7.016074614e-01,1.037453880e-05,8.401718825e-01,7.016055828e-01,7.855874972e-06,8.401852975e-01,7.017940693e-01,8.309258642e-06,8.292268930e-01
+19,1.175000000e+01,DOWN_FORCE_DETACH,1792649208178963589,7.115248174e-05,6.603950584e-07,-6.265655820e-04,6.800653649e-05,2.889667734e-06,-6.176682618e-04,6.866495930e-05,3.125443655e-06,-6.158039029e-04,7.016090240e-01,2.211356380e-06,8.401143756e-01,7.016058780e-01,4.440629055e-06,8.401232729e-01,7.017942485e-01,4.932763666e-06,8.291649165e-01
+20,1.235000000e+01,DOWN_FORCE_DETACH,1792649209079812950,6.774909999e-05,-3.075438228e-07,-6.757273350e-04,6.863638559e-05,-3.482052657e-06,-6.606064768e-04,6.920936994e-05,-3.221254327e-06,-6.587844442e-04,7.016056206e-01,1.243417498e-06,8.400652139e-01,7.016065079e-01,-1.931091336e-06,8.400803347e-01,7.017947929e-01,-1.413934315e-06,8.291219360e-01
+21,1.301666667e+01,DOWN_FORCE_DETACH,1792649210080598107,7.645811960e-05,-2.835231631e-06,-7.292767494e-04,7.258111853e-05,-4.599555111e-06,-7.297104818e-04,7.293268672e-05,-4.336547263e-06,-7.276696293e-04,7.016143296e-01,-1.284270310e-06,8.400116644e-01,7.016104526e-01,-3.048593790e-06,8.400112307e-01,7.017985162e-01,-2.529227252e-06,8.290530508e-01
+22,1.358333333e+01,DOWN_FORCE_DETACH,1792649210941776787,8.120321800e-05,1.024551580e-06,-7.893241022e-04,7.800121797e-05,5.674584870e-06,-7.920085878e-04,7.819846109e-05,5.828268764e-06,-7.897192326e-04,7.016190747e-01,2.575512901e-06,8.399516171e-01,7.016158727e-01,7.225546191e-06,8.399489326e-01,7.018037820e-01,7.635588775e-06,8.289910012e-01
+23,1.415000000e+01,DOWN_FORCE_DETACH,1792649211805811359,7.881070990e-05,9.398350440e-07,-8.689319481e-04,8.161127124e-05,6.135790400e-07,-8.597422923e-04,8.167079302e-05,8.206014823e-07,-8.572056142e-04,7.016166822e-01,2.490796365e-06,8.398720092e-01,7.016194828e-01,2.164540361e-06,8.398811989e-01,7.018072543e-01,2.627921494e-06,8.289235148e-01
+24,1.470000000e+01,DOWN_FORCE_DETACH,1792649212620943882,8.514596338e-05,-1.688710188e-06,-9.338026233e-04,8.107637212e-05,-1.016878139e-06,-9.228436156e-04,8.084116855e-05,-8.218085007e-07,-9.201669185e-04,7.016230174e-01,-1.377488670e-07,8.398071386e-01,7.016189479e-01,5.340831820e-07,8.398180976e-01,7.018064247e-01,9.855115108e-07,8.288605535e-01
+25,1.511666667e+01,DOWN_FORCE_DETACH,1792649213241948537,8.907606983e-05,3.713072120e-07,-9.965134479e-04,8.611008506e-05,2.881424368e-06,-9.819821292e-04,8.573178333e-05,3.049209173e-06,-9.790399161e-04,7.016269476e-01,1.922268533e-06,8.397444277e-01,7.016239816e-01,4.432385689e-06,8.397589591e-01,7.018113153e-01,4.856529184e-06,8.288016805e-01
+26,1.558333333e+01,DOWN_FORCE_DETACH,1792649213941861617,9.153361332e-05,-4.766488885e-06,-1.073711342e-03,8.747044174e-05,-8.274214327e-06,-1.070779285e-03,8.678953207e-05,-8.039546745e-06,-1.067359712e-03,7.016294051e-01,-3.215527564e-06,8.396672298e-01,7.016253419e-01,-6.723253006e-06,8.396701619e-01,7.018123730e-01,-6.232226734e-06,8.287133607e-01
+27,1.610000000e+01,DOWN_FORCE_DETACH,1792649214711456251,9.350565019e-05,-2.770237733e-06,-1.166266017e-03,9.144440764e-05,-8.687150333e-06,-1.156760922e-03,9.054678737e-05,-8.418349890e-06,-1.153175998e-03,7.016313771e-01,-1.219276412e-06,8.395746752e-01,7.016293159e-01,-7.136189012e-06,8.395841803e-01,7.018161303e-01,-6.611029878e-06,8.286275444e-01
+28,1.656666667e+01,DOWN_FORCE_DETACH,1792649215443768814,9.664098475e-05,-1.312152000e-05,-1.257826602e-03,9.496220619e-05,-6.779147404e-06,-1.247396392e-03,9.375309444e-05,-6.549767707e-06,-1.243688662e-03,7.016345125e-01,-1.157055868e-05,8.394831146e-01,7.016328337e-01,-5.228186083e-06,8.394935448e-01,7.018193366e-01,-4.742447695e-06,8.285370318e-01
+29,1.706666667e+01,DOWN_FORCE_DETACH,1792649216193426900,9.743883095e-05,-1.516974597e-05,-1.364295767e-03,9.760532022e-05,-8.740688633e-06,-1.361176272e-03,9.604783300e-05,-8.492518941e-06,-1.357234876e-03,7.016353103e-01,-1.361878465e-05,8.393766454e-01,7.016354768e-01,-7.189727312e-06,8.393797649e-01,7.018216313e-01,-6.685198930e-06,8.284234856e-01
+30,1.753333333e+01,DOWN_FORCE_DETACH,1792649216895027097,9.910710633e-05,-1.235643215e-05,-1.474381881e-03,9.746990942e-05,-1.144788011e-05,-1.469243695e-03,9.553020365e-05,-1.120396655e-05,-1.465127021e-03,7.016369786e-01,-1.080547083e-05,8.392665593e-01,7.016353414e-01,-9.896918793e-06,8.392716975e-01,7.018211137e-01,-9.396646535e-06,8.283155934e-01
+31,1.798333333e+01,DOWN_FORCE_DETACH,1792649217549878677,9.967530294e-05,-1.907488515e-05,-1.574624224e-03,9.831633448e-05,-1.201010695e-05,-1.561322383e-03,9.613749880e-05,-1.181009054e-05,-1.557318815e-03,7.016375468e-01,-1.752392383e-05,8.391663170e-01,7.016361878e-01,-1.045914563e-05,8.391796188e-01,7.018217210e-01,-1.000277053e-05,8.282234016e-01
+32,1.838333333e+01,DOWN_FORCE_DETACH,1792649218171527584,9.687752479e-05,-1.506039777e-05,-1.688290597e-03,9.578068280e-05,-1.744857484e-05,-1.681685444e-03,9.309731595e-05,-1.715821110e-05,-1.677044377e-03,7.016347490e-01,-1.350943645e-05,8.390526506e-01,7.016336522e-01,-1.589761352e-05,8.390592557e-01,7.018186808e-01,-1.535089109e-05,8.281036761e-01
+33,1.878333333e+01,DOWN_FORCE_DETACH,1792649218753888530,9.647545219e-05,-2.848590702e-05,-1.800821951e-03,9.494882953e-05,-2.612722022e-05,-1.793453624e-03,9.191610634e-05,-2.574599272e-05,-1.788374394e-03,7.016343469e-01,-2.693494570e-05,8.389401192e-01,7.016328203e-01,-2.457625890e-05,8.389474876e-01,7.018174996e-01,-2.393867271e-05,8.279923460e-01
+34,1.921666667e+01,DOWN_FORCE_DETACH,1792649219410047474,9.833469350e-05,-2.162479658e-05,-1.926383027e-03,9.974129162e-05,-2.325020138e-05,-1.907102663e-03,9.634295630e-05,-2.294677428e-05,-1.901797380e-03,7.016362062e-01,-2.007383526e-05,8.388145582e-01,7.016376128e-01,-2.169924006e-05,8.388338385e-01,7.018219265e-01,-2.113945427e-05,8.278789231e-01
+35,1.961666667e+01,DOWN_FORCE_DETACH,1792649220010077377,9.850123188e-05,-2.571588966e-05,-2.042697844e-03,9.897724258e-05,-2.704548633e-05,-2.034733248e-03,9.509693892e-05,-2.664259466e-05,-2.029059771e-03,7.016363727e-01,-2.416492834e-05,8.386982433e-01,7.016368487e-01,-2.549452501e-05,8.387062079e-01,7.018206805e-01,-2.483527464e-05,8.277516607e-01
+36,1.998333333e+01,DOWN_FORCE_DETACH,1792649220549768857,9.750746729e-05,-3.173314535e-05,-2.161138679e-03,9.740147387e-05,-3.096500113e-05,-2.156999826e-03,9.309748482e-05,-3.047976873e-05,-2.151034858e-03,7.016353789e-01,-3.018218403e-05,8.385798025e-01,7.016352730e-01,-2.941403981e-05,8.385839414e-01,7.018186810e-01,-2.867244872e-05,8.276296856e-01
+37,2.040000000e+01,DOWN_FORCE_DETACH,1792649221180792431,1.024779926e-04,-3.072160265e-05,-2.286560167e-03,9.944863096e-05,-3.287671815e-05,-2.278235289e-03,9.481122336e-05,-3.233544705e-05,-2.272310187e-03,7.016403495e-01,-2.917064133e-05,8.384543810e-01,7.016373201e-01,-3.132575683e-05,8.384627059e-01,7.018203947e-01,-3.052812704e-05,8.275084103e-01
+38,2.073333333e+01,DOWN_FORCE_DETACH,1792649221713736527,1.013150720e-04,-3.971659569e-05,-2.415554558e-03,1.010457393e-04,-3.975965032e-05,-2.398458885e-03,9.599677852e-05,-3.916104309e-05,-2.392227189e-03,7.016391866e-01,-3.816563437e-05,8.383253866e-01,7.016389172e-01,-3.820868900e-05,8.383424823e-01,7.018215803e-01,-3.735372308e-05,8.273884933e-01
+39,2.106666667e+01,DOWN_FORCE_DETACH,1792649222231233166,1.024889222e-04,-3.482921878e-05,-2.544457087e-03,1.024931403e-04,-3.477802471e-05,-2.544148850e-03,9.689936404e-05,-3.424528842e-05,-2.537263860e-03,7.016403604e-01,-3.327825746e-05,8.381964841e-01,7.016403646e-01,-3.322706339e-05,8.381967923e-01,7.018224829e-01,-3.243796841e-05,8.272434566e-01
+40,2.141666667e+01,DOWN_FORCE_DETACH,1792649222750272805,1.020556947e-04,-3.890447750e-05,-2.673345785e-03,1.027152402e-04,-3.390553880e-05,-2.662410194e-03,9.670827183e-05,-3.339782798e-05,-2.655335304e-03,7.016399272e-01,-3.735351618e-05,8.380675954e-01,7.016405867e-01,-3.235457748e-05,8.380785310e-01,7.018222918e-01,-3.159050797e-05,8.271253851e-01
+41,2.176666667e+01,DOWN_FORCE_DETACH,1792649223281206844,1.000999977e-04,-3.935028839e-05,-2.817617639e-03,9.909090897e-05,-4.071556100e-05,-2.798819215e-03,9.260371935e-05,-4.022959571e-05,-2.791369711e-03,7.016379715e-01,-3.779932707e-05,8.379233235e-01,7.016369624e-01,-3.916459968e-05,8.379421220e-01,7.018181872e-01,-3.842227570e-05,8.269893507e-01
+42,2.208333333e+01,DOWN_FORCE_DETACH,1792649223748380281,1.002113986e-04,-3.654916659e-05,-2.947051485e-03,9.907729234e-05,-3.963870662e-05,-2.940280060e-03,9.204636643e-05,-3.917411103e-05,-2.932371782e-03,7.016380829e-01,-3.499820527e-05,8.377938897e-01,7.016369488e-01,-3.808774530e-05,8.378006611e-01,7.018176299e-01,-3.736679102e-05,8.268483487e-01
+43,2.240000000e+01,DOWN_FORCE_DETACH,1792649224232933919,9.368790849e-05,-4.628936975e-05,-3.085329111e-03,9.398339381e-05,-3.918051286e-05,-3.073653215e-03,8.639868185e-05,-3.871006073e-05,-3.065656898e-03,7.016315594e-01,-4.473840843e-05,8.376556121e-01,7.016318549e-01,-3.762955153e-05,8.376672880e-01,7.018119822e-01,-3.690274072e-05,8.267150635e-01
+44,2.271666667e+01,DOWN_FORCE_DETACH,1792649224710419680,1.017480214e-04,-4.380641994e-05,-3.213033963e-03,9.879853628e-05,-3.967707484e-05,-3.195351329e-03,9.085994700e-05,-3.912484536e-05,-3.187516312e-03,7.016396195e-01,-4.225545862e-05,8.375279072e-01,7.016366700e-01,-3.812611352e-05,8.375455899e-01,7.018164435e-01,-3.731752535e-05,8.265932041e-01
+45,2.303333333e+01,DOWN_FORCE_DETACH,1792649225180404188,9.949476727e-05,-4.614149824e-05,-3.357462400e-03,9.938747194e-05,-4.597338551e-05,-3.357204969e-03,9.088345888e-05,-4.536230069e-05,-3.348870751e-03,7.016373662e-01,-4.459053692e-05,8.373834788e-01,7.016372590e-01,-4.442242419e-05,8.373837362e-01,7.018164670e-01,-4.355498068e-05,8.264318497e-01
+46,2.331666667e+01,DOWN_FORCE_DETACH,1792649225611434255,9.694542802e-05,-5.183488876e-05,-3.489296910e-03,9.924373871e-05,-4.889418375e-05,-3.475883562e-03,9.032837612e-05,-4.826887605e-05,-3.467522421e-03,7.016348169e-01,-5.028392744e-05,8.372516443e-01,7.016371152e-01,-4.734322243e-05,8.372650576e-01,7.018159119e-01,-4.646155603e-05,8.263131980e-01
+47,2.360000000e+01,DOWN_FORCE_DETACH,1792649226030800257,9.996147837e-05,-5.222239024e-05,-3.622990194e-03,9.798692208e-05,-5.005672495e-05,-3.616155948e-03,8.867806566e-05,-4.938661575e-05,-3.607541309e-03,7.016378330e-01,-5.067142892e-05,8.371179510e-01,7.016358584e-01,-4.850576363e-05,8.371247852e-01,7.018142616e-01,-4.757929574e-05,8.261731791e-01
+48,2.388333333e+01,DOWN_FORCE_DETACH,1792649226450633962,1.026581349e-04,-5.358807757e-05,-3.758522641e-03,1.015754675e-04,-5.539969921e-05,-3.754795369e-03,9.177757585e-05,-5.464817042e-05,-3.745946644e-03,7.016405296e-01,-5.203711625e-05,8.369824185e-01,7.016394469e-01,-5.384873789e-05,8.369861458e-01,7.018173611e-01,-5.284085041e-05,8.260347738e-01
+49,2.416666667e+01,DOWN_FORCE_DETACH,1792649226882275485,1.030117776e-04,-5.952268852e-05,-3.908429047e-03,1.029427329e-04,-6.165600950e-05,-3.889568302e-03,9.274337282e-05,-6.079103653e-05,-3.880815038e-03,7.016408833e-01,-5.797172720e-05,8.368325121e-01,7.016408142e-01,-6.010504818e-05,8.368513729e-01,7.018183269e-01,-5.898371652e-05,8.258999054e-01
+50,2.443333333e+01,DOWN_FORCE_DETACH,1792649227280391165,1.003289718e-04,-5.758241578e-05,-4.050469134e-03,1.006992024e-04,-6.067241105e-05,-4.035450134e-03,8.991832517e-05,-5.983873668e-05,-4.026491437e-03,7.016382005e-01,-5.603145445e-05,8.366904721e-01,7.016385707e-01,-5.912144973e-05,8.367054911e-01,7.018155018e-01,-5.803141667e-05,8.257542290e-01
+51,2.470000000e+01,DOWN_FORCE_DETACH,1792649227683021776,1.042301707e-04,-6.634915768e-05,-4.191441428e-03,1.063653040e-04,-6.277473748e-05,-4.173601878e-03,9.518185806e-05,-6.193948777e-05,-4.164465804e-03,7.016421017e-01,-6.479819636e-05,8.365494998e-01,7.016442368e-01,-6.122377616e-05,8.365673393e-01,7.018207654e-01,-6.013216776e-05,8.256162546e-01
+52,2.493333333e+01,DOWN_FORCE_DETACH,1792649228029565832,1.028572693e-04,-6.847878937e-05,-4.322890944e-03,1.026241139e-04,-6.833007886e-05,-4.323006712e-03,9.090044636e-05,-6.747995153e-05,-4.313342441e-03,7.016407288e-01,-6.692782805e-05,8.364180502e-01,7.016404956e-01,-6.677911754e-05,8.364179345e-01,7.018164840e-01,-6.567263152e-05,8.254673780e-01
+53,2.518333333e+01,DOWN_FORCE_DETACH,1792649228410413894,1.050059820e-04,-7.117773341e-05,-4.464504341e-03,1.047350385e-04,-7.095477439e-05,-4.464633941e-03,9.252156485e-05,-7.012372374e-05,-4.454672527e-03,7.016428775e-01,-6.962677209e-05,8.362764368e-01,7.016426065e-01,-6.940381307e-05,8.362763072e-01,7.018181051e-01,-6.831640372e-05,8.253260479e-01
+54,2.543333333e+01,DOWN_FORCE_DETACH,1792649228779827896,1.018946078e-04,-7.530433320e-05,-4.613863071e-03,1.017028070e-04,-7.513505634e-05,-4.613797035e-03,8.895676904e-05,-7.430011635e-05,-4.603506519e-03,7.016397661e-01,-7.375337187e-05,8.361270781e-01,7.016395743e-01,-7.358409502e-05,8.361271442e-01,7.018145403e-01,-7.249279634e-05,8.251772139e-01
+55,2.563333333e+01,DOWN_FORCE_DETACH,1792649229080826301,8.997113305e-05,-8.351636547e-05,-4.745247582e-03,8.989521150e-05,-8.343971342e-05,-4.744869436e-03,7.644228105e-05,-8.252704279e-05,-4.734363969e-03,7.016278426e-01,-8.196540414e-05,8.359956936e-01,7.016277667e-01,-8.188875210e-05,8.359960718e-01,7.018020258e-01,-8.071972278e-05,8.250463565e-01
+56,2.585000000e+01,DOWN_FORCE_DETACH,1792649229410715807,9.206963144e-05,-8.525064295e-05,-4.888070964e-03,8.828857473e-05,-8.804216351e-05,-4.876075829e-03,7.435055285e-05,-8.703309651e-05,-4.865640608e-03,7.016299411e-01,-8.369968163e-05,8.358528702e-01,7.016261601e-01,-8.649120219e-05,8.358648654e-01,7.017999341e-01,-8.522577650e-05,8.249150798e-01
+57,2.605000000e+01,DOWN_FORCE_DETACH,1792649229710386093,1.180514841e-04,-8.848189002e-05,-4.998812743e-03,1.221264005e-04,-8.511720115e-05,-4.980706395e-03,1.083995928e-04,-8.420576651e-05,-4.970412514e-03,7.016559230e-01,-8.693092870e-05,8.357421284e-01,7.016599979e-01,-8.356623982e-05,8.357602348e-01,7.018339831e-01,-8.239844650e-05,8.248103079e-01
+58,2.625000000e+01,DOWN_SETTLE,1792649230011173834,1.142064470e-04,-7.425126973e-05,-5.122880539e-03,1.141018355e-04,-7.419525112e-05,-5.122734830e-03,9.979487183e-05,-7.342070286e-05,-5.111942190e-03,7.016520779e-01,-7.270030841e-05,8.356180606e-01,7.016519733e-01,-7.264428980e-05,8.356182064e-01,7.018253784e-01,-7.161338285e-05,8.246687783e-01
+59,2.678333333e+01,DOWN_PEAK_HOLD,1792649230810639494,9.947198516e-05,-7.666213215e-05,-5.194993688e-03,1.047876742e-04,-8.379213121e-05,-5.180741117e-03,9.021965304e-05,-8.279726599e-05,-5.172925064e-03,7.016373435e-01,-7.511117082e-05,8.355459475e-01,7.016426592e-01,-8.224116989e-05,8.355602001e-01,7.018158032e-01,-8.098994598e-05,8.246077954e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..650a44ae5d2d88facfc852592f34066d1c76ffb8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-4.9579e-03,2.7857e-04,2.4563e+00,-3.6796e-02,3.6465e-02,-8.2976e-06,3.5484e-05,4.1902e-05,5.2452e-06,-2.7530e-06,2.2314e-06,-1.0374e-07,5.5158e-05,3.5453e-06
+1,4.8333e-01,XJC_ZERO_HOLD_BEFORE_DOWN,1.8288e-04,-2.4189e-03,1.2231e-03,2.4572e+00,-3.6860e-02,3.6627e-02,-1.0990e-05,2.5745e-03,9.8648e-04,9.0408e-04,-6.6549e-05,1.6450e-04,-2.7959e-06,2.9015e-03,1.7747e-04
+2,9.6667e-01,XJC_ZERO_HOLD_BEFORE_DOWN,3.0989e-04,9.9348e-03,2.8421e-03,2.4921e+00,-3.7000e-02,3.7399e-02,-2.7080e-05,1.4928e-02,2.6054e-03,3.5745e-02,-2.0672e-04,9.3614e-04,-1.8886e-05,3.8824e-02,9.5888e-04
+3,1.6167e+00,DOWN_FORCE_DETACH,4.6277e-04,1.0256e-02,3.3358e-03,2.4923e+00,-3.7039e-02,3.7428e-02,-2.9522e-05,1.5250e-02,3.0991e-03,3.5973e-02,-2.4540e-04,9.6527e-04,-2.1328e-05,3.9195e-02,9.9621e-04
+4,2.2833e+00,DOWN_FORCE_DETACH,6.1422e-04,1.6610e-02,5.7202e-03,2.4900e+00,-3.7269e-02,3.7942e-02,-5.4849e-05,2.1603e-02,5.4835e-03,3.3677e-02,-4.7571e-04,1.4799e-03,-4.6656e-05,4.0385e-02,1.5552e-03
+5,2.9833e+00,DOWN_FORCE_DETACH,7.6936e-04,1.9468e-02,5.6960e-03,2.4940e+00,-3.7265e-02,3.8123e-02,-5.4809e-05,2.4462e-02,5.4594e-03,3.7720e-02,-4.7142e-04,1.6609e-03,-4.6615e-05,4.5288e-02,1.7271e-03
+6,3.6833e+00,DOWN_FORCE_DETACH,9.2334e-04,2.2216e-02,6.4467e-03,2.4984e+00,-3.7309e-02,3.8299e-02,-5.4160e-05,2.7210e-02,6.2100e-03,4.2111e-02,-5.1554e-04,1.8366e-03,-4.5966e-05,5.0520e-02,1.9081e-03
+7,4.3500e+00,DOWN_FORCE_DETACH,1.0787e-03,2.4399e-02,7.9132e-03,2.5006e+00,-3.7396e-02,3.8440e-02,-5.3075e-05,2.9393e-02,7.6766e-03,4.4294e-02,-6.0278e-04,1.9777e-03,-4.4882e-05,5.3711e-02,2.0680e-03
+8,4.9833e+00,DOWN_FORCE_DETACH,1.2321e-03,2.5875e-02,8.9542e-03,2.5007e+00,-3.7452e-02,3.8537e-02,-5.1767e-05,3.0869e-02,8.7175e-03,4.4418e-02,-6.5842e-04,2.0746e-03,-4.3574e-05,5.4789e-02,2.1770e-03
+9,5.5833e+00,DOWN_FORCE_DETACH,1.3834e-03,2.6665e-02,1.0175e-02,2.5008e+00,-3.7513e-02,3.8590e-02,-5.0189e-05,3.1658e-02,9.9384e-03,4.4428e-02,-7.2031e-04,2.1275e-03,-4.1995e-05,5.5451e-02,2.2465e-03
+10,6.1667e+00,DOWN_FORCE_DETACH,1.5397e-03,2.7293e-02,1.1274e-02,2.5023e+00,-3.7562e-02,3.8632e-02,-4.8401e-05,3.2286e-02,1.1037e-02,4.6010e-02,-7.6868e-04,2.1693e-03,-4.0207e-05,5.7281e-02,2.3018e-03
+11,6.7000e+00,DOWN_FORCE_DETACH,1.6893e-03,2.3054e-02,1.2327e-02,2.5005e+00,-3.7604e-02,3.8358e-02,-4.6626e-05,2.8047e-02,1.2090e-02,4.4134e-02,-8.1128e-04,1.8955e-03,-3.8432e-05,5.3672e-02,2.0621e-03
+12,7.3667e+00,DOWN_FORCE_DETACH,1.8431e-03,2.2198e-02,1.5050e-02,2.5026e+00,-3.7744e-02,3.8300e-02,-4.3784e-05,2.7191e-02,1.4813e-02,4.6249e-02,-9.5038e-04,1.8377e-03,-3.5590e-05,5.5658e-02,2.0692e-03
+13,8.0333e+00,DOWN_FORCE_DETACH,1.9988e-03,2.4031e-02,1.6604e-02,2.5043e+00,-3.7796e-02,3.8417e-02,-4.0011e-05,2.9024e-02,1.6367e-02,4.7999e-02,-1.0033e-03,1.9542e-03,-3.1817e-05,5.8431e-02,2.1969e-03
+14,8.7000e+00,DOWN_FORCE_DETACH,2.1562e-03,2.6592e-02,1.7776e-02,2.5058e+00,-3.7823e-02,3.8584e-02,-3.5439e-05,3.1586e-02,1.7539e-02,4.9445e-02,-1.0294e-03,2.1213e-03,-2.7245e-05,6.1238e-02,2.3580e-03
+15,9.3167e+00,DOWN_FORCE_DETACH,2.3063e-03,2.8711e-02,1.8001e-02,2.5091e+00,-3.7810e-02,3.8723e-02,-3.2322e-05,3.3705e-02,1.7764e-02,5.2773e-02,-1.0168e-03,2.2606e-03,-2.4128e-05,6.5089e-02,2.4788e-03
+16,9.8500e+00,DOWN_FORCE_DETACH,2.4615e-03,3.0129e-02,1.6178e-02,2.5125e+00,-3.7677e-02,3.8817e-02,-3.0117e-05,3.5122e-02,1.5942e-02,5.6140e-02,-8.8391e-04,2.3549e-03,-2.1923e-05,6.8113e-02,2.5154e-03
+17,1.0467e+01,DOWN_FORCE_DETACH,2.6135e-03,3.1121e-02,1.1810e-02,2.5171e+00,-3.7388e-02,3.8884e-02,-2.8097e-05,3.6115e-02,1.1574e-02,6.0744e-02,-5.9518e-04,2.4218e-03,-1.9904e-05,7.1610e-02,2.4939e-03
+18,1.1067e+01,DOWN_FORCE_DETACH,2.7683e-03,3.1856e-02,9.0598e-03,2.5236e+00,-3.7215e-02,3.8934e-02,-2.6292e-05,3.6849e-02,8.8231e-03,6.7245e-02,-4.2224e-04,2.4712e-03,-1.8098e-05,7.7186e-02,2.5071e-03
+19,1.1750e+01,DOWN_FORCE_DETACH,2.9219e-03,3.3505e-02,7.2770e-03,2.5296e+00,-3.7122e-02,3.9042e-02,-2.4653e-05,3.8498e-02,7.0403e-03,7.3304e-02,-3.2839e-04,2.5799e-03,-1.6459e-05,8.3097e-02,2.6008e-03
+20,1.2350e+01,DOWN_FORCE_DETACH,3.0748e-03,3.4649e-02,5.8564e-03,2.5316e+00,-3.7061e-02,3.9119e-02,-2.3582e-05,3.9643e-02,5.6197e-03,7.5315e-02,-2.6750e-04,2.6570e-03,-1.5388e-05,8.5297e-02,2.6704e-03
+21,1.3017e+01,DOWN_FORCE_DETACH,3.2282e-03,3.5178e-02,4.8495e-03,2.5335e+00,-3.7039e-02,3.9157e-02,-2.2490e-05,4.0172e-02,4.6129e-03,7.7130e-02,-2.4594e-04,2.6950e-03,-1.4296e-05,8.7087e-02,2.7062e-03
+22,1.3583e+01,DOWN_FORCE_DETACH,3.3829e-03,3.4482e-02,2.9992e-03,2.5368e+00,-3.6957e-02,3.9114e-02,-2.1682e-05,3.9476e-02,2.7626e-03,8.0434e-02,-1.6361e-04,2.6521e-03,-1.3488e-05,8.9642e-02,2.6572e-03
+23,1.4150e+01,DOWN_FORCE_DETACH,3.5390e-03,3.3738e-02,2.2119e-03,2.5439e+00,-3.6937e-02,3.9066e-02,-2.0775e-05,3.8731e-02,1.9752e-03,8.7546e-02,-1.4424e-04,2.6032e-03,-1.2581e-05,9.5752e-02,2.6073e-03
+24,1.4700e+01,DOWN_FORCE_DETACH,3.6870e-03,3.3645e-02,3.4725e-03,2.5534e+00,-3.7038e-02,3.9056e-02,-1.9844e-05,3.8639e-02,3.2358e-03,9.7087e-02,-2.4498e-04,2.5933e-03,-1.1651e-05,1.0454e-01,2.6049e-03
+25,1.5117e+01,DOWN_FORCE_DETACH,3.8422e-03,3.2945e-02,4.6070e-03,2.5616e+00,-3.7118e-02,3.9005e-02,-1.9334e-05,3.7938e-02,4.3703e-03,1.0531e-01,-3.2520e-04,2.5429e-03,-1.1141e-05,1.1202e-01,2.5636e-03
+26,1.5583e+01,DOWN_FORCE_DETACH,3.9972e-03,3.1780e-02,6.6916e-03,2.5724e+00,-3.7254e-02,3.8921e-02,-1.9080e-05,3.6773e-02,6.4549e-03,1.1603e-01,-4.6050e-04,2.4588e-03,-1.0886e-05,1.2189e-01,2.5016e-03
+27,1.6100e+01,DOWN_FORCE_DETACH,4.1528e-03,3.0649e-02,9.4859e-03,2.5848e+00,-3.7426e-02,3.8834e-02,-1.9407e-05,3.5643e-02,9.2492e-03,1.2844e-01,-6.3287e-04,2.3720e-03,-1.1214e-05,1.3361e-01,2.4550e-03
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+29,1.7067e+01,DOWN_FORCE_DETACH,4.4602e-03,2.8750e-02,1.2621e-02,2.6043e+00,-3.7604e-02,3.8679e-02,-2.2065e-05,3.3743e-02,1.2385e-02,1.4795e-01,-8.1062e-04,2.2166e-03,-1.3871e-05,1.5226e-01,2.3603e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..e346dd7fe50bd13e64e07a544337f50e0b14601f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:996890328f1749bc9b621a3207a0ac82a34f666da85282c58e5ace8f598f1a58
+size 2795520
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ecc99f60b4003d4ee43e1bf713b66ecd0490f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/fem_node.csv
@@ -0,0 +1,13381 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..40323b3ab350346733c634fe6b64105aaf67e13e
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4954fec65b03dd6be37fb6c65eb8283ecb263b5
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46b47a06c21855ccd79705c15dfb5522f4faae94
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+43,1.151666667e+01,UP_FORCE_RAMP,1792649174537229367,-5.049862252e-05,-9.315517823e-06,6.312052742e-04,-4.982543475e-05,-1.001673534e-05,6.243786924e-04,-4.779368804e-05,-9.796811021e-06,6.222443047e-04,7.014873729e-01,-7.764556502e-06,8.413721465e-01,7.014880460e-01,-8.465774018e-06,8.413653199e-01,7.016777898e-01,-7.989491009e-06,8.304029647e-01
+44,1.185000000e+01,UP_FORCE_RAMP,1792649175036855285,-5.233291646e-05,-6.662560164e-06,6.448216337e-04,-5.210695987e-05,-6.584387061e-06,6.443469919e-04,-5.008554172e-05,-6.411572739e-06,6.422010299e-04,7.014855386e-01,-5.111598843e-06,8.413857628e-01,7.014857645e-01,-5.033425740e-06,8.413852882e-01,7.016754980e-01,-4.604252727e-06,8.304229215e-01
+45,1.213333333e+01,UP_FORCE_RAMP,1792649175467544551,-5.817611218e-05,-9.481106678e-06,6.549718797e-04,-5.210695987e-05,-6.584387061e-06,6.443469919e-04,-5.011450915e-05,-6.411808057e-06,6.424647836e-04,7.014796954e-01,-7.930145356e-06,8.413959131e-01,7.014857645e-01,-5.033425740e-06,8.413852882e-01,7.016754690e-01,-4.604488045e-06,8.304231852e-01
+46,1.243333333e+01,UP_FORCE_RAMP,1792649175906242392,-6.249347142e-05,-6.926822539e-06,6.652599936e-04,-6.098905962e-05,-9.593847241e-06,6.625542106e-04,-5.908396014e-05,-9.395052625e-06,6.606236034e-04,7.014753780e-01,-5.375861218e-06,8.414062012e-01,7.014768824e-01,-8.042885920e-06,8.414034954e-01,7.016664996e-01,-7.587732613e-06,8.304413440e-01
+47,1.270000000e+01,UP_FORCE_HOLD,1792649176306204116,-6.217613495e-05,-1.421306451e-05,6.818975478e-04,-6.079412956e-05,-1.506773173e-05,6.835496692e-04,-5.884372620e-05,-1.483734924e-05,6.815398241e-04,7.014756953e-01,-1.266210319e-05,8.414228387e-01,7.014770774e-01,-1.351677040e-05,8.414244909e-01,7.016667398e-01,-1.303002923e-05,8.304622603e-01
+48,1.308333333e+01,UP_FORCE_HOLD,1792649176887094228,-6.017407284e-05,-1.703800930e-05,7.026458191e-04,-6.079412956e-05,-1.506773173e-05,6.835496692e-04,-5.888498787e-05,-1.484861981e-05,6.818595546e-04,7.014776974e-01,-1.548704798e-05,8.414435870e-01,7.014770774e-01,-1.351677040e-05,8.414244909e-01,7.016666985e-01,-1.304129980e-05,8.304625800e-01
+49,1.338333333e+01,UP_FORCE_HOLD,1792649177337153113,-5.995190901e-05,-1.512691955e-05,7.153634955e-04,-6.005470859e-05,-1.463681774e-05,7.042482792e-04,-5.807227119e-05,-1.441498355e-05,7.024976158e-04,7.014779196e-01,-1.357595823e-05,8.414563047e-01,7.014778168e-01,-1.308585642e-05,8.414451895e-01,7.016675112e-01,-1.260766353e-05,8.304832181e-01
+50,1.371666667e+01,UP_FORCE_HOLD,1792649177836792053,-5.731185840e-05,-1.745524186e-05,7.251511052e-04,-5.723365573e-05,-1.769892953e-05,7.249570825e-04,-5.518136187e-05,-1.746809493e-05,7.231120031e-04,7.014805596e-01,-1.590428054e-05,8.414660923e-01,7.014806378e-01,-1.614796821e-05,8.414658983e-01,7.016704022e-01,-1.566077491e-05,8.305038324e-01
+51,1.398333333e+01,UP_FORCE_HOLD,1792649178238223277,-5.670905081e-05,-1.452404164e-05,7.310343669e-04,-5.723365573e-05,-1.769892953e-05,7.249570825e-04,-5.519235265e-05,-1.747497913e-05,7.233527993e-04,7.014811624e-01,-1.297308032e-05,8.414719756e-01,7.014806378e-01,-1.614796821e-05,8.414658983e-01,7.016703912e-01,-1.566765912e-05,8.305040732e-01
+52,1.423333333e+01,UP_FORCE_HOLD,1792649178606747595,-5.840285177e-05,-1.305524327e-05,7.391357988e-04,-5.723365573e-05,-1.769892953e-05,7.249570825e-04,-5.520515142e-05,-1.747515159e-05,7.235311189e-04,7.014794686e-01,-1.150428195e-05,8.414800770e-01,7.014806378e-01,-1.614796821e-05,8.414658983e-01,7.016703784e-01,-1.566783157e-05,8.305042516e-01
+53,1.453333333e+01,UP_FORCE_HOLD,1792649179067690414,-5.451337757e-05,-1.455312406e-05,7.559541310e-04,-5.399548358e-05,-1.687827677e-05,7.470995022e-04,-5.184644381e-05,-1.664489396e-05,7.456336507e-04,7.014833581e-01,-1.300216274e-05,8.414968953e-01,7.014838760e-01,-1.532731545e-05,8.414880407e-01,7.016737371e-01,-1.483757395e-05,8.305263541e-01
+54,1.483333333e+01,UP_FORCE_HOLD,1792649179505547464,-5.828834232e-05,-1.363321594e-05,7.591743960e-04,-5.399548358e-05,-1.687827677e-05,7.470995022e-04,-5.185533956e-05,-1.664288900e-05,7.458449454e-04,7.014795831e-01,-1.208225462e-05,8.415001156e-01,7.014838760e-01,-1.532731545e-05,8.414880407e-01,7.016737282e-01,-1.483556899e-05,8.305265654e-01
+55,1.511666667e+01,UP_FORCE_HOLD,1792649179937344767,-5.620480073e-05,-1.700728271e-05,7.700926964e-04,-5.595032046e-05,-1.160622409e-05,7.669511430e-04,-5.376366947e-05,-1.140041535e-05,7.655633506e-04,7.014816667e-01,-1.545632139e-05,8.415110339e-01,7.014819212e-01,-1.005526277e-05,8.415078923e-01,7.016718198e-01,-9.593095336e-06,8.305462838e-01
+56,1.541666667e+01,UP_FORCE_HOLD,1792649180388004198,-5.722643771e-05,-1.191074617e-05,7.806852465e-04,-5.595032046e-05,-1.160622409e-05,7.669511430e-04,-5.377996717e-05,-1.139493886e-05,7.657769511e-04,7.014806450e-01,-1.035978485e-05,8.415216264e-01,7.014819212e-01,-1.005526277e-05,8.415078923e-01,7.016718035e-01,-9.587618846e-06,8.305464974e-01
+57,1.568333333e+01,UP_FORCE_HOLD,1792649180792231086,-5.759367782e-05,-1.137428619e-05,7.882301174e-04,-5.641495248e-05,-1.787921075e-05,7.860340877e-04,-5.423690870e-05,-1.765287895e-05,7.847216301e-04,7.014802778e-01,-9.823324865e-06,8.415291713e-01,7.014814565e-01,-1.632824943e-05,8.415269753e-01,7.016713466e-01,-1.584555894e-05,8.305654421e-01
+58,1.593333333e+01,UP_FORCE_HOLD,1792649181167792344,-5.746987307e-05,-9.976974212e-06,8.013068986e-04,-5.641495248e-05,-1.787921075e-05,7.860340877e-04,-5.425218656e-05,-1.765339082e-05,7.849056710e-04,7.014804016e-01,-8.426012891e-06,8.415422481e-01,7.014814565e-01,-1.632824943e-05,8.415269753e-01,7.016713313e-01,-1.584607081e-05,8.305656261e-01
+59,1.616666667e+01,UP_FORCE_HOLD,1792649181506040511,-5.621505869e-05,-1.219939005e-05,8.109629233e-04,-5.784989660e-05,-9.427463182e-06,8.050520096e-04,-5.560887958e-05,-9.228868044e-06,8.038207151e-04,7.014816564e-01,-1.064842873e-05,8.415519041e-01,7.014800216e-01,-7.876501861e-06,8.415459932e-01,7.016699746e-01,-7.421548033e-06,8.305845412e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..dab86f68b81ed71c64319bb836c07dd5219924dc
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-4.9579e-03,2.7857e-04,2.4563e+00,-3.6796e-02,3.6465e-02,-8.2976e-06,3.5484e-05,4.1902e-05,5.2452e-06,-2.7530e-06,2.2314e-06,-1.0374e-07,5.5158e-05,3.5453e-06
+1,3.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,6.4822e-05,-3.6691e-03,9.1995e-04,2.4567e+00,-3.6839e-02,3.6547e-02,-1.0036e-05,1.3243e-03,6.8329e-04,4.1270e-04,-4.5560e-05,8.4296e-05,-1.8422e-06,1.5463e-03,9.5838e-05
+2,6.6667e-01,WAIT_W2,1.3117e-04,7.2678e-03,4.0584e-03,2.4616e+00,-3.7109e-02,3.7300e-02,-1.5469e-04,1.2261e-02,3.8218e-03,5.2304e-03,-3.1553e-04,8.3791e-04,-1.4649e-04,1.3867e-02,9.0726e-04
+3,9.6667e-01,WAIT_W2,1.9799e-04,7.9100e-03,4.0203e-03,2.4619e+00,-3.7107e-02,3.7342e-02,-1.5454e-04,1.2903e-02,3.7836e-03,5.5485e-03,-3.1369e-04,8.7967e-04,-1.4634e-04,1.4546e-02,9.4533e-04
+4,1.2667e+00,WAIT_W2,2.6245e-04,1.5888e-02,1.9978e-02,2.4650e+00,-3.8207e-02,3.7874e-02,-1.4385e-04,2.0882e-02,1.9741e-02,8.6679e-03,-1.4134e-03,1.4112e-03,-1.3566e-04,3.0015e-02,2.0019e-03
+5,1.5167e+00,WAIT_W2,3.3115e-04,1.7064e-02,1.9067e-02,2.4665e+00,-3.8247e-02,3.8014e-02,-1.1938e-04,2.2058e-02,1.8831e-02,1.0180e-02,-1.4534e-03,1.5520e-03,-1.1119e-04,3.0737e-02,2.1292e-03
+6,1.7833e+00,WAIT_W2,3.9445e-04,1.7391e-02,3.2041e-02,2.4655e+00,-3.9202e-02,3.8007e-02,-8.0631e-05,2.2385e-02,3.1804e-02,9.1920e-03,-2.4091e-03,1.5449e-03,-7.2437e-05,3.9963e-02,2.8628e-03
+7,2.0833e+00,WAIT_W2,4.6229e-04,1.8970e-02,3.0489e-02,2.4663e+00,-3.9065e-02,3.8128e-02,-7.4595e-05,2.3963e-02,3.0253e-02,1.0020e-02,-2.2722e-03,1.6656e-03,-6.6401e-05,3.9873e-02,2.8181e-03
+8,2.3167e+00,UP_FORCE_RAMP,5.2681e-04,1.9434e-02,3.0331e-02,2.4665e+00,-3.9055e-02,3.8158e-02,-7.4303e-05,2.4427e-02,3.0095e-02,1.0180e-02,-2.2617e-03,1.6956e-03,-6.6109e-05,4.0075e-02,2.8275e-03
+9,2.6667e+00,UP_FORCE_RAMP,5.9322e-04,2.3961e-02,2.9303e-02,2.4690e+00,-3.8988e-02,3.8453e-02,-7.1294e-05,2.8955e-02,2.9066e-02,1.2662e-02,-2.1948e-03,1.9902e-03,-6.3100e-05,4.2936e-02,2.9634e-03
+10,2.9500e+00,UP_FORCE_RAMP,6.6113e-04,1.8470e-02,2.4231e-02,2.4598e+00,-3.8675e-02,3.8158e-02,-4.7998e-05,2.3464e-02,2.3994e-02,3.4800e-03,-1.8816e-03,1.6957e-03,-3.9804e-05,3.3740e-02,2.5333e-03
+11,3.2500e+00,UP_FORCE_RAMP,7.2466e-04,1.9405e-02,2.4564e-02,2.4602e+00,-3.8694e-02,3.8214e-02,-4.7793e-05,2.4398e-02,2.4327e-02,3.8524e-03,-1.9011e-03,1.7521e-03,-3.9599e-05,3.4668e-02,2.5857e-03
+12,3.4667e+00,UP_FORCE_RAMP,7.9198e-04,2.4913e-02,2.2996e-02,2.4412e+00,-3.8589e-02,3.8563e-02,-4.6698e-05,2.9907e-02,2.2760e-02,-1.5163e-02,-1.7960e-03,2.1008e-03,-3.8504e-05,4.0526e-02,2.7642e-03
+13,3.7833e+00,UP_FORCE_RAMP,8.5728e-04,2.5077e-02,2.2816e-02,2.4412e+00,-3.8577e-02,3.8575e-02,-4.6433e-05,3.0070e-02,2.2579e-02,-1.5135e-02,-1.7835e-03,2.1127e-03,-3.8239e-05,4.0535e-02,2.7651e-03
+14,4.0667e+00,UP_FORCE_RAMP,9.2182e-04,2.5789e-02,2.1971e-02,2.4397e+00,-3.8522e-02,3.8623e-02,-4.6160e-05,3.0783e-02,2.1734e-02,-1.6656e-02,-1.7286e-03,2.1605e-03,-3.7966e-05,4.1199e-02,2.7672e-03
+15,4.3500e+00,UP_FORCE_RAMP,9.8633e-04,2.6783e-02,2.0795e-02,2.4373e+00,-3.8446e-02,3.8690e-02,-4.5847e-05,3.1776e-02,2.0558e-02,-1.9022e-02,-1.6529e-03,2.2272e-03,-3.7653e-05,4.2358e-02,2.7738e-03
+16,4.6667e+00,UP_FORCE_RAMP,1.0520e-03,2.7881e-02,1.9888e-02,2.4350e+00,-3.8388e-02,3.8764e-02,-4.5415e-05,3.2875e-02,1.9651e-02,-2.1366e-02,-1.5949e-03,2.3012e-03,-3.7221e-05,4.3857e-02,2.8001e-03
+17,4.9333e+00,UP_FORCE_RAMP,1.1230e-03,2.9911e-02,1.8905e-02,2.4319e+00,-3.8325e-02,3.8899e-02,-4.4915e-05,3.4904e-02,1.8668e-02,-2.4381e-02,-1.5323e-03,2.4363e-03,-3.6721e-05,4.6489e-02,2.8783e-03
+18,5.2333e+00,UP_FORCE_RAMP,1.1859e-03,3.1434e-02,1.7712e-02,2.4282e+00,-3.8249e-02,3.9002e-02,-4.4314e-05,3.6428e-02,1.7475e-02,-2.8086e-02,-1.4562e-03,2.5396e-03,-3.6121e-05,4.9206e-02,2.9277e-03
+19,5.5000e+00,UP_FORCE_RAMP,1.2491e-03,3.2664e-02,1.6578e-02,2.4265e+00,-3.8178e-02,3.9086e-02,-4.3703e-05,3.7657e-02,1.6341e-02,-2.9850e-02,-1.3844e-03,2.6236e-03,-3.5509e-05,5.0755e-02,2.9667e-03
+20,5.8167e+00,UP_FORCE_RAMP,1.3186e-03,3.4456e-02,1.5934e-02,2.4244e+00,-3.8138e-02,3.9207e-02,-4.2817e-05,3.9449e-02,1.5698e-02,-3.1956e-02,-1.3446e-03,2.7451e-03,-3.4623e-05,5.3140e-02,3.0569e-03
+21,6.0333e+00,UP_FORCE_RAMP,1.3870e-03,3.5595e-02,1.5011e-02,2.4226e+00,-3.8080e-02,3.9285e-02,-4.2132e-05,4.0588e-02,1.4775e-02,-3.3766e-02,-1.2864e-03,2.8231e-03,-3.3938e-05,5.4825e-02,3.1025e-03
+22,6.2500e+00,UP_FORCE_RAMP,1.4473e-03,3.6676e-02,1.4321e-02,2.4216e+00,-3.8037e-02,3.9360e-02,-4.1368e-05,4.1669e-02,1.4084e-02,-3.4714e-02,-1.2434e-03,2.8974e-03,-3.3174e-05,5.6033e-02,3.1531e-03
+23,6.5167e+00,UP_FORCE_RAMP,1.5160e-03,3.8060e-02,1.3702e-02,2.4201e+00,-3.7999e-02,3.9455e-02,-4.0338e-05,4.3054e-02,1.3465e-02,-3.6193e-02,-1.2056e-03,2.9924e-03,-3.2144e-05,5.7835e-02,3.2263e-03
+24,6.8000e+00,UP_FORCE_RAMP,1.5813e-03,3.9456e-02,1.3139e-02,2.4182e+00,-3.7965e-02,3.9551e-02,-3.9128e-05,4.4449e-02,1.2902e-02,-3.8155e-02,-1.1717e-03,3.0888e-03,-3.0934e-05,5.9983e-02,3.3037e-03
+25,6.9000e+00,UP_FORCE_RAMP,1.6498e-03,4.0164e-02,1.4227e-02,2.4166e+00,-3.8038e-02,3.9600e-02,-3.8502e-05,4.5158e-02,1.3990e-02,-3.9772e-02,-1.2444e-03,3.1376e-03,-3.0308e-05,6.1779e-02,3.3755e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 2334720
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..70db98d90fea8b4e4c6b0a3e7e130679b3aac514
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ab9939e1af77f204d3dae793f4ac36b1440cb351
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
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+86433,1792649266514046018,17806815000000,1792649266508659096,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760182000706253,-0.004448136404588575,0.09090752019959918,0.9999999844856726,3.84579012047422e-05,-0.00013490969174032375,5.283827984970287e-05,0.6761,-0.0045,0.09098173379688823,1.0,0.0,0.0,0.0,-0.11392718582901784,0.010358390264108702,0.09079044522833907,0.0013892808158507356,0.008114374245039323,5.8747855576907226e-05,0.22867703367966408,-0.23987757317811073,0.3210946974735598,-0.010870041676408405,-0.01606099212186255,-0.000608866305831394,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.2889781524373644,-0.261920722926327,0.9641674446431465,0.33380856882020243,-0.5342588532093308,-0.22366337976939712,0.9848723482038328,0.09079044522833907,0.020704903560686327,0.020704903560686327,0.06888000000000052,0,0,-2.8764894226731214e-05,-5.00775078867548e-05
+86546,1792649267456075567,17807757000000,1792649267448659063,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760454635584369,-0.004453728519182911,0.09090987795116513,0.9999999908890068,3.460866381341452e-05,-7.012927964576121e-05,5.95732776407698e-05,0.6761,-0.0045,0.09095499553087018,1.0,0.0,0.0,0.0,-0.19195902067197662,0.07125502135656017,0.1009698035452194,0.005846580975625295,0.014793621213661682,0.00020111762855527814,0.1506451988367053,-0.17898094208565926,0.3312740557904401,-0.006412741516633846,-0.009381745153240192,-0.00046649653285302304,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.386409378707205,-0.27064680559543364,0.8857330856958016,0.3351123050289238,-0.48865486605845837,-0.22637335977621703,0.9848723482038328,0.1009698035452194,0.09913926250803129,0.09913926250803129,0.13481999999999916,0,0,-2.8702717023296058e-05,3.763839170624795e-05
+86652,1792649268339101760,17808640000000,1792649268336658583,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760413748181705,-0.004446034334813016,0.09088499678331514,0.9999999921148867,1.0669216873941126e-05,-7.504475269994985e-05,3.830853792221036e-05,0.6761,-0.0045,0.0909252722642846,1.0,0.0,0.0,0.0,-0.1827590721353246,0.06422475479888057,0.15881019686655817,0.0055489655774458736,0.013068473550001512,0.00012087154468350646,0.1598451473733573,-0.18601120864333887,0.3891144491117789,-0.0067103569148132675,-0.011106892816900362,-0.0005467426167247947,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.40958212085804124,-0.24287746810512978,0.892637802575824,0.33806931239538707,-0.4827583422581016,-0.20565395953353077,0.9848723482038328,0.15881019686655817,0.09223454562800881,0.09223454562800881,0.19662999999998745,0,0,-3.570023401486123e-05,-9.936051567483446e-05
+86750,1792649269156026956,17809457000000,1792649269148660620,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760298109958083,-0.004452831221034483,0.09082001065320669,0.9999999887462613,9.512845309577345e-06,-0.00010786444855750937,4.717105235048662e-05,0.6761,-0.0045,0.0909104391313542,1.0,0.0,0.0,0.0,-0.1624987692579,0.030002095925715844,0.3587736308056328,0.003268387137201862,0.012070706782295526,-7.869294665249641e-05,0.18010545025078192,-0.2202338675165036,0.5890778830508535,-0.008990935355057279,-0.012104659584606348,-0.0007463071080607976,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.4591517588648072,-0.3406028117143017,0.6286350554189792,0.3579458394509571,-0.28546578987187077,-0.2699549837419415,0.9848723482038328,0.3587736308056328,0.3562372927848536,0.3562372927848536,0.2538199999999781,0,0,-2.7588019456403767e-06,2.7866686319599765e-05
+86878,1792649270222079058,17810523000000,1792649270216668251,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760324442654302,-0.004447863735586414,0.09081973855637755,0.9999999890886525,1.2047157546449567e-05,-0.00010495127107392206,4.588742783066316e-05,0.6761,-0.0045,0.09090869264693469,1.0,0.0,0.0,0.0,-0.1775379904883448,0.01976002091599313,0.35052378041666193,0.002299207004947958,0.0120924595725497,-7.939919057320974e-05,0.16506622902033713,-0.2304759425262263,0.5808280326618827,-0.009960115487311183,-0.012082906794352173,-0.0007470133519815109,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.4430889136917552,-0.36416820266066946,0.6574745553484933,0.3630191473538354,-0.3075555500994835,-0.2866503745918223,0.9848723482038328,0.35052378041666193,0.32739779285533954,0.32739779285533954,0.32843999999999357,0,0,-3.919121821590188e-06,3.2217947680124926e-05
+86998,1792649271222128589,17811523000000,1792649271220658619,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760308179350701,-0.00444854341916743,0.09081417043991241,0.9999999888250454,1.2274733298985186e-05,-0.00010719761177882748,4.637646627323536e-05,0.6761,-0.0045,0.0909009693234981,1.0,0.0,0.0,0.0,-0.1701781829527048,0.019343703346973967,0.35263912152721605,0.0032579089925819597,0.012475183872820908,-6.900286996226615e-05,0.17242603655597713,-0.23089226009524547,0.5829433737724368,-0.009001413499677181,-0.011700182494080965,-0.0007366170313705673,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.43326456396905993,-0.32792016864484297,0.6223438966912738,0.35186946785890777,-0.28741416716220564,-0.2650481725716187,0.9848723482038328,0.35263912152721605,0.3625284515125591,0.3625284515125591,0.39844000000000807,0,0,-1.6151112984556744e-05,-5.400775246323093e-05
+87122,1792649272256201385,17812557000000,1792649272252668771,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.676032386083503,-0.004448947306272579,0.09080459295092745,0.9999999889720753,1.7741642481005075e-05,-0.00010483054216781625,4.684554514271811e-05,0.6761,-0.0045,0.09087495905116776,1.0,0.0,0.0,0.0,-0.18789430442903088,0.014203037565145127,0.37058325083648297,0.002443359490973856,0.013098311563632427,-8.468146660077838e-05,0.15470991507965104,-0.2360329258770743,0.6008875030817037,-0.009815963001285285,-0.011077054803269447,-0.0007522956280090796,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.48672457268056274,-0.298149951244313,0.5244689609847288,0.3436329466753014,-0.21585436917525772,-0.2418434849362068,0.9848723482038328,0.37058325083648297,0.460403387219104,0.460403387219104,0.47082000000002305,0,0,-3.319206306054567e-05,9.99999208702917e-05
+87248,1792649273306222005,17813607000000,1792649273304659207,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760352185775006,-0.004455842306034205,0.09078213943079688,0.9999999733302992,0.0001783312262443858,-0.00010121581480217892,5.23029415004548e-05,0.6761,-0.0045,0.09083243867751886,1.0,0.0,0.0,0.0,-0.18919984891588962,0.026642726889085838,0.4388497053807863,0.0031983148071701058,0.01408138643073459,-0.00011530451731969326,0.1534043705927923,-0.2235932365531336,0.669153957626007,-0.009061007685089035,-0.010093979936167284,-0.0007829186787279944,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.4986913556913577,-0.19543503303131213,0.4649738006573798,0.2928930324112952,-0.17173423538330865,-0.21375332401835007,0.9848723482038328,0.4388497053807863,0.519898547546453,0.519898547546453,0.5443200000000382,0,0,-4.770667328260624e-05,9.995259761386705e-05
+87405,1792649274614283444,17814915000000,1792649274612659329,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760371181308003,-0.0044534724973947625,0.09073581389267234,0.9999999743406158,0.00017424007666735626,-9.452826589017603e-05,5.887643503821715e-05,0.6761,-0.0045,0.0907761903594849,1.0,0.0,0.0,0.0,-0.20018182590734973,0.01829221929339586,0.5412071516934931,0.0031498707983471635,0.015073977069330294,-0.00018293968119367375,0.1424223936013322,-0.23194374414882357,0.7715114039387138,-0.009109451693911978,-0.00910138929757158,-0.0008505538426019749,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.5025036337815714,-0.2951703712737571,0.3710690552110462,0.3345197164132976,-0.11672206197949114,-0.2620106123563313,0.9848723482038328,0.5412071516934931,0.6138032929927866,0.6138032929927866,0.6358800000000572,0,0,-3.4294525626228693e-05,9.985425960946088e-05
+87534,1792649275689259143,17815990000000,1792649275688658821,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760411753989715,-0.004452006303341504,0.09071049030408672,0.9999999744669393,0.00017582007545836507,-8.710872841839774e-05,6.331157292237993e-05,0.6761,-0.0045,0.09073886818767249,1.0,0.0,0.0,0.0,-0.21904971123782974,0.02569088602132552,0.5981791134037697,0.00376046566966679,0.016058111992090805,-0.00020625215287961303,0.12355450827085218,-0.2245450774208939,0.8284833656489904,-0.008498856822592351,-0.008117254374811068,-0.0008738663142879142,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.5061952210051368,-0.304663646792457,0.35335182927713565,0.33743201522323646,-0.10625596905992675,-0.2549924143308161,0.9848723482038328,0.5981791134037697,0.6315205189266972,0.6315205189266972,0.7111300000000728,0,0,-3.6631512541378204e-05,-9.999999025923074e-05
+87650,1792649276656383481,17816957000000,1792649276648658991,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760470125563953,-0.004456470401263366,0.09068995816472726,0.9999999756267005,0.00017101100265116173,-7.863086542035776e-05,6.900642271727284e-05,0.6761,-0.0045,0.09070307433117421,1.0,0.0,0.0,0.0,-0.22993526851912496,0.03217063130073161,0.6296579079260005,0.0040990113135689794,0.01706047027007821,-0.00021574464376479508,0.11266895098955695,-0.21806533214148782,0.8599621601712212,-0.008160311178690162,-0.007114896096823662,-0.0008833588051730963,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.6339996589245824,-0.3961962004385005,0.20374834243335893,0.3787426549188502,0.018227208262821887,-0.3014562296451152,0.9848723482038328,0.6296579079260005,0.7811240057704739,0.7811240057704739,0.7788200000000868,0,0,-3.8009907198073616e-05,9.995075186808861e-05
+87762,1792649277589375500,17817890000000,1792649277584668736,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760702426848082,-0.004452754618581016,0.09067543361342277,0.9999999765221981,0.00017423412502060395,-5.0902479355894586e-05,7.382326776931838e-05,0.6761,-0.0045,0.09065892467842607,1.0,0.0,0.0,0.0,-0.283985099575617,0.07792225666998281,0.6546003931635067,0.007134305347685695,0.02091365108976507,-0.00014788327082086445,0.05861911993306492,-0.17231370677223662,0.8849046454087275,-0.005125017144573446,-0.0032617152771368067,-0.0008154974322291656,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.6612877031405021,-0.3162559012589496,0.15860390784941597,0.36748985944123475,0.03962959378299205,-0.23725039696660588,0.9848723482038328,0.6546003931635067,0.8262684403544169,0.8262684403544169,0.8441300000001003,0,0,-5.655827326336992e-05,9.999226033142179e-05
+87880,1792649278572394160,17818873000000,1792649278568668787,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760738708057048,-0.0044567045157385176,0.09063016459287948,0.9999999767085926,0.00017154493570918324,-4.1339927220519e-05,8.30001431451962e-05,0.6761,-0.0045,0.09060425249575227,1.0,0.0,0.0,0.0,-0.2945407715684288,0.07755985405324756,0.7348982925379419,0.007101461525752129,0.021607833001511277,-0.00020805439868659432,0.04806344794025313,-0.17267610938897188,0.9652025447831627,-0.005157860966507012,-0.0025675333653905974,-0.0008756685600948955,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.6573538461643512,-0.41343996900453894,0.13718091772629412,0.39698161681676736,0.049486199954770875,-0.2982367285549591,0.9848723482038328,0.7348982925379419,0.8476914304775387,0.8476914304775387,0.9129400000001145,0,0,-5.25040979114307e-05,6.899090147098583e-05
+88006,1792649279622427076,17819923000000,1792649279620668804,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760743748543777,-0.004460399469266989,0.09058916780329891,0.9999999767317193,0.00016822551221436734,-3.8865255059035946e-05,9.038304156040676e-05,0.6761,-0.0045,0.09055855824705103,1.0,0.0,0.0,0.0,-0.3018713093312722,0.06352475217364534,0.8109721413320794,0.007218777649663303,0.021897086216241264,-0.0002580479489517055,0.04073291017740973,-0.1867112112685741,1.0412763935773002,-0.005040544842595838,-0.002278280150660609,-0.0009256621103600067,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.6706571694266473,-0.38571032758397394,0.05983980415232625,0.391755299749011,0.10322222417910444,-0.27781989288032655,0.9848723482038328,0.8109721413320794,0.9250325440515066,0.9250325440515066,0.9864400000001298,0,0,-3.444804620308795e-05,-4.2365343204347996e-05
+88130,1792649280656502970,17820957000000,1792649280648668551,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760777126233812,-0.004457116651219465,0.0905596397986727,0.999999975610124,0.00017349345794457559,-3.144573340462721e-05,9.557092417168451e-05,0.6761,-0.0045,0.09051860459965125,1.0,0.0,0.0,0.0,-0.30541004408524763,0.0669567598620695,0.8412241697732248,0.0074713544383819925,0.02201665479082569,-0.0002772383980234348,0.03719417542343426,-0.18327920358014993,1.0715284220184456,-0.0047879680538771485,-0.0021587115760761835,-0.000944852559431736,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.620073209464684,-0.2997863613012552,0.09451232120742692,0.3570010447826523,0.06288175680210813,-0.22295101845762746,0.9848723482038328,0.8412241697732248,0.8903600269964059,0.8903600269964059,1.0588200000001446,0,0,-4.445562000052051e-05,-9.999999025923074e-05
+88276,1792649281872476538,17822173000000,1792649281868659039,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760795639296933,-0.004460400364850396,0.09051348309797944,0.9999999752504602,0.00017249095942609215,-2.622557169610577e-05,0.00010247453966751754,0.6761,-0.0045,0.09046211785638537,1.0,0.0,0.0,0.0,-0.3151357332373451,0.07012977723282338,0.9116427577412243,0.007987239657358465,0.022209184715976948,-0.0003258913899052904,0.02746848627133678,-0.18010618620939606,1.141947009986445,-0.004272082834900676,-0.0019661816509249246,-0.0009935055513135916,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.6946863059977366,-0.43174222375867216,-0.07405345177003615,0.40600012254604956,0.1869977209064346,-0.3040631067046605,0.9848723482038328,0.9116427577412243,1.058925799973869,1.058925799973869,1.1439400000001623,0,0,-4.9859028679348445e-05,-5.08176237464852e-05
+88406,1792649282956578256,17823257000000,1792649282952668580,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760831243383644,-0.004455794759200193,0.0904653285597889,0.9999999754478825,0.0001709785501631745,-2.3557737342550116e-05,0.0001037230297924356,0.6761,-0.0045,0.0904075378050223,1.0,0.0,0.0,0.0,-0.3109156534251459,0.07484121599528729,0.9770111792862828,0.009000583311366606,0.02195827425275445,-0.0003700537215484295,0.03168856608353605,-0.17539474744693215,1.2073154315315036,-0.0032587391808925354,-0.002217092114147424,-0.0010376678829567307,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.7162786643621648,-0.37728226755357763,-0.20290886158438903,0.392306410338137,0.27335736774344305,-0.27446970374431745,0.9848723482038328,0.9770111792862828,1.1877812097882219,1.1877812097882219,1.219820000000178,0,0,-4.8520046651263964e-05,9.999986535914047e-05
+88480,1792649283572562280,17823873000000,1792649283568659188,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760891234198354,-0.004448066036467311,0.09043776462209699,0.9999999942768699,5.275843453903409e-05,-1.8591497090000425e-06,1.0110181180594656e-05,0.6761,-0.0045,0.09037105333869595,1.0,0.0,0.0,0.0,-0.27070875286098445,0.1440310324837347,1.0138258177541235,0.012033740720943811,0.019862628600119468,-0.0003094426139492409,0.07189546664769748,-0.10620493095848474,1.2441300699993443,-0.00022558177131533087,-0.004312737766782407,-0.000977056775357542,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.7582782208381235,-0.2328735738389583,-0.14280497306468803,0.21411131249640106,0.26964783026745753,-0.14333941260856206,0.9848723482038328,1.0138258177541235,1.127677321268521,1.127677321268521,1.262940000000187,0,0,-6.91766245911315e-05,-9.999999025923074e-05
+88614,1792649284689608643,17824990000000,1792649284688658691,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760938502420311,-0.004446417797582985,0.09036937193512652,0.999999992767666,7.093743250936395e-05,2.7386411397904488e-06,2.9460361619043347e-05,0.6761,-0.0045,0.09028974321741037,1.0,0.0,0.0,0.0,-0.29118236848927914,0.12378265919899159,1.104858008800388,0.011041410161483332,0.020870671754759994,0.00044464938493396424,0.05142185101940277,-0.12645330424322784,1.3351622610456089,-0.001217912330775809,-0.0033046946121418792,-0.00022296477647433695,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.834955981088137,-0.3243658961825502,-0.3567008361680845,0.28063936566827474,0.4170868454353826,-0.21652322537853375,0.9848723482038328,1.104858008800388,1.3415731843719174,1.3415731843719174,1.341130000000203,0,0,-7.043305007695266e-05,9.999320402099272e-05
+88744,1792649285772632027,17826073000000,1792649285764659626,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760912073692055,-0.004449261361846659,0.09029997711295012,0.999999991182222,8.307948592031346e-05,-4.7936174437921655e-06,4.640302162681928e-05,0.6761,-0.0045,0.09022362258176624,1.0,0.0,0.0,0.0,-0.2928402002140836,0.12530712509123737,1.164312015957765,0.011033620650231894,0.02072183565266472,0.0005137821992019199,0.04976401929459833,-0.12492883835098206,1.3946162682029857,-0.0012257018420272477,-0.0034535307142371558,-0.00015383196220638125,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.7628961312533012,-0.36973680206305365,-0.39170300743835185,0.34223877707668177,0.41212367970722213,-0.2558671060108766,0.9848723482038328,1.164312015957765,1.3765753556421847,1.3765753556421847,1.4169400000002188,0,0,-5.3403072107467746e-05,9.999999025923074e-05
+88862,1792649286756694672,17827057000000,1792649286752659277,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6760925639140664,-0.0044559698905546905,0.09025684998053783,0.9999999898348743,8.849560385322216e-05,-3.0518684415746794e-06,6.270829202049738e-05,0.6761,-0.0045,0.09017130751299156,1.0,0.0,0.0,0.0,-0.2823355052548502,0.12012519655865078,1.1847617367237062,0.011698048215034217,0.019855637351452477,0.0004950108985640947,0.060268714253831755,-0.13011076688356865,1.415065988968927,-0.0005612742772249243,-0.0043197290154493966,-0.00017260326284420646,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.7443853922613586,-0.2956928934026581,-0.3838105947632168,0.3691079755262075,0.385610009730706,-0.21563134095948866,0.9848723482038328,1.1847617367237062,1.3686829429670495,1.3686829429670495,1.485820000000233,0,0,-5.474032592075873e-05,-9.999860248044996e-05
+89007,1792649287964690305,17828265000000,1792649287960658677,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6760955019992918,-0.004456772066827723,0.09019195324202639,0.9999999875389299,0.00010086907313953711,1.7224827908443706e-06,7.866045726068198e-05,0.6761,-0.0045,0.09010290236038657,1.0,0.0,0.0,0.0,-0.2893564602428557,0.11997104236855072,1.2246556173321368,0.011025340957505026,0.020844060252643418,0.0004655019738479787,0.0532477592658262,-0.13026492107366872,1.4549598695773576,-0.0012339815347541152,-0.003331306114258455,-0.00020211218756032248,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8157735057576525,-0.3544220983751049,-0.4980510984144366,0.4056251209085294,0.4738619011638401,-0.26323701191907156,0.9848723482038328,1.2246556173321368,1.4829234466182695,1.4829234466182695,1.5703800000002506,0,0,-6.44753423173062e-05,3.288641363554984e-05
+89098,1792649288722755119,17829023000000,1792649288720659020,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.676100415480114,-0.004450580624225361,0.09014307069148864,0.9999999949499034,2.8249102078836496e-05,1.3426726785572007e-05,2.3764863558565088e-05,0.6761,-0.0045,0.09005066971338588,1.0,0.0,0.0,0.0,-0.26310558925072347,0.16573384026402427,1.255499415707775,0.014130999974508833,0.01811449387447494,0.0004393728852876795,0.07949863025795845,-0.08450212317819517,1.4858036679529958,0.0018716774822496922,-0.0060608724924269336,-0.0002282412761206217,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8294863286264278,-0.30674216111280556,-0.5167142325163587,0.38571964747856274,0.48910114931904375,-0.22520566217297489,0.9848723482038328,1.255499415707775,1.5015865807201916,1.5015865807201916,1.6234400000002616,0,0,-7.520852396000611e-05,-6.577021846443926e-05
+89218,1792649289722786770,17830023000000,1792649289720658791,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761080000573856,-0.004448952381306536,0.09007780809165654,0.9999999938620389,4.2005818280477437e-05,2.5647359892441884e-05,3.600709568693488e-05,0.6761,-0.0045,0.089969265274553,1.0,0.0,0.0,0.0,-0.2725416079842489,0.1595679827027568,1.286002775694925,0.014097690855565117,0.01975666959933388,0.00043841899629507,0.07006261152443301,-0.09066798073946264,1.5163070279401458,0.001838368363305975,-0.004418696767567996,-0.00022919516511323124,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8555532086448936,-0.348236501026022,-0.5912054785324765,0.4179079771490542,0.535173212228374,-0.2548430407729374,0.9848723482038328,1.286002775694925,1.5760778267363094,1.5760778267363094,1.693440000000276,0,0,-8.704972982241997e-05,4.945665189538679e-05
+89340,1792649290739784887,17831040000000,1792649290732658800,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761070187579288,-0.004454869239243472,0.08998733296617525,0.9999999811103253,0.00016164005611877359,1.9973176215768153e-05,5.192088041256027e-05,0.6761,-0.0045,0.08987642254464015,1.0,0.0,0.0,0.0,-0.25768600691595017,0.14828688821590386,1.3322478944243004,0.013095190554872824,0.0187550810205118,0.0003753987710750054,0.08491821259273176,-0.10194907522631559,1.5625521466695211,0.0008358680626136829,-0.005420285346390072,-0.00029221539033329576,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8358287589672846,-0.19244312255675045,-0.5504354266506366,0.3514168203172399,0.5114357019853496,-0.20654847857154807,0.9848723482038328,1.3322478944243004,1.5353077748544695,1.5353077748544695,1.7646300000002908,0,0,-9.790618530766538e-05,-9.843753176331233e-05
+89446,1792649291622845608,17831923000000,1792649291620658746,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761130214739624,-0.004458950422807491,0.08990371429976446,0.9999999815825199,0.00015213104946752782,2.8459870678745583e-05,6.57571570512837e-05,0.6761,-0.0045,0.089782718691749,1.0,0.0,0.0,0.0,-0.2719394464207722,0.14337852682418228,1.363958042965308,0.013077770105738677,0.019150043114353033,0.0003607072834804976,0.07066477308790971,-0.10685743661803714,1.5942622952105288,0.0008184476134795354,-0.005025323252548842,-0.0003069068779278036,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.862560075796898,-0.22245383813996067,-0.609283507787202,0.38482585866391233,0.5481270724499834,-0.1971076830595969,0.9848723482038328,1.363958042965308,1.5941558559910347,1.5941558559910347,1.8264400000003036,0,0,-0.00011163470279715171,-9.989139656963459e-05
+89550,1792649292489779092,17832790000000,1792649292488659025,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761155796136891,-0.004463840165440073,0.08980599715038821,0.9999999843667465,0.0001299763726611376,3.297471590934162e-05,6.876177498184184e-05,0.6761,-0.0045,0.08968215623862105,1.0,0.0,0.0,0.0,-0.2662608910611683,0.1375544373356832,1.3856024271299456,0.012176633435554396,0.01954974574142454,0.00034171196829645904,0.07634332844751363,-0.11268152610653623,1.6159066793751664,-8.268905670474553e-05,-0.0046256206254773335,-0.00032590219311184215,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8757761680815701,-0.27159362697055334,-0.7794694607469193,0.42971647864813034,0.6533830428674932,-0.20128779068409738,0.9848723482038328,1.3856024271299456,1.764341808950752,1.764341808950752,1.8871300000003162,0,0,-0.00012108901259880322,9.266567654731545e-05
+89634,1792649293189803604,17833490000000,1792649293188660182,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761154062819283,-0.004460322960040459,0.08971865563671166,0.9999999868653447,0.00011224693304858334,3.272703066667236e-05,6.35746976156787e-05,0.6761,-0.0045,0.08959472466545092,1.0,0.0,0.0,0.0,-0.25659387741193024,0.12964543994362038,1.4107148180942484,0.012076529576194898,0.018747553715205877,0.0003015390131989706,0.0860103420967517,-0.12059052349859906,1.6410190703394691,-0.00018279291606424205,-0.005427812651695996,-0.0003660751482093306,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8514067865999722,-0.32772584255873866,-0.786810257477223,0.44757325755854327,0.6524177410550018,-0.2356567872973793,0.9848723482038328,1.4107148180942484,1.7716826056810557,1.7716826056810557,1.9361300000003263,0,0,-0.0001272094335605115,9.997231795034196e-05
+89746,1792649294122891111,17834423000000,1792649294116659349,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761195726651884,-0.004471070021888225,0.08960478910256076,0.9999999881678843,9.355967339411682e-05,3.777074894954381e-05,7.019297371747791e-05,0.6761,-0.0045,0.08946889227447126,1.0,0.0,0.0,0.0,-0.25329268129863886,0.12956194802608073,1.4458062875590292,0.01205127948443558,0.01875061970232178,0.00027294113774780265,0.08931153821004306,-0.12067401541613869,1.67611053980425,-0.00020804300782356156,-0.005424746664580093,-0.00039467302366049854,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8837221696337954,-0.23085949309799886,-0.9213961457816,0.4321304119981566,0.7435719314294803,-0.16962582169698348,0.9848723482038328,1.4458062875590292,1.9062684939854329,1.9062684939854329,2.00144000000034,0,0,-0.00014193356440564552,9.977140921624823e-05
+89834,1792649294856861798,17835157000000,1792649294856659099,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761227780452238,-0.004471377681679135,0.0894982079156666,0.9999999883789163,9.01167242225665e-05,4.174238949105454e-05,6.943759989469068e-05,0.6761,-0.0045,0.08936345430669551,1.0,0.0,0.0,0.0,-0.2522942594729344,0.11748460572557234,1.4657681752314504,0.011053061141302667,0.017740886623855538,0.0002369445739571284,0.09030996003574754,-0.1327513577166471,1.6960724274766712,-0.0012062613509564747,-0.006434479743046336,-0.0004306695874511728,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8495393704458141,-0.2760526903047337,-0.8143463019225593,0.450545472902706,0.6620450636163483,-0.19507909596354003,0.9848723482038328,1.4657681752314504,1.799218650126392,1.799218650126392,2.0528200000003505,0,0,-0.00014991192349575323,-9.999965719232335e-05
+89918,1792649295556926939,17835857000000,1792649295552659130,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761218722440931,-0.0044730182838883786,0.0893886186144806,0.9999999899155102,8.204837066252418e-05,4.154660373747323e-05,5.615860245531397e-05,0.6761,-0.0045,0.08925566060730664,1.0,0.0,0.0,0.0,-0.24307961368200975,0.12846156730897768,1.4948782777304417,0.011049787763418494,0.01774527198547783,0.00020730642029756193,0.09952460582667216,-0.12177439613324174,1.7251825299756625,-0.0012095347288406484,-0.006430094381424043,-0.00046030774111073926,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8832104360062113,-0.28277026831470314,-0.8725603594758915,0.4618276833334381,0.7087328796816746,-0.2014213781378285,0.9848723482038328,1.4948782777304417,1.8574327076797243,1.8574327076797243,2.1018200000003606,0,0,-0.0001588913222897156,-8.060517117514649e-05
+90002,1792649296256948853,17836557000000,1792649296256658886,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761217456198203,-0.004475074003000923,0.08927316910356188,0.9999999891589864,8.850586922152768e-05,3.810176808578336e-05,6.196658589616314e-05,0.6761,-0.0045,0.08914069359531593,1.0,0.0,0.0,0.0,-0.23384247407923198,0.10931498472066042,1.5156008459590466,0.011061028136400702,0.01681891772048717,0.0001721925400185333,0.10876174542944995,-0.140920978721559,1.7459050982042674,-0.001198294355858439,-0.007356448646414704,-0.0004954216213897679,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.880054457133998,-0.3191536253522941,-0.834617579351653,0.4871737581838879,0.6812147563053832,-0.21992981440508205,0.9848723482038328,1.5156008459590466,1.8194899275554859,1.8194899275554859,2.1508200000003708,0,0,-0.00016807579931585182,-9.99830454803174e-05
+90087,1792649296965026968,17837265000000,1792649296964659633,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761231782325097,-0.004480605879399628,0.08915095502892999,0.9999999877697143,9.401926714492868e-05,3.983420592929213e-05,7.400708796651752e-05,0.6761,-0.0045,0.08901809351857431,1.0,0.0,0.0,0.0,-0.23728785278669084,0.09709270941249806,1.5353663229642154,0.010014427544003605,0.017889242759532065,0.0001653062239273718,0.10531636672199106,-0.15314325402972137,1.7656705752094362,-0.0022448949482555356,-0.006286123607369808,-0.0005023079374809294,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.920236803832056,-0.399656489086639,-0.9180905181998238,0.5194810415172049,0.7463979433530022,-0.27215766212380044,0.9848723482038328,1.5353663229642154,1.9029628664036566,1.9029628664036566,2.200380000000381,0,0,-0.0001799582540721031,-9.999999025923074e-05
+90157,1792649297547979977,17837848000000,1792649297540669639,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761229075133683,-0.004480050398053569,0.08904357208557027,0.9999999878953776,9.293472155103636e-05,3.605285225416835e-05,7.56005185386107e-05,0.6761,-0.0045,0.08891105627663015,1.0,0.0,0.0,0.0,-0.24069551593953473,0.08773588131370186,1.556143214705742,0.010013237786336272,0.017735897843673194,0.00014628195680653174,0.10190870356914719,-0.16250008212851758,1.7864474669509627,-0.0022460847059228694,-0.006439468523228678,-0.0005213322046017694,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9129903528972511,-0.38226312654242706,-1.0253170059532033,0.5211188375654116,0.8112439955190403,-0.2615470497533391,0.9848723482038328,1.556143214705742,2.010189354157036,2.010189354157036,2.2411900000003895,0,0,-0.00018686416645011394,9.920104601513486e-05
+90246,1792649298289973615,17838590000000,1792649298284659673,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761247794716666,-0.004485913306467014,0.08890478592157795,0.9999999899445225,7.386793462267267e-05,4.1251955957019275e-05,6.629949893598469e-05,0.6761,-0.0045,0.08876768721689923,1.0,0.0,0.0,0.0,-0.23348891059243018,0.08885884055070245,1.5758507908312132,0.010018657425393356,0.017379353457865114,0.00012589299037634805,0.10911530891625174,-0.16137712289151698,1.806155043076434,-0.002240665066865785,-0.006796012909036758,-0.0005417211710319531,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.885467633401857,-0.3714615195395192,-1.0354407643237022,0.5318989989539344,0.8024083033323525,-0.2553798466180356,0.9848723482038328,1.5758507908312132,2.020313112527535,2.020313112527535,2.2931300000004002,0,0,-0.00020122701769179218,5.295070912148532e-05
+90318,1792649298889986583,17839190000000,1792649298884659506,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761217090719269,-0.004486949442853651,0.08877233779566591,0.9999999897921464,7.684618812869127e-05,3.3091484210670934e-05,6.970070746081239e-05,0.6761,-0.0045,0.08864366872711789,1.0,0.0,0.0,0.0,-0.23234981352942594,0.0809266354618435,1.6033626691943819,0.01001992839341555,0.017132552767880622,0.00010589544197044782,0.11025440597925598,-0.16930932798037593,1.8336669214396026,-0.002239394098843592,-0.007042813599021251,-0.0005617187194378534,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8695778373526116,-0.418040214551648,-0.9513307237194996,0.55525964884477,0.7393420695837213,-0.2860688041009094,0.9848723482038328,1.6033626691943819,1.9362030719233325,1.9362030719233325,2.335130000000409,0,0,-0.00021141522516951306,-9.895775451707606e-05
+90395,1792649299532071967,17839832000000,1792649299528658696,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761249944425435,-0.004489708822172661,0.08864080614803277,0.9999999885304006,8.348109415374734e-05,3.7770455382229964e-05,7.737158776224702e-05,0.6761,-0.0045,0.08850557609563199,1.0,0.0,0.0,0.0,-0.2428841351903926,0.07996369073090501,1.61557104425598,0.010000400635417246,0.017739869059317848,9.822418503306987e-05,0.09972008431828933,-0.17027227271131443,1.8458752965012009,-0.0022589218568418957,-0.006435497307584024,-0.0005693899763752313,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9129815243748103,-0.4416642957924665,-1.0371463593450654,0.5787782320849697,0.8020201925036871,-0.2951558151134653,0.9848723482038328,1.61557104425598,2.0220187075488982,2.0220187075488982,2.3800700000004182,0,0,-0.00021854331172107967,-9.988505442060642e-05
+90466,1792649300123072819,17840423000000,1792649300120659184,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761259692080565,-0.004482952744734999,0.08851705430875835,0.9999999877708894,8.972187732740534e-05,4.182016470439403e-05,7.811622075065079e-05,0.6761,-0.0045,0.08837145854297812,1.0,0.0,0.0,0.0,-0.23688699295530913,0.087439884371216,1.6055622164877699,0.01000397058366164,0.01774412357754114,0.0001059901047083566,0.1057172265533728,-0.16279607907100344,1.8358664687329906,-0.0022553519085975002,-0.0064312427893607315,-0.0005616240566999446,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9134461218081881,-0.4061463428802178,-1.024319387196418,0.5708800553932478,0.7870700944899435,-0.2771748603079751,0.9848723482038328,1.6055622164877699,2.009191735400251,2.009191735400251,2.4211600000004267,0,0,-0.00023521888084107457,-9.999657632343002e-05
+90534,1792649300690102733,17840990000000,1792649300684669423,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761278915773493,-0.004489560980880127,0.0883776429633147,0.9999999878497577,8.600635516521689e-05,4.32565686906255e-05,8.04681602639002e-05,0.6761,-0.0045,0.08823509892000024,1.0,0.0,0.0,0.0,-0.24278354196973345,0.09076017872259437,1.6354037356124547,0.009998126146084786,0.0177366797639708,8.216039894458045e-05,0.09982067753894845,-0.15947578471962506,1.8657079878576754,-0.0022611963461743544,-0.006438686602931073,-0.0005854537624637207,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9124257211598864,-0.35023210719033,-1.1261036794946109,0.5688183918202957,0.8452881147429174,-0.23927033606204384,0.9848723482038328,1.6354037356124547,2.1109760276984435,2.1109760276984435,2.460850000000435,0,0,-0.0002463315067337826,1.434066790291478e-05
+90596,1792649301207138800,17841507000000,1792649301204659049,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761258765735954,-0.0044929977389320565,0.08824389014141366,0.9999999868963642,9.417974696220117e-05,3.737615027203404e-05,8.592633270053019e-05,0.6761,-0.0045,0.08810460669176,1.0,0.0,0.0,0.0,-0.23373843354500987,0.0817519398388929,1.6635361775957853,0.00999131846897895,0.017730895616971956,6.061286853136069e-05,0.10886578596367205,-0.16848402360332654,1.893840429841006,-0.0022680040232801913,-0.006444470749929918,-0.0006070012928769405,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8804867045655235,-0.4767060073279392,-1.0553853625750824,0.6191029993208566,0.7891674736261255,-0.322752615104855,0.9848723482038328,1.6635361775957853,2.0402577107789153,2.0402577107789153,2.4970400000004425,0,0,-0.0002567150605245746,-9.998779168374767e-05
+90659,1792649301732134278,17842032000000,1792649301728661524,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761274255497578,-0.004496031385199495,0.08810795515872448,0.9999999865775803,9.338024938446416e-05,4.0550307076259904e-05,8.901407407400919e-05,0.6761,-0.0045,0.08796753736297656,1.0,0.0,0.0,0.0,-0.2271313381913177,0.07846436846075808,1.687645296730739,0.00897768645215718,0.016864240036861215,1.709848534617894e-05,0.11547288131736423,-0.17177159498146136,1.9179495489759597,-0.0032816360401019613,-0.007311126330040659,-0.0006505156760621222,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8449482023587473,-0.40929242635101265,-1.1383506769203722,0.6182375388621397,0.8288758969464994,-0.2760815509743998,0.9848723482038328,1.687645296730739,2.1232230251242052,2.1232230251242052,2.53379000000045,0,0,-0.00026536073366031774,-9.999999025923074e-05
+90717,1792649302215145926,17842515000000,1792649302208659018,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761231696136425,-0.004499697721344234,0.08797043861498803,0.9999999867864695,9.273163616793723e-05,3.191637998163475e-05,9.084114412873242e-05,0.6761,-0.0045,0.08783859838623288,1.0,0.0,0.0,0.0,-0.23230023382614698,0.06222389192808364,1.7149653348662335,0.008033759077591227,0.0173879191601587,-4.236055738495652e-06,0.11030398568253494,-0.1880120715141358,1.9452695871114543,-0.004225563414667915,-0.006787447206743172,-0.0006718502171467968,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9019435587325255,-0.46265055564584456,-1.2164254110215282,0.639511630148208,0.8927456768062272,-0.3096700718757797,0.9848723482038328,1.7149653348662335,2.201297759225361,2.201297759225361,2.567600000000457,0,0,-0.000269208429566599,9.650586860055483e-05
+90776,1792649302707088196,17843007000000,1792649302704668039,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761225344450423,-0.004500568244955618,0.08783443896878479,0.9999999859094455,0.00010014747830656818,2.5488371396625467e-05,9.457694569252968e-05,0.6761,-0.0045,0.08770343618269998,1.0,0.0,0.0,0.0,-0.22104035226669305,0.047867348695357304,1.7786071942792823,0.0071678010818726655,0.016748394500875265,-7.316225530463506e-05,0.12156386724198885,-0.20236861474686213,2.008911446524503,-0.0050915214103864756,-0.007426971866026608,-0.0007407764167129362,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8977487066731874,-0.39318163289955793,-1.2528193598662474,0.6344143545293432,0.9128729815905606,-0.26273942148275825,0.9848723482038328,1.7786071942792823,2.23769170807008,2.23769170807008,2.602040000000464,0,0,-0.00027914278615395895,9.996840441418015e-05
+90837,1792649303215209107,17843515000000,1792649303212658921,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761237055169721,-0.00450370437883042,0.08769989785495874,0.9999999859126933,9.869419460831506e-05,3.1147793071034874e-05,9.437557093413348e-05,0.6761,-0.0045,0.08755988164414437,1.0,0.0,0.0,0.0,-0.24066011288395725,0.0582693880076037,1.7050892462221625,0.007989646806580285,0.01776065799426118,3.6304612922462808e-06,0.10194410662472467,-0.19196657543461573,1.9353934984673833,-0.004269675685678857,-0.006414708372640693,-0.0006639837001160549,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8572163124639861,-0.4365613331564213,-1.1870685876469143,0.6544877028200402,0.8512300406119577,-0.29000045232648236,0.9848723482038328,1.7050892462221625,2.1719409358507473,2.1719409358507473,2.6376000000004716,0,0,-0.00028891051381404873,-9.989257618159825e-05
+90896,1792649303707180516,17844007000000,1792649303704668653,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761266165111248,-0.004511441827630236,0.08755755818812727,0.9999999856478964,9.593561459637227e-05,3.810023231085391e-05,9.742587787661627e-05,0.6761,-0.0045,0.08741411324242977,1.0,0.0,0.0,0.0,-0.23418602365742278,0.07916508739178374,1.7338480270168828,0.008927897688805496,0.017765363622606535,-8.735771755739993e-06,0.10841819585125914,-0.1710708760504357,1.9641522792621036,-0.003331424803453645,-0.0064100027442953395,-0.0006763499331640412,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8658750303978174,-0.4549660331389374,-1.2191094553330737,0.6675520802009854,0.8691777430981579,-0.30197514181266755,0.9848723482038328,1.7338480270168828,2.2039818035369065,2.2039818035369065,2.6720400000004787,0,0,-0.0003034311616925952,-9.997000035977805e-05
+90950,1792649304157190737,17844457000000,1792649304152668924,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761234274181185,-0.00450898823275086,0.08742329194547765,0.9999999861356988,9.259156272565489e-05,3.1115271480685754e-05,9.813311832123207e-05,0.6761,-0.0045,0.08727396792516323,1.0,0.0,0.0,0.0,-0.24005662994420351,0.05367506191645788,1.735290877285096,0.007933886673868046,0.01775591612715495,-2.1137262812154266e-05,0.10254758956447842,-0.19656090152576156,1.9655951295303167,-0.004325435818391096,-0.006419450239746925,-0.0006887514242204555,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8697564111976037,-0.4554566311445422,-1.2346321083166623,0.6830163122380798,0.8781329529100503,-0.30179692420754073,0.9848723482038328,1.735290877285096,2.219504456520495,2.219504456520495,2.703540000000485,0,0,-0.0003193805409682212,-9.993958024890332e-05
+91002,1792649304590217970,17844890000000,1792649304588668671,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761262649823512,-0.004513717922425155,0.08728765086427206,0.999999986297279,8.690403272286135e-05,3.656106516306031e-05,9.979621155379703e-05,0.6761,-0.0045,0.08713355694415856,1.0,0.0,0.0,0.0,-0.25107563006319494,0.04704198775317023,1.7554834492786608,0.006965641661062234,0.01877826505672309,-3.380778069990149e-05,0.09152858944548697,-0.2031939756890492,1.9857877015238816,-0.005293680831196907,-0.005397101310178784,-0.0007014219421082027,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.8626295575956143,-0.44988897020438906,-1.2052255433946104,0.6906175191480947,0.8557360493741948,-0.29522377855029563,0.9848723482038328,1.7554834492786608,2.1900978915984433,2.1900978915984433,2.7338500000004915,0,0,-0.00032953992749470826,-9.150635390942625e-05
+91055,1792649305032272092,17845332000000,1792649305028659321,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761265081285002,-0.004521166178945367,0.08714183212195387,0.9999999849196238,9.549270585627443e-05,3.755530803487172e-05,0.00010523477734910326,0.6761,-0.0045,0.08698586084598427,1.0,0.0,0.0,0.0,-0.2522227254905026,0.07171755188841172,1.7555362401161854,0.008840896079856159,0.01882769418999369,-1.141858699554789e-05,0.0903814940181793,-0.1785184115538077,1.9858404923614061,-0.003418426412402982,-0.005347672176908184,-0.0006790327484038491,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9207857545951859,-0.4226031396355606,-1.2879729597168788,0.6933476605351383,0.9210856340120932,-0.2755815450546143,0.9848723482038328,1.7555362401161854,2.2728453079207114,2.2728453079207114,2.764790000000498,0,0,-0.0003386273857667029,-4.3072791193426954e-05
+91106,1792649305457167124,17845757000000,1792649305456659050,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761293228052238,-0.004518907370303367,0.08699710812136488,0.9999999845272651,9.802051111963441e-05,4.0522853768829014e-05,0.00010553772578077733,0.6761,-0.0045,0.08683986522624632,1.0,0.0,0.0,0.0,-0.26121067583803603,0.06478964993994604,1.781801989715608,0.00828612285894665,0.019763997279073346,-3.210562553591142e-05,0.08139354367064586,-0.1854463135022734,2.012106241960829,-0.003973199633312491,-0.004411369087828526,-0.0006997197869442126,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9311998560907789,-0.49536130364708836,-1.299019983515439,0.7274961865683195,0.9310358793772108,-0.3186304430865431,0.9848723482038328,1.781801989715608,2.283892331719272,2.283892331719272,2.794540000000504,0,0,-0.00034836985455882714,-9.17526589700547e-05
+91154,1792649305858194589,17846157000000,1792649305852668863,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761311489270628,-0.004522596540927518,0.08686143134737395,0.9999999846662259,8.930477992051794e-05,4.841231650513538e-05,0.00010858782755461036,0.6761,-0.0045,0.08669907898434072,1.0,0.0,0.0,0.0,-0.25611595333400733,0.07313249495612903,1.7914121710228745,0.008665102315600913,0.019804342999025067,-2.4149498404207013e-05,0.08648826617467457,-0.1771034684860904,2.0217164232680953,-0.0035942201766582284,-0.004371023367876807,-0.0006917636598125082,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9705448305756055,-0.5140957136138434,-1.3332550384639361,0.7390315478106031,0.9638708448633928,-0.3351540405024218,0.9848723482038328,1.7914121710228745,2.318127386667769,2.318127386667769,2.82254000000051,0,0,-0.00035574585474837367,2.6838640560151745e-05
+91203,1792649306265195641,17846565000000,1792649306264659062,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761316968028274,-0.004529450490622993,0.0867157651712479,0.9999999857638258,7.513733755878547e-05,4.497696648729971e-05,0.00011066465481234628,0.6761,-0.0045,0.08655137382462552,1.0,0.0,0.0,0.0,-0.27095045377745464,0.06347002144038033,1.7854293198426954,0.008872580853152269,0.019782154228286872,-2.2443897109112828e-05,0.07165376573122725,-0.1867659420018391,2.015733572087916,-0.0033867416391068716,-0.004393212138615002,-0.000690058058517414,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9377566201839185,-0.4141986407897747,-1.269842330468988,0.7036805278846611,0.91402873703095,-0.27326175881024184,0.9848723482038328,1.7854293198426954,2.254714678672821,2.254714678672821,2.8511000000005158,0,0,-0.0003701571190770344,-9.999999025923074e-05
+91250,1792649306657235929,17846957000000,1792649306652668720,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761327945521917,-0.004528222189765653,0.08657287524819478,0.9999999859740646,7.029192676289297e-05,4.925628900031033e-05,0.00011012537415110851,0.6761,-0.0045,0.08640336295896381,1.0,0.0,0.0,0.0,-0.261373990277194,0.059366024647183935,1.8044516830037203,0.007865455405474706,0.019848716538903865,-4.692955406871953e-05,0.08123022923148791,-0.1908699387950355,2.034755935248941,-0.004393867086784436,-0.004326649827998009,-0.0007145437154770207,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9645880474614905,-0.49765003019735926,-1.2496577706980088,0.7509412717124803,0.9123936646306149,-0.3229587276244348,0.9848723482038328,1.8044516830037203,2.2345301189018416,2.2345301189018416,2.8785400000005215,0,0,-0.00038521004451094596,-9.999999025923074e-05
+91299,1792649307065354029,17847365000000,1792649307060669155,DOWN_FORCE_DETACH,8,0.0527,0.05270209535956383,0.6761349484968502,-0.0045335976127059184,0.08642426556535884,0.9999999863179876,5.7202371499828925e-05,5.5195713639321197e-05,0.00011175066443140515,0.6761,-0.0045,0.0862440524122695,1.0,0.0,0.0,0.0,-0.2706924588951862,0.062402064250547284,1.8065161705540864,0.007839982527770652,0.02077885384000933,-3.5298627163288655e-05,0.07191176061349568,-0.18783389919167215,2.036820422799307,-0.004419339964488489,-0.003396512526892544,-0.0007029127885715898,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9993042439174018,-0.4868926097908394,-1.326583112229635,0.7445793271041528,0.9764202177382546,-0.31456895294750586,0.9848723482038328,1.8065161705540864,2.311455460433468,2.311455460433468,2.9071000000005274,0,0,-0.0003974337896797949,-9.182854063117247e-05
+91339,1792649307398243501,17847698000000,1792649307396668944,DOWN_FORCE_DETACH,8,0.0527,0.0527014397084713,0.6761251209654803,-0.0045425158111019135,0.08627974078059934,0.9999999857305346,5.527087850200074e-05,4.521145173480674e-05,0.00012199528510846079,0.6761,-0.0045,0.0861097654658793,1.0,0.0,0.0,0.0,-0.2610654670367588,0.051225735849663945,1.8351201851598724,0.0074465848682084635,0.019768978268740883,-7.755464736517522e-05,0.08153875247192308,-0.1990102275925555,2.065424437405093,-0.0048127376240506775,-0.00440638809816099,-0.0007451688087734764,0.3426042195086819,-0.25023596344221943,0.23030425224522072,-0.012259322492259141,-0.024175366366901874,-0.0006676141614083012,1,0.9381972469681159,-0.5347217752769938,-1.3489480798629725,0.7673418726770511,0.9738078900260746,-0.34312011821794935,0.9848723482038328,1.8351201851598724,2.3338204280668053,2.3338204280668053,2.930410000000532,0,0,-0.0004086220700930384,-5.7203335150585135e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b2f0c4f180b40f3e91d717833c69703daf92a1b8
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5b40596d7985335d492f0c38eb5ddc48a94902f7
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792649264538259193,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.685690278e-09,1.153526087e-09,3.805350590e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017255871e-01,1.784676198e-06,8.297807385e-01
+1,7.500000000e-01,DOWN_FORCE_DETACH,1792649265655783752,1.277566097e-08,5.657070704e-06,-8.706510998e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.370232300e-07,4.229915950e-08,1.522582067e-07,7.015378843e-01,7.208032025e-06,8.407400705e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259155e-01,1.825821831e-06,8.297808870e-01
+2,1.316666667e+00,DOWN_FORCE_DETACH,1792649266515752230,1.299437823e-06,4.611615699e-06,-1.507484802e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.182586761e-07,6.485471343e-08,2.418011509e-07,7.015391709e-01,6.162577020e-06,8.407394337e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017260967e-01,1.848377385e-06,8.297809765e-01
+3,1.950000000e+00,DOWN_FORCE_DETACH,1792649267455315389,2.937474685e-05,2.820866487e-06,1.909463759e-06,2.954892038e-05,3.366170230e-06,1.632126835e-06,3.054016989e-05,3.384846158e-06,1.955818432e-06,7.015672462e-01,4.371827808e-06,8.407428507e-01,7.015674204e-01,4.917131551e-06,8.407425733e-01,7.017561186e-01,5.168368830e-06,8.297826905e-01
+4,2.533333333e+00,DOWN_FORCE_DETACH,1792649268337347110,2.845047889e-05,5.723750269e-06,-2.028629724e-05,2.632707505e-05,7.230343105e-06,-1.788530291e-05,2.746951864e-05,7.278848941e-06,-1.726376583e-05,7.015663220e-01,7.274711590e-06,8.407206549e-01,7.015641986e-01,8.781304426e-06,8.407230559e-01,7.017530480e-01,9.062371613e-06,8.297634710e-01
+5,3.083333333e+00,DOWN_FORCE_DETACH,1792649269155620367,1.372218422e-05,3.718164635e-06,-8.795783420e-05,1.388736762e-05,6.396693281e-06,-8.432525337e-05,1.470541909e-05,6.452243368e-06,-8.290168341e-05,7.015515937e-01,5.269125956e-06,8.406529834e-01,7.015517588e-01,7.947654602e-06,8.406566159e-01,7.017402839e-01,8.235766040e-06,8.296978330e-01
+6,3.783333333e+00,DOWN_FORCE_DETACH,1792649270225573298,1.449301907e-05,2.357344806e-06,-9.134437608e-05,1.388736762e-05,6.396693281e-06,-8.432525337e-05,1.479388726e-05,6.464139533e-06,-8.316408379e-05,7.015523645e-01,3.908306127e-06,8.406495968e-01,7.015517588e-01,7.947654602e-06,8.406566159e-01,7.017403723e-01,8.247662205e-06,8.296975706e-01
+7,4.450000000e+00,DOWN_FORCE_DETACH,1792649271223207698,1.436076349e-05,6.891016849e-06,-9.405283039e-05,1.388736762e-05,6.396693281e-06,-8.432525337e-05,1.485393511e-05,6.472932425e-06,-8.334374627e-05,7.015522322e-01,8.441978170e-06,8.406468884e-01,7.015517588e-01,7.947654602e-06,8.406566159e-01,7.017404324e-01,8.256455097e-06,8.296973910e-01
+8,5.133333333e+00,DOWN_FORCE_DETACH,1792649272255613292,1.630590593e-05,2.065871344e-06,-1.050557095e-04,1.535098757e-05,8.838830086e-06,-1.043569512e-04,1.633943647e-05,8.934058153e-06,-1.031854010e-04,7.015541774e-01,3.616832665e-06,8.406358855e-01,7.015532225e-01,1.038979141e-05,8.406365842e-01,7.017419179e-01,1.071758082e-05,8.296775493e-01
+9,5.833333333e+00,DOWN_FORCE_DETACH,1792649273304402492,2.079214461e-05,4.884787899e-06,-1.244539069e-04,1.596774911e-05,1.053970801e-06,-1.234978676e-04,1.696569021e-05,1.232937470e-06,-1.223489994e-04,7.015586636e-01,6.435749220e-06,8.406164873e-01,7.015538392e-01,2.604932122e-06,8.406174433e-01,7.017425441e-01,3.016460142e-06,8.296583857e-01
+10,6.533333333e+00,DOWN_FORCE_DETACH,1792649274616035694,2.174527598e-05,2.618184636e-06,-1.719523103e-04,2.122957316e-05,4.068946313e-06,-1.662947357e-04,2.219071107e-05,4.204449699e-06,-1.648046355e-04,7.015596168e-01,4.169145957e-06,8.405689889e-01,7.015591011e-01,5.619907634e-06,8.405746465e-01,7.017477692e-01,5.987972371e-06,8.296159301e-01
+11,7.266666667e+00,DOWN_FORCE_DETACH,1792649275690992336,2.524280841e-05,2.272454128e-06,-1.952185041e-04,2.151363510e-05,-1.972128573e-06,-1.859151195e-04,2.247711988e-05,-1.759773529e-06,-1.845053660e-04,7.015631143e-01,3.823415449e-06,8.405457227e-01,7.015593851e-01,-4.211672516e-07,8.405550261e-01,7.017480556e-01,2.374914292e-08,8.295962294e-01
+12,7.900000000e+00,DOWN_FORCE_DETACH,1792649276652085801,2.988085640e-05,-1.326953817e-06,-2.168690788e-04,2.508569771e-05,1.025061824e-07,-2.065939171e-04,2.603105117e-05,3.090994511e-07,-2.053621931e-04,7.015677523e-01,2.240075045e-07,8.405240721e-01,7.015629572e-01,1.653467503e-06,8.405343473e-01,7.017516095e-01,2.092622123e-06,8.295753725e-01
+13,8.533333333e+00,DOWN_FORCE_DETACH,1792649277590555372,5.160504413e-05,-1.536869977e-06,-2.339043674e-04,4.979959515e-05,9.632037756e-07,-2.304510454e-04,5.118136590e-05,1.173546995e-06,-2.291263914e-04,7.015894765e-01,1.409134364e-08,8.405070368e-01,7.015876711e-01,2.514165097e-06,8.405104901e-01,7.017767598e-01,2.957069667e-06,8.295516083e-01
+14,9.183333333e+00,DOWN_FORCE_DETACH,1792649278572674121,5.802225328e-05,-3.923242059e-07,-2.740759122e-04,5.924525883e-05,-4.847002417e-07,-2.707824122e-04,6.075614294e-05,-2.779722231e-07,-2.693272001e-04,7.015958937e-01,1.158637115e-06,8.404668653e-01,7.015971167e-01,1.066261079e-06,8.404701588e-01,7.017863346e-01,1.505550449e-06,8.295114075e-01
+15,9.883333333e+00,DOWN_FORCE_DETACH,1792649279622853248,6.030321607e-05,-8.104815676e-07,-3.153210901e-04,5.716221479e-05,-1.747052228e-06,-3.129587031e-04,5.863963084e-05,-1.498990563e-06,-3.114976172e-04,7.015981747e-01,7.404797534e-07,8.404256201e-01,7.015950337e-01,-1.960909070e-07,8.404279825e-01,7.017842181e-01,2.845321084e-07,8.294692371e-01
+16,1.056666667e+01,DOWN_FORCE_DETACH,1792649280652303891,5.985742299e-05,-1.009404921e-06,-3.508735702e-04,5.951560338e-05,-2.234830976e-06,-3.337016491e-04,6.103085183e-05,-2.002740111e-06,-3.324408168e-04,7.015977289e-01,5.415563997e-07,8.403900676e-01,7.015973871e-01,-6.838696551e-07,8.404072395e-01,7.017866093e-01,-2.192174392e-07,8.294482939e-01
+17,1.138333333e+01,DOWN_FORCE_DETACH,1792649281873095845,6.418448499e-05,-2.643116928e-07,-3.938508321e-04,6.281544072e-05,-5.179548863e-06,-3.934456068e-04,6.425472808e-05,-4.842808158e-06,-3.918966482e-04,7.016020560e-01,1.286649628e-06,8.403470904e-01,7.016006869e-01,-3.628587542e-06,8.403474956e-01,7.017898332e-01,-3.059285486e-06,8.293888381e-01
+18,1.203333333e+01,DOWN_FORCE_DETACH,1792649282953430272,6.554701527e-05,-9.170048377e-07,-4.440294980e-04,6.515464234e-05,-1.258437411e-06,-4.354213444e-04,6.651099110e-05,-9.414085948e-07,-4.338123728e-04,7.016034185e-01,6.339564834e-07,8.402969117e-01,7.016030261e-01,2.925239101e-07,8.403055198e-01,7.017920894e-01,8.421140769e-07,8.293469224e-01
+19,1.245000000e+01,DOWN_FORCE_DETACH,1792649283572793243,7.428797551e-05,9.805930244e-06,-4.713911645e-04,7.241115572e-05,1.341974679e-05,-4.698587503e-04,7.375301009e-05,1.358482050e-05,-4.680784370e-04,7.016121595e-01,1.135689157e-05,8.402695500e-01,7.016102826e-01,1.497070811e-05,8.402710824e-01,7.017993314e-01,1.536834317e-05,8.293126563e-01
+20,1.320000000e+01,DOWN_FORCE_DETACH,1792649284690669096,7.825875478e-05,6.838311194e-06,-5.390931120e-04,7.737339804e-05,7.362360654e-06,-5.325173041e-04,7.868550585e-05,7.609979964e-06,-5.305670229e-04,7.016161302e-01,8.389272515e-06,8.402018481e-01,7.016152449e-01,8.913321975e-06,8.402084239e-01,7.018042639e-01,9.393502636e-06,8.292501677e-01
+21,1.391666667e+01,DOWN_FORCE_DETACH,1792649285773014926,7.774689655e-05,6.452423864e-06,-6.018440815e-04,7.373303262e-05,6.933260862e-06,-5.974820203e-04,7.482478692e-05,7.203207618e-06,-5.953894389e-04,7.016156184e-01,8.003385185e-06,8.401390971e-01,7.016116045e-01,8.484222183e-06,8.401434592e-01,7.018004032e-01,8.986730290e-06,8.291853453e-01
+22,1.456666667e+01,DOWN_FORCE_DETACH,1792649286753677169,7.727446906e-05,-1.654846664e-07,-6.506589414e-04,7.404638618e-05,4.360765071e-06,-6.390496710e-04,7.497993111e-05,4.594689546e-06,-6.371228780e-04,7.016151460e-01,1.385476655e-06,8.400902822e-01,7.016119179e-01,5.911726392e-06,8.401018915e-01,7.018005584e-01,6.378212218e-06,8.291436119e-01
+23,1.536666667e+01,DOWN_FORCE_DETACH,1792649287962757711,8.051744753e-05,2.091267788e-06,-7.143673334e-04,7.937231188e-05,-1.560260359e-06,-7.048075184e-04,8.020601282e-05,-1.289285807e-06,-7.028130204e-04,7.016183889e-01,3.642229109e-06,8.400265739e-01,7.016172438e-01,-9.299037832e-09,8.400361337e-01,7.018057845e-01,4.942368644e-07,8.290779217e-01
+24,1.586666667e+01,DOWN_FORCE_DETACH,1792649288722219162,8.267856292e-05,5.357010955e-06,-7.651127118e-04,8.271890613e-05,5.293013392e-06,-7.648496258e-04,8.340499763e-05,5.511798295e-06,-7.625279249e-04,7.016205500e-01,6.907972276e-06,8.399758285e-01,7.016205904e-01,6.843974713e-06,8.399760916e-01,7.018089834e-01,7.295320967e-06,8.290182068e-01
+25,1.653333333e+01,DOWN_FORCE_DETACH,1792649289722398817,9.244928875e-05,3.442161448e-06,-8.304414843e-04,9.227615713e-05,3.236763869e-06,-8.301092287e-04,9.287804471e-05,3.486428121e-06,-8.275912103e-04,7.016303208e-01,4.993122769e-06,8.399104997e-01,7.016301476e-01,4.787725190e-06,8.399108320e-01,7.018184565e-01,5.269950793e-06,8.289531435e-01
+26,1.721666667e+01,DOWN_FORCE_DETACH,1792649290741309389,9.134448183e-05,-2.397944003e-06,-9.213036809e-04,9.214218849e-05,-3.638228944e-06,-9.153950500e-04,9.243279410e-05,-3.375943934e-06,-9.124768419e-04,7.016292160e-01,-8.469826819e-07,8.398196375e-01,7.016300137e-01,-2.087267623e-06,8.398255461e-01,7.018180112e-01,-1.592421262e-06,8.288682579e-01
+27,1.780000000e+01,DOWN_FORCE_DETACH,1792649291620755443,9.504118151e-05,-8.213731141e-06,-1.005770146e-03,9.422795973e-05,-4.618701258e-06,-9.997166984e-04,9.427729423e-05,-4.337196463e-06,-9.964137843e-04,7.016329127e-01,-6.662769820e-06,8.397351710e-01,7.016320994e-01,-3.067739937e-06,8.397412245e-01,7.018198557e-01,-2.553673791e-06,8.287843209e-01
+28,1.836666667e+01,DOWN_FORCE_DETACH,1792649292490414720,9.875741842e-05,-9.967549687e-07,-1.102823943e-03,9.879762672e-05,-4.437229851e-06,-1.086231815e-03,9.860661547e-05,-4.235998410e-06,-1.082625312e-03,7.016366289e-01,5.542063524e-07,8.396381172e-01,7.016366691e-01,-2.886268530e-06,8.396547094e-01,7.018241851e-01,-2.452475739e-06,8.286981094e-01
+29,1.883333333e+01,DOWN_FORCE_DETACH,1792649293192030972,1.010456467e-04,-9.276388740e-06,-1.187463793e-03,9.930108309e-05,-4.341295910e-06,-1.182726447e-03,9.871069808e-05,-4.138608162e-06,-1.178654479e-03,7.016389171e-01,-7.725427419e-06,8.395534774e-01,7.016371726e-01,-2.790334589e-06,8.395582147e-01,7.018242891e-01,-2.355085490e-06,8.286020803e-01
+30,1.945000000e+01,DOWN_FORCE_DETACH,1792649294124959965,1.039325481e-04,-1.258094143e-05,-1.305041246e-03,1.033909541e-04,-6.393817046e-06,-1.293100600e-03,1.024862119e-04,-6.181235527e-06,-1.288901000e-03,7.016418040e-01,-1.102998011e-05,8.394358999e-01,7.016412624e-01,-4.842855725e-06,8.394478406e-01,7.018280647e-01,-4.397712855e-06,8.284918337e-01
+31,1.993333333e+01,DOWN_FORCE_DETACH,1792649294852924805,1.057944164e-04,-1.068144075e-05,-1.407506044e-03,1.042828651e-04,-1.130710467e-05,-1.402534798e-03,1.029957852e-04,-1.103780202e-05,-1.398049817e-03,7.016436659e-01,-9.130479430e-06,8.393334351e-01,7.016421543e-01,-9.756143349e-06,8.393384064e-01,7.018285742e-01,-9.254279352e-06,8.283826849e-01
+32,2.040000000e+01,DOWN_FORCE_DETACH,1792649295553640031,1.094713512e-04,-1.465521615e-05,-1.512720748e-03,1.066030731e-04,-1.254568801e-05,-1.514467267e-03,1.049513040e-04,-1.231296231e-05,-1.509782320e-03,7.016473428e-01,-1.310425483e-05,8.392282204e-01,7.016444746e-01,-1.099472669e-05,8.392264739e-01,7.018305297e-01,-1.052943964e-05,8.282709524e-01
+33,2.086666667e+01,DOWN_FORCE_DETACH,1792649296253490106,1.075223209e-04,-1.840062661e-05,-1.631167527e-03,1.078671301e-04,-1.639465637e-05,-1.626403379e-03,1.058125134e-04,-1.610933459e-05,-1.621424045e-03,7.016453938e-01,-1.684966529e-05,8.391097737e-01,7.016457386e-01,-1.484369505e-05,8.391145378e-01,7.018313910e-01,-1.432581191e-05,8.281593107e-01
+34,2.133333333e+01,DOWN_FORCE_DETACH,1792649296967423360,1.052638168e-04,-2.531552371e-05,-1.760452633e-03,1.079518776e-04,-2.444277123e-05,-1.741626451e-03,1.054928451e-04,-2.410472649e-05,-1.736394080e-03,7.016431353e-01,-2.376456239e-05,8.389804886e-01,7.016458234e-01,-2.289180990e-05,8.389993147e-01,7.018310713e-01,-2.232120382e-05,8.280443407e-01
+35,2.171666667e+01,DOWN_FORCE_DETACH,1792649297545560160,1.039987062e-04,-2.347338090e-05,-1.866243808e-03,1.052888768e-04,-2.743250081e-05,-1.857755551e-03,1.024112870e-04,-2.703248335e-05,-1.851926709e-03,7.016418702e-01,-2.192241958e-05,8.388746974e-01,7.016431604e-01,-2.588153949e-05,8.388831856e-01,7.018279897e-01,-2.524896068e-05,8.279288080e-01
+36,2.211666667e+01,DOWN_FORCE_DETACH,1792649298290158469,1.075549877e-04,-2.568643685e-05,-2.006921700e-03,1.075603068e-04,-2.552251155e-05,-2.007081442e-03,1.041924444e-04,-2.517132564e-05,-2.000510330e-03,7.016454265e-01,-2.413547553e-05,8.387340195e-01,7.016454318e-01,-2.397155023e-05,8.387338597e-01,7.018297709e-01,-2.338780297e-05,8.277802244e-01
+37,2.251666667e+01,DOWN_FORCE_DETACH,1792649298890037170,1.063632148e-04,-3.173113120e-05,-2.133868620e-03,1.050806131e-04,-2.926958050e-05,-2.130962635e-03,1.012034970e-04,-2.882242478e-05,-2.124204967e-03,7.016442347e-01,-3.018016988e-05,8.386070726e-01,7.016429521e-01,-2.771861918e-05,8.386099786e-01,7.018267819e-01,-2.703890211e-05,8.276565298e-01
+38,2.295000000e+01,DOWN_FORCE_DETACH,1792649299530387840,1.097155506e-04,-2.943755029e-05,-2.263810315e-03,1.055494306e-04,-3.342606411e-05,-2.249581040e-03,1.012949627e-04,-3.287204486e-05,-2.242933294e-03,7.016475870e-01,-2.788658897e-05,8.384771309e-01,7.016434209e-01,-3.187510279e-05,8.384913601e-01,7.018268734e-01,-3.108852219e-05,8.275378014e-01
+39,2.335000000e+01,DOWN_FORCE_DETACH,1792649300127244130,1.089828386e-04,-3.195683553e-05,-2.392504992e-03,1.073540641e-04,-3.102054632e-05,-2.378450890e-03,1.027257296e-04,-3.040666317e-05,-2.371669936e-03,7.016468543e-01,-3.040587421e-05,8.383484362e-01,7.016452255e-01,-2.946958500e-05,8.383624903e-01,7.018283042e-01,-2.862314050e-05,8.274090648e-01
+40,2.371666667e+01,DOWN_FORCE_DETACH,1792649300689939030,1.097959366e-04,-3.465347166e-05,-2.531739652e-03,1.099892234e-04,-3.250170103e-05,-2.517097800e-03,1.048616277e-04,-3.189872277e-05,-2.509888677e-03,7.016476674e-01,-3.310251034e-05,8.382092015e-01,7.016478607e-01,-3.095073971e-05,8.382238434e-01,7.018304401e-01,-3.011520009e-05,8.272708461e-01
+41,2.406666667e+01,DOWN_FORCE_DETACH,1792649301209274326,1.079412602e-04,-3.362572663e-05,-2.666913712e-03,1.102241060e-04,-3.679549155e-05,-2.649255807e-03,1.046487602e-04,-3.622218423e-05,-2.641670241e-03,7.016458127e-01,-3.207476531e-05,8.380740275e-01,7.016480956e-01,-3.524453023e-05,8.380916854e-01,7.018302272e-01,-3.443866156e-05,8.271390645e-01
+42,2.441666667e+01,DOWN_FORCE_DETACH,1792649301731427314,1.085399005e-04,-3.856163429e-05,-2.801798835e-03,1.069510572e-04,-4.000413759e-05,-2.784231610e-03,1.008809026e-04,-3.942134770e-05,-2.776264296e-03,7.016464114e-01,-3.701067297e-05,8.379391424e-01,7.016448225e-01,-3.845317627e-05,8.379567096e-01,7.018264593e-01,-3.763782503e-05,8.270044704e-01
+43,2.473333333e+01,DOWN_FORCE_DETACH,1792649302215045879,1.070808021e-04,-4.314833567e-05,-2.937529872e-03,1.061318306e-04,-4.741953242e-05,-2.924384719e-03,9.953802611e-05,-4.684800023e-05,-2.915783607e-03,7.016449523e-01,-4.159737435e-05,8.378034113e-01,7.016440033e-01,-4.586857110e-05,8.378165565e-01,7.018251165e-01,-4.506447755e-05,8.268649511e-01
+44,2.506666667e+01,DOWN_FORCE_DETACH,1792649302709299252,1.063114627e-04,-4.333448495e-05,-3.072902839e-03,1.031302952e-04,-4.774017900e-05,-3.074745238e-03,9.593325573e-05,-4.716929279e-05,-3.065705423e-03,7.016441829e-01,-4.178352363e-05,8.376680383e-01,7.016410018e-01,-4.618921768e-05,8.376661959e-01,7.018215117e-01,-4.538577012e-05,8.267150293e-01
+45,2.540000000e+01,DOWN_FORCE_DETACH,1792649303217564499,1.062314154e-04,-4.876299917e-05,-3.210028655e-03,1.061270462e-04,-4.867375652e-05,-3.210048394e-03,9.843488291e-05,-4.801513875e-05,-3.200979619e-03,7.016441029e-01,-4.721203785e-05,8.375309125e-01,7.016439985e-01,-4.712279520e-05,8.375308928e-01,7.018240133e-01,-4.623161607e-05,8.265797551e-01
+46,2.573333333e+01,DOWN_FORCE_DETACH,1792649303709116525,1.098097751e-04,-5.234853064e-05,-3.352080259e-03,1.097631430e-04,-5.225777161e-05,-3.352029349e-03,1.016498020e-04,-5.151448996e-05,-3.342908899e-03,7.016476813e-01,-5.079756932e-05,8.373888609e-01,7.016476346e-01,-5.070681029e-05,8.373889118e-01,7.018272282e-01,-4.973096729e-05,8.264378258e-01
+47,2.603333333e+01,DOWN_FORCE_DETACH,1792649304159944256,1.060625412e-04,-5.423778548e-05,-3.487977717e-03,1.059310794e-04,-5.422903269e-05,-3.487602237e-03,9.732822523e-05,-5.349016507e-05,-3.478235426e-03,7.016439340e-01,-5.268682416e-05,8.372529635e-01,7.016438026e-01,-5.267807137e-05,8.372533390e-01,7.018229067e-01,-5.170664240e-05,8.263024993e-01
+48,2.631666667e+01,DOWN_FORCE_DETACH,1792649304589748140,1.083951710e-04,-5.651948060e-05,-3.623548757e-03,1.108593232e-04,-5.883645320e-05,-3.611267117e-03,1.019306063e-04,-5.809260818e-05,-3.601756834e-03,7.016462667e-01,-5.496851928e-05,8.371173924e-01,7.016487308e-01,-5.728549188e-05,8.371296741e-01,7.018275090e-01,-5.630908551e-05,8.261789779e-01
+49,2.661666667e+01,DOWN_FORCE_DETACH,1792649305029809295,1.117357229e-04,-6.062144176e-05,-3.767522756e-03,1.103563422e-04,-5.975742448e-05,-3.751058119e-03,1.010449662e-04,-5.893061836e-05,-3.741426388e-03,7.016496072e-01,-5.907048044e-05,8.369734184e-01,7.016482278e-01,-5.820646316e-05,8.369898831e-01,7.018266234e-01,-5.714709569e-05,8.260393083e-01
+50,2.690000000e+01,DOWN_FORCE_DETACH,1792649305459322378,1.121554787e-04,-6.629301404e-05,-3.910642616e-03,1.120447118e-04,-6.630176322e-05,-3.910340799e-03,1.022551401e-04,-6.536870180e-05,-3.900201604e-03,7.016500270e-01,-6.474205272e-05,8.368302986e-01,7.016499162e-01,-6.475080190e-05,8.368306004e-01,7.018278336e-01,-6.358517913e-05,8.258805331e-01
+51,2.716666667e+01,DOWN_FORCE_DETACH,1792649305860031136,1.135690176e-04,-7.096942583e-05,-4.051507320e-03,1.135041807e-04,-6.701453141e-05,-4.036705028e-03,1.032480360e-04,-6.607238071e-05,-4.026649923e-03,7.016514405e-01,-6.941846451e-05,8.366894339e-01,7.016513757e-01,-6.546357009e-05,8.367042362e-01,7.018288265e-01,-6.428885804e-05,8.257540848e-01
+52,2.743333333e+01,DOWN_FORCE_DETACH,1792649306261835935,1.157587746e-04,-7.234033552e-05,-4.192519166e-03,1.154881765e-04,-7.254089799e-05,-4.192346669e-03,1.047545456e-04,-7.156891510e-05,-4.181924293e-03,7.016536303e-01,-7.078937420e-05,8.365484220e-01,7.016533597e-01,-7.098993667e-05,8.365485945e-01,7.018303330e-01,-6.978539243e-05,8.255988104e-01
+53,2.770000000e+01,DOWN_FORCE_DETACH,1792649306659133448,1.149488774e-04,-7.736569888e-05,-4.338580020e-03,1.159897438e-04,-7.348101341e-05,-4.321218821e-03,1.048096693e-04,-7.251807550e-05,-4.310805059e-03,7.016528204e-01,-7.581473756e-05,8.364023612e-01,7.016538612e-01,-7.193005209e-05,8.364197224e-01,7.018303881e-01,-7.073455283e-05,8.254699297e-01
+54,2.796666667e+01,DOWN_FORCE_DETACH,1792649307061357279,1.178169351e-04,-7.597667892e-05,-4.482197110e-03,1.146940791e-04,-7.619178207e-05,-4.475981260e-03,1.029018317e-04,-7.526446960e-05,-4.465130856e-03,7.016556884e-01,-7.442571760e-05,8.362587441e-01,7.016525656e-01,-7.464082075e-05,8.362649599e-01,7.018284803e-01,-7.348094693e-05,8.253156039e-01
+55,2.818333333e+01,DOWN_FORCE_DETACH,1792649307401380840,1.092883762e-04,-8.732539395e-05,-4.627256991e-03,1.112239348e-04,-8.305995576e-05,-4.612980720e-03,9.889397171e-05,-8.208965227e-05,-4.601688332e-03,7.016471599e-01,-8.577443263e-05,8.361136842e-01,7.016490954e-01,-8.150899444e-05,8.361279605e-01,7.018244724e-01,-8.030612960e-05,8.251790464e-01
+56,2.841666667e+01,DOWN_FORCE_DETACH,1792649307729622239,1.015364317e-04,-8.563659077e-05,-4.767203731e-03,9.909803987e-05,-8.893102978e-05,-4.764212273e-03,8.599367675e-05,-8.793033263e-05,-4.752630279e-03,7.016394079e-01,-8.408562945e-05,8.359737375e-01,7.016369695e-01,-8.738006846e-05,8.359767289e-01,7.018115721e-01,-8.614680996e-05,8.250281045e-01
+57,2.863333333e+01,DOWN_FORCE_DETACH,1792649308059688174,1.269429007e-04,-8.665690381e-05,-4.887169029e-03,1.267031074e-04,-8.676150387e-05,-4.887117969e-03,1.135394001e-04,-8.577319855e-05,-4.875480001e-03,7.016648144e-01,-8.510594249e-05,8.358537722e-01,7.016645746e-01,-8.521054255e-05,8.358538232e-01,7.018391178e-01,-8.398967588e-05,8.249052547e-01
+58,2.888333333e+01,DOWN_SETTLE,1792649308429993706,1.248793588e-04,-9.792714618e-05,-5.040764254e-03,1.225241906e-04,-9.391282676e-05,-5.033304377e-03,1.088753353e-04,-9.288359652e-05,-5.021748865e-03,7.016627508e-01,-9.637618486e-05,8.357001769e-01,7.016603957e-01,-9.236186543e-05,8.357076368e-01,7.018344538e-01,-9.110007385e-05,8.247589859e-01
+59,2.940000000e+01,DOWN_PEAK_HOLD,1792649309211705578,1.155184728e-04,-7.197712965e-05,-5.100173884e-03,1.146397745e-04,-8.313932078e-05,-5.093212646e-03,1.007664671e-04,-8.220122119e-05,-5.084297848e-03,7.016533900e-01,-7.042616832e-05,8.356407673e-01,7.016525113e-01,-8.158835946e-05,8.356477285e-01,7.018263449e-01,-8.041769852e-05,8.246964369e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e7f5033888b4a0bc822acf76437c9f03d806bb2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-5.9410e-03,1.1944e-04,2.4568e+00,-3.6785e-02,3.6400e-02,-8.9490e-06,3.0353e-05,3.3043e-05,5.7220e-06,-2.1569e-06,1.8626e-06,-1.1001e-07,4.5231e-05,2.8520e-06
+1,7.5000e-01,DOWN_FORCE_DETACH,1.6012e-04,2.5531e-04,1.9179e-03,2.4612e+00,-3.6939e-02,3.6826e-02,-3.1445e-05,6.2267e-03,1.8315e-03,4.4074e-03,-1.5586e-04,4.2798e-04,-2.2606e-05,7.8455e-03,4.5604e-04
+2,1.3167e+00,DOWN_FORCE_DETACH,3.1801e-04,1.6022e-02,2.7449e-03,2.4664e+00,-3.7008e-02,3.7842e-02,-3.7995e-05,2.1993e-02,2.6585e-03,9.5968e-03,-2.2484e-04,1.4439e-03,-2.9156e-05,2.4143e-02,1.4616e-03
+3,1.9500e+00,DOWN_FORCE_DETACH,4.7611e-04,9.9035e-04,1.6086e-03,2.4696e+00,-3.7015e-02,3.6982e-02,-5.3133e-05,6.9617e-03,1.5222e-03,1.2775e-02,-2.3239e-04,5.8376e-04,-4.4294e-05,1.4628e-02,6.2988e-04
+4,2.5333e+00,DOWN_FORCE_DETACH,6.3280e-04,1.7539e-02,-6.5809e-06,2.4841e+00,-3.6912e-02,3.8010e-02,-5.2893e-05,2.3510e-02,-9.2981e-05,2.7251e-02,-1.2880e-04,1.6116e-03,-4.4054e-05,3.5991e-02,1.6174e-03
+5,3.0833e+00,DOWN_FORCE_DETACH,7.9587e-04,2.6370e-02,1.1737e-03,2.5138e+00,-3.6988e-02,3.8571e-02,-5.1867e-05,3.2341e-02,1.0873e-03,5.6998e-02,-2.0537e-04,2.1728e-03,-4.3028e-05,6.5543e-02,2.1829e-03
+6,3.7833e+00,DOWN_FORCE_DETACH,9.5345e-04,2.9186e-02,1.0749e-03,2.5122e+00,-3.6984e-02,3.8757e-02,-5.0394e-05,3.5157e-02,9.8854e-04,5.5339e-02,-2.0159e-04,2.3583e-03,-4.1555e-05,6.5570e-02,2.3673e-03
+7,4.4500e+00,DOWN_FORCE_DETACH,1.1133e-03,3.8322e-02,1.5982e-03,2.5016e+00,-3.7049e-02,3.9487e-02,-4.5843e-06,4.4293e-02,1.5118e-03,4.4748e-02,-2.6633e-04,3.0886e-03,4.2548e-06,6.2980e-02,3.1000e-03
+8,5.1333e+00,DOWN_FORCE_DETACH,1.2704e-03,3.7785e-02,4.1266e-04,2.5080e+00,-3.6959e-02,3.9413e-02,3.1009e-06,4.3757e-02,3.2626e-04,5.1151e-02,-1.7608e-04,3.0148e-03,1.1940e-05,6.7314e-02,3.0199e-03
+9,5.8333e+00,DOWN_FORCE_DETACH,1.4290e-03,3.8485e-02,6.5448e-03,2.5123e+00,-3.7338e-02,3.9448e-02,1.1339e-05,4.4457e-02,6.4584e-03,5.5418e-02,-5.5487e-04,3.0494e-03,2.0178e-05,7.1339e-02,3.0996e-03
+10,6.5333e+00,DOWN_FORCE_DETACH,1.5924e-03,3.8081e-02,5.4291e-03,2.5127e+00,-3.7264e-02,3.9419e-02,1.3132e-05,4.4052e-02,5.3427e-03,5.5881e-02,-4.8148e-04,3.0205e-03,2.1971e-05,7.1357e-02,3.0587e-03
+11,7.2667e+00,DOWN_FORCE_DETACH,1.7479e-03,3.8648e-02,6.5435e-03,2.5154e+00,-3.7328e-02,3.9451e-02,1.5406e-05,4.4619e-02,6.4571e-03,5.8585e-02,-5.4525e-04,3.0530e-03,2.4245e-05,7.3924e-02,3.1014e-03
+12,7.9000e+00,DOWN_FORCE_DETACH,1.9062e-03,3.9056e-02,7.9489e-03,2.5155e+00,-3.7405e-02,3.9475e-02,1.7691e-05,4.5028e-02,7.8625e-03,5.8621e-02,-6.2239e-04,3.0764e-03,2.6530e-05,7.4336e-02,3.1389e-03
+13,8.5333e+00,DOWN_FORCE_DETACH,2.0651e-03,3.4882e-02,8.8263e-03,2.5115e+00,-3.7439e-02,3.9201e-02,2.0258e-05,4.0853e-02,8.7399e-03,5.4662e-02,-6.5670e-04,2.8029e-03,2.9097e-05,6.8799e-02,2.8790e-03
+14,9.1833e+00,DOWN_FORCE_DETACH,2.2230e-03,3.3189e-02,1.0406e-02,2.5105e+00,-3.7512e-02,3.9086e-02,2.3178e-05,3.9160e-02,1.0319e-02,5.3710e-02,-7.2933e-04,2.6880e-03,3.2017e-05,6.7266e-02,2.7854e-03
+15,9.8833e+00,DOWN_FORCE_DETACH,2.3849e-03,3.3965e-02,1.2888e-02,2.5139e+00,-3.7634e-02,3.9130e-02,2.6630e-05,3.9937e-02,1.2801e-02,5.7096e-02,-8.5099e-04,2.7318e-03,3.5469e-05,7.0844e-02,2.8615e-03
+16,1.0567e+01,DOWN_FORCE_DETACH,2.5431e-03,3.6043e-02,1.5101e-02,2.5146e+00,-3.7735e-02,3.9261e-02,2.9913e-05,4.2014e-02,1.5014e-02,5.7719e-02,-9.5248e-04,2.8628e-03,3.8752e-05,7.2952e-02,3.0173e-03
+17,1.1383e+01,DOWN_FORCE_DETACH,2.7024e-03,3.8070e-02,1.7008e-02,2.5146e+00,-3.7808e-02,3.9392e-02,3.3535e-05,4.4042e-02,1.6922e-02,5.7718e-02,-1.0256e-03,2.9938e-03,4.2374e-05,7.4548e-02,3.1649e-03
+18,1.2033e+01,DOWN_FORCE_DETACH,2.8622e-03,3.9286e-02,1.7355e-02,2.5175e+00,-3.7799e-02,3.9472e-02,3.5730e-05,4.5258e-02,1.7269e-02,6.0669e-02,-1.0159e-03,3.0736e-03,4.4569e-05,7.7635e-02,3.2374e-03
+19,1.2450e+01,DOWN_FORCE_DETACH,3.0219e-03,3.8627e-02,1.4166e-02,2.5202e+00,-3.7575e-02,3.9430e-02,3.6522e-05,4.4599e-02,1.4080e-02,6.3372e-02,-7.9265e-04,3.0315e-03,4.5361e-05,7.8761e-02,3.1338e-03
+20,1.3200e+01,DOWN_FORCE_DETACH,3.1775e-03,3.8734e-02,1.0908e-02,2.5261e+00,-3.7349e-02,3.9437e-02,3.7491e-05,4.4705e-02,1.0822e-02,6.9245e-02,-5.6618e-04,3.0386e-03,4.6330e-05,8.3129e-02,3.0913e-03
+21,1.3917e+01,DOWN_FORCE_DETACH,3.3364e-03,4.0724e-02,9.5335e-03,2.5341e+00,-3.7263e-02,3.9565e-02,3.7913e-05,4.6695e-02,9.4471e-03,7.7267e-02,-4.8075e-04,3.1668e-03,4.6752e-05,9.0774e-02,3.2034e-03
+22,1.4567e+01,DOWN_FORCE_DETACH,3.4994e-03,4.2824e-02,7.1085e-03,2.5381e+00,-3.7127e-02,3.9702e-02,3.7669e-05,4.8795e-02,7.0221e-03,8.1302e-02,-3.4396e-04,3.3034e-03,4.6508e-05,9.5080e-02,3.3216e-03
+23,1.5367e+01,DOWN_FORCE_DETACH,3.6556e-03,4.3253e-02,5.1431e-03,2.5384e+00,-3.7041e-02,3.9733e-02,3.7099e-05,4.9225e-02,5.0567e-03,8.1518e-02,-2.5782e-04,3.3346e-03,4.5938e-05,9.5362e-02,3.3448e-03
+24,1.5867e+01,DOWN_FORCE_DETACH,3.8156e-03,4.2699e-02,2.7805e-03,2.5396e+00,-3.6917e-02,3.9699e-02,3.6603e-05,4.8671e-02,2.6941e-03,8.2808e-02,-1.3468e-04,3.3003e-03,4.5442e-05,9.6090e-02,3.3034e-03
+25,1.6533e+01,DOWN_FORCE_DETACH,3.9758e-03,4.1652e-02,1.1168e-03,2.5444e+00,-3.6847e-02,3.9631e-02,3.6205e-05,4.7624e-02,1.0304e-03,8.7574e-02,-6.4582e-05,3.2323e-03,4.5044e-05,9.9690e-02,3.2333e-03
+26,1.7217e+01,DOWN_FORCE_DETACH,4.1351e-03,4.0829e-02,1.6706e-03,2.5548e+00,-3.6914e-02,3.9572e-02,3.6254e-05,4.6801e-02,1.5842e-03,9.7945e-02,-1.3137e-04,3.1741e-03,4.5094e-05,1.0856e-01,3.1771e-03
+27,1.7800e+01,DOWN_FORCE_DETACH,4.2919e-03,4.0659e-02,3.6252e-03,2.5678e+00,-3.7056e-02,3.9553e-02,3.6404e-05,4.6631e-02,3.5388e-03,1.1092e-01,-2.7326e-04,3.1543e-03,4.5243e-05,1.2038e-01,3.1664e-03
+28,1.8367e+01,DOWN_FORCE_DETACH,4.4481e-03,3.9771e-02,5.4086e-03,2.5828e+00,-3.7177e-02,3.9483e-02,3.6092e-05,4.5742e-02,5.3222e-03,1.2602e-01,-3.9394e-04,3.0843e-03,4.4931e-05,1.3417e-01,3.1097e-03
+29,1.8833e+01,DOWN_FORCE_DETACH,4.6085e-03,3.9154e-02,7.4220e-03,2.5966e+00,-3.7304e-02,3.9429e-02,3.5217e-05,4.5126e-02,7.3356e-03,1.3981e-01,-5.2171e-04,3.0303e-03,4.4056e-05,1.4709e-01,3.0752e-03
+30,1.9450e+01,DOWN_FORCE_DETACH,4.7681e-03,3.7998e-02,9.6048e-03,2.6118e+00,-3.7435e-02,3.9332e-02,3.2764e-05,4.3970e-02,9.5184e-03,1.5500e-01,-6.5239e-04,2.9334e-03,4.1603e-05,1.6140e-01,3.0053e-03
+31,1.9933e+01,DOWN_FORCE_DETACH,4.9232e-03,3.7349e-02,1.1322e-02,2.6220e+00,-3.7538e-02,3.9271e-02,3.0051e-05,4.3320e-02,1.1236e-02,1.6518e-01,-7.5485e-04,2.8725e-03,3.8890e-05,1.7113e-01,2.9703e-03
+32,2.0400e+01,DOWN_FORCE_DETACH,5.0858e-03,3.6193e-02,1.1908e-02,2.6301e+00,-3.7574e-02,3.9180e-02,2.7433e-05,4.2164e-02,1.1821e-02,1.7327e-01,-7.9113e-04,2.7814e-03,3.6272e-05,1.7872e-01,2.8919e-03
+33,2.0867e+01,DOWN_FORCE_DETACH,5.2444e-03,3.5249e-02,1.1548e-02,2.6393e+00,-3.7555e-02,3.9105e-02,2.5146e-05,4.1221e-02,1.1462e-02,1.8250e-01,-7.7273e-04,2.7064e-03,3.3985e-05,1.8744e-01,2.8148e-03
+34,2.1333e+01,DOWN_FORCE_DETACH,5.4072e-03,3.4604e-02,1.2879e-02,2.6516e+00,-3.7645e-02,3.9050e-02,2.3495e-05,4.0575e-02,1.2793e-02,1.9479e-01,-8.6217e-04,2.6522e-03,3.2334e-05,1.9938e-01,2.7890e-03
+35,2.1717e+01,DOWN_FORCE_DETACH,5.5612e-03,3.4718e-02,1.4511e-02,2.6650e+00,-3.7751e-02,3.9046e-02,2.2598e-05,4.0689e-02,1.4425e-02,2.0821e-01,-9.6844e-04,2.6482e-03,3.1437e-05,2.1263e-01,2.8199e-03
+36,2.2117e+01,DOWN_FORCE_DETACH,5.7244e-03,3.5364e-02,1.6165e-02,2.6827e+00,-3.7858e-02,3.9074e-02,2.2197e-05,4.1336e-02,1.6079e-02,2.2583e-01,-1.0754e-03,2.6762e-03,3.1036e-05,2.3014e-01,2.8843e-03
+37,2.2517e+01,DOWN_FORCE_DETACH,5.8798e-03,3.5830e-02,1.8169e-02,2.6981e+00,-3.7986e-02,3.9091e-02,2.2398e-05,4.1802e-02,1.8082e-02,2.4125e-01,-1.2029e-03,2.6924e-03,3.1237e-05,2.4551e-01,2.9491e-03
+38,2.2950e+01,DOWN_FORCE_DETACH,6.0426e-03,3.6130e-02,2.1577e-02,2.7127e+00,-3.8199e-02,3.9096e-02,2.3241e-05,4.2102e-02,2.1491e-02,2.5588e-01,-1.4158e-03,2.6974e-03,3.2080e-05,2.6021e-01,3.0466e-03
+39,2.3350e+01,DOWN_FORCE_DETACH,6.1966e-03,3.6408e-02,2.5057e-02,2.7245e+00,-3.8411e-02,3.9100e-02,2.4680e-05,4.2380e-02,2.4971e-02,2.6763e-01,-1.6279e-03,2.7020e-03,3.3519e-05,2.7211e-01,3.1547e-03
+40,2.3717e+01,DOWN_FORCE_DETACH,6.3560e-03,3.6632e-02,2.8208e-02,2.7350e+00,-3.8602e-02,3.9102e-02,2.6610e-05,4.2603e-02,2.8122e-02,2.7812e-01,-1.8195e-03,2.7035e-03,3.5449e-05,2.8277e-01,3.2590e-03
+41,2.4067e+01,DOWN_FORCE_DETACH,6.5215e-03,3.6790e-02,2.9479e-02,2.7465e+00,-3.8679e-02,3.9099e-02,2.8768e-05,4.2762e-02,2.9393e-02,2.8966e-01,-1.8960e-03,2.7007e-03,3.7607e-05,2.9428e-01,3.3000e-03
+42,2.4417e+01,DOWN_FORCE_DETACH,6.6736e-03,3.7088e-02,2.9898e-02,2.7598e+00,-3.8704e-02,3.9105e-02,3.0855e-05,4.3059e-02,2.9812e-02,3.0295e-01,-1.9215e-03,2.7064e-03,3.9694e-05,3.0744e-01,3.3194e-03
+43,2.4733e+01,DOWN_FORCE_DETACH,6.8302e-03,3.7894e-02,3.0151e-02,2.7739e+00,-3.8719e-02,3.9143e-02,3.2371e-05,4.3865e-02,3.0064e-02,3.1706e-01,-1.9358e-03,2.7446e-03,4.1210e-05,3.2149e-01,3.3588e-03
+44,2.5067e+01,DOWN_FORCE_DETACH,6.9952e-03,3.8786e-02,3.0404e-02,2.7874e+00,-3.8729e-02,3.9185e-02,3.3357e-05,4.4757e-02,3.0318e-02,3.3060e-01,-1.9467e-03,2.7868e-03,4.2196e-05,3.3499e-01,3.3997e-03
+45,2.5400e+01,DOWN_FORCE_DETACH,7.1511e-03,3.9351e-02,3.1914e-02,2.7998e+00,-3.8820e-02,3.9205e-02,3.3921e-05,4.5323e-02,3.1827e-02,3.4294e-01,-2.0373e-03,2.8068e-03,4.2760e-05,3.4739e-01,3.4685e-03
+46,2.5733e+01,DOWN_FORCE_DETACH,7.3129e-03,3.9135e-02,3.3829e-02,2.8099e+00,-3.8940e-02,3.9174e-02,3.4199e-05,4.5106e-02,3.3743e-02,3.5303e-01,-2.1571e-03,2.7760e-03,4.3038e-05,3.5750e-01,3.5159e-03
+47,2.6033e+01,DOWN_FORCE_DETACH,7.4701e-03,3.9500e-02,3.5018e-02,2.8184e+00,-3.9016e-02,3.9184e-02,3.4205e-05,4.5471e-02,3.4932e-02,3.6158e-01,-2.2329e-03,2.7858e-03,4.3044e-05,3.6610e-01,3.5705e-03
+48,2.6317e+01,DOWN_FORCE_DETACH,7.6271e-03,4.0220e-02,3.5945e-02,2.8271e+00,-3.9074e-02,3.9218e-02,3.4178e-05,4.6192e-02,3.5859e-02,3.7030e-01,-2.2916e-03,2.8193e-03,4.3017e-05,3.7489e-01,3.6335e-03
+49,2.6617e+01,DOWN_FORCE_DETACH,7.7908e-03,4.1486e-02,3.8117e-02,2.8375e+00,-3.9208e-02,3.9286e-02,3.4395e-05,4.7457e-02,3.8030e-02,3.8064e-01,-2.4250e-03,2.8875e-03,4.3234e-05,3.8547e-01,3.7710e-03
+50,2.6900e+01,DOWN_FORCE_DETACH,7.9453e-03,4.2514e-02,4.1464e-02,2.8466e+00,-3.9412e-02,3.9341e-02,3.4657e-05,4.8485e-02,4.1377e-02,3.8978e-01,-2.6288e-03,2.9424e-03,4.3496e-05,3.9496e-01,3.9459e-03
+51,2.7167e+01,DOWN_FORCE_DETACH,8.1084e-03,4.3291e-02,4.5140e-02,2.8547e+00,-3.9632e-02,3.9382e-02,3.4701e-05,4.9262e-02,4.5053e-02,3.9785e-01,-2.8498e-03,2.9834e-03,4.3540e-05,4.0341e-01,4.1260e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d3ec87772f22a38fef7aa2616a779cfd61eb8110
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..048d622a80ad357decbc308a7fe868ad36b1d8f4
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..daafafc2da115771a063e7ee0c7a7308517ab117
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+46,1.075000000e+01,UP_FORCE_RAMP,1792649252136639519,-5.809763245e-05,-2.068926965e-06,4.877755588e-04,-5.779847590e-05,-2.262200526e-06,4.877038968e-04,-5.585354512e-05,-2.056515796e-06,4.855843081e-04,7.014797738e-01,-5.179656443e-07,8.412287167e-01,7.014800730e-01,-7.112392052e-07,8.412286451e-01,7.016697249e-01,-2.729931245e-07,8.302663190e-01
+47,1.105000000e+01,UP_FORCE_RAMP,1792649252584498931,-5.823580798e-05,-2.197270286e-06,5.160775165e-04,-5.898658439e-05,-1.213819419e-06,5.100638830e-04,-5.706761410e-05,-1.003134921e-06,5.078902490e-04,7.014796357e-01,-6.463089654e-07,8.412570187e-01,7.014788849e-01,3.371419017e-07,8.412510051e-01,7.016685108e-01,7.803877507e-07,8.302886250e-01
+48,1.135000000e+01,UP_FORCE_RAMP,1792649253049946639,-5.710449432e-05,-1.996094958e-06,5.420709647e-04,-5.570304427e-05,-4.324004575e-06,5.306551802e-04,-5.375646716e-05,-4.093068386e-06,5.284193839e-04,7.014807670e-01,-4.451336367e-07,8.412830122e-01,7.014821684e-01,-2.773043254e-06,8.412715964e-01,7.016718220e-01,-2.309545715e-06,8.303091541e-01
+49,1.165000000e+01,UP_FORCE_RAMP,1792649253517354913,-5.686590030e-05,5.539801577e-07,5.620018595e-04,-5.714208448e-05,1.047014971e-06,5.506277104e-04,-5.519225079e-05,1.219372838e-06,5.483693614e-04,7.014810056e-01,2.104941479e-06,8.413029430e-01,7.014807294e-01,2.597976292e-06,8.412915689e-01,7.016703862e-01,3.002895510e-06,8.303291041e-01
+50,1.200000000e+01,UP_FORCE_RAMP,1792649254048204732,-5.432603275e-05,5.651371349e-06,5.868416323e-04,-5.545129707e-05,-4.267788506e-07,5.714505740e-04,-5.349500427e-05,-2.466383816e-07,5.692465819e-04,7.014835454e-01,7.202332670e-06,8.413277828e-01,7.014824202e-01,1.124182470e-06,8.413123918e-01,7.016720834e-01,1.536884290e-06,8.303499813e-01
+51,1.228333333e+01,UP_FORCE_RAMP,1792649254466976011,-5.559569729e-05,2.320477531e-06,5.991893263e-04,-5.511460042e-05,1.905647250e-06,5.914321100e-04,-5.307551601e-05,2.074578209e-06,5.891238746e-04,7.014822758e-01,3.871438852e-06,8.413401305e-01,7.014827569e-01,3.456608571e-06,8.413323733e-01,7.016725029e-01,3.858100881e-06,8.303698586e-01
+52,1.255000000e+01,UP_FORCE_RAMP,1792649254884859927,-5.371284272e-05,-1.550759153e-06,6.173315881e-04,-5.473504535e-05,3.437934824e-06,6.124276661e-04,-5.268813782e-05,3.567490170e-06,6.100258455e-04,7.014841586e-01,2.021677773e-10,8.413582728e-01,7.014831364e-01,4.988896145e-06,8.413533689e-01,7.016728903e-01,5.351012842e-06,8.303907606e-01
+53,1.281666667e+01,UP_FORCE_RAMP,1792649255285794601,-5.464852310e-05,3.281744714e-06,6.273706028e-04,-5.473504535e-05,3.437934824e-06,6.124276661e-04,-5.272205481e-05,3.563863961e-06,6.102601723e-04,7.014832230e-01,4.832706035e-06,8.413683118e-01,7.014831364e-01,4.988896145e-06,8.413533689e-01,7.016728564e-01,5.347386633e-06,8.303909949e-01
+54,1.303333333e+01,UP_FORCE_RAMP,1792649255615683435,-5.454491884e-05,5.611328910e-06,6.385917420e-04,-5.207031540e-05,6.009324124e-06,6.329569974e-04,-4.999541999e-05,6.106214427e-06,6.306931404e-04,7.014833266e-01,7.162290231e-06,8.413795329e-01,7.014858012e-01,7.560285445e-06,8.413738982e-01,7.016755830e-01,7.889737099e-06,8.304114279e-01
+55,1.331666667e+01,UP_FORCE_RAMP,1792649256036952382,-5.736711737e-05,5.922305341e-06,6.459399913e-04,-5.207031540e-05,6.009324124e-06,6.329569974e-04,-5.001875673e-05,6.103240970e-06,6.309208870e-04,7.014805044e-01,7.473266662e-06,8.413868812e-01,7.014858012e-01,7.560285445e-06,8.413738982e-01,7.016755597e-01,7.886763641e-06,8.304116556e-01
+56,1.358333333e+01,UP_FORCE_RAMP,1792649256435705259,-5.805970323e-05,4.516374856e-06,6.590052008e-04,-5.923424435e-05,4.567711069e-06,6.538565000e-04,-5.720523736e-05,4.653298619e-06,6.516986352e-04,7.014798118e-01,6.067336177e-06,8.413999464e-01,7.014786372e-01,6.118672390e-06,8.413947977e-01,7.016683732e-01,6.436821291e-06,8.304324334e-01
+57,1.383333333e+01,UP_FORCE_RAMP,1792649256815581123,-5.901451637e-05,-1.579859715e-06,6.699064313e-04,-5.923424435e-05,4.567711069e-06,6.538565000e-04,-5.723534386e-05,4.649889942e-06,6.518908339e-04,7.014788570e-01,-2.889839379e-08,8.414108476e-01,7.014786372e-01,6.118672390e-06,8.413947977e-01,7.016683431e-01,6.433412614e-06,8.304326256e-01
+58,1.403333333e+01,UP_FORCE_HOLD,1792649257116693282,-5.842040150e-05,3.451401660e-06,6.798310820e-04,-5.757830191e-05,2.682388679e-06,6.748586393e-04,-5.553361983e-05,2.805048520e-06,6.727446168e-04,7.014794511e-01,5.002362981e-06,8.414207723e-01,7.014802932e-01,4.233350000e-06,8.414157998e-01,7.016700448e-01,4.588571191e-06,8.304534793e-01
+59,1.430000000e+01,UP_SETTLE,1792649257515417554,-5.707960395e-05,3.851282882e-06,6.901526935e-04,-5.757830191e-05,2.682388679e-06,6.748586393e-04,-5.555289777e-05,2.802570108e-06,6.729539964e-04,7.014807919e-01,5.402244203e-06,8.414310939e-01,7.014802932e-01,4.233350000e-06,8.414157998e-01,7.016700255e-01,4.586092780e-06,8.304536887e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4f5874042c7ad80393e854b8138669e261e014f2
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-5.9410e-03,1.1944e-04,2.4568e+00,-3.6785e-02,3.6400e-02,-8.9490e-06,3.0353e-05,3.3043e-05,5.7220e-06,-2.1569e-06,1.8626e-06,-1.1001e-07,4.5231e-05,2.8520e-06
+1,3.3333e-01,XJC_ZERO_HOLD_BEFORE_UP,6.3256e-05,-4.4153e-03,6.6870e-04,2.4574e+00,-3.6822e-02,3.6497e-02,-1.0957e-05,1.5561e-03,5.8230e-04,5.4598e-04,-3.8993e-05,9.8519e-05,-2.1179e-06,1.7489e-03,1.0598e-04
+2,7.5000e-01,WAIT_W2,1.2714e-04,2.5528e-04,1.9179e-03,2.4612e+00,-3.6939e-02,3.6826e-02,-3.1445e-05,6.2267e-03,1.8315e-03,4.4074e-03,-1.5586e-04,4.2798e-04,-2.2606e-05,7.8454e-03,4.5604e-04
+3,1.0333e+00,WAIT_W2,1.8803e-04,1.6760e-02,2.7723e-03,2.4664e+00,-3.7007e-02,3.7885e-02,-3.7206e-05,2.2732e-02,2.6859e-03,9.5468e-03,-2.2439e-04,1.4869e-03,-2.8367e-05,2.4801e-02,1.5040e-03
+4,1.2333e+00,WAIT_W2,2.5196e-04,1.2358e-02,1.9927e-02,2.4658e+00,-3.8133e-02,3.7629e-02,-4.0623e-05,1.8330e-02,1.9841e-02,8.9192e-03,-1.3500e-03,1.2303e-03,-3.1784e-05,2.8446e-02,1.8268e-03
+5,1.5167e+00,WAIT_W2,3.1600e-04,1.7573e-02,1.0132e-02,2.4671e+00,-3.7550e-02,3.7976e-02,-4.3148e-05,2.3544e-02,1.0046e-02,1.0303e-02,-7.6729e-04,1.5774e-03,-3.4309e-05,2.7594e-02,1.7544e-03
+6,1.8167e+00,WAIT_W2,3.7885e-04,1.8658e-02,2.0302e-02,2.4658e+00,-3.8290e-02,3.8074e-02,-4.2403e-05,2.4629e-02,2.0215e-02,8.9715e-03,-1.5072e-03,1.6761e-03,-3.3564e-05,3.3102e-02,2.2544e-03
+7,2.0500e+00,WAIT_W2,4.4104e-04,2.2446e-02,2.9639e-02,2.4681e+00,-3.8914e-02,3.8331e-02,-4.1398e-05,2.8418e-02,2.9552e-02,1.1291e-02,-2.1316e-03,1.9324e-03,-3.2559e-05,4.2525e-02,2.8773e-03
+8,2.2500e+00,WAIT_W2,5.0568e-04,2.2524e-02,2.8874e-02,2.4682e+00,-3.8869e-02,3.8337e-02,-4.1272e-05,2.8496e-02,2.8787e-02,1.1391e-02,-2.0859e-03,1.9390e-03,-3.2433e-05,4.2077e-02,2.8481e-03
+9,2.5167e+00,UP_FORCE_RAMP,5.7132e-04,2.4927e-02,2.3071e-02,2.4702e+00,-3.8532e-02,3.8509e-02,-3.9541e-05,3.0899e-02,2.2984e-02,1.3377e-02,-1.7496e-03,2.1107e-03,-3.0702e-05,4.0767e-02,2.7417e-03
+10,2.8333e+00,UP_FORCE_RAMP,6.3025e-04,2.7744e-02,2.4163e-02,2.4721e+00,-3.8638e-02,3.8719e-02,-3.5426e-05,3.3715e-02,2.4076e-02,1.5293e-02,-1.8549e-03,2.3203e-03,-2.6587e-05,4.4162e-02,2.9707e-03
+11,3.0833e+00,UP_FORCE_RAMP,6.9616e-04,2.3219e-02,1.8933e-02,2.4648e+00,-3.8300e-02,3.8433e-02,-3.5077e-05,2.9190e-02,1.8846e-02,7.9455e-03,-1.5172e-03,2.0342e-03,-2.6238e-05,3.5642e-02,2.5378e-03
+12,3.3500e+00,UP_FORCE_RAMP,7.5853e-04,2.4011e-02,1.9245e-02,2.4641e+00,-3.8319e-02,3.8484e-02,-3.4826e-05,2.9982e-02,1.9158e-02,7.2889e-03,-1.5365e-03,2.0854e-03,-2.5987e-05,3.6320e-02,2.5904e-03
+13,3.6167e+00,UP_FORCE_RAMP,8.2034e-04,2.7460e-02,1.7443e-02,2.4442e+00,-3.8201e-02,3.8713e-02,-3.3465e-05,3.3432e-02,1.7357e-02,-1.2636e-02,-1.4183e-03,2.3151e-03,-2.4626e-05,3.9732e-02,2.7151e-03
+14,3.8833e+00,UP_FORCE_RAMP,8.8357e-04,2.8208e-02,1.7604e-02,2.4430e+00,-3.8211e-02,3.8765e-02,-3.3102e-05,3.4179e-02,1.7518e-02,-1.3833e-02,-1.4286e-03,2.3663e-03,-2.4263e-05,4.0822e-02,2.7642e-03
+15,4.1667e+00,UP_FORCE_RAMP,9.4665e-04,2.9592e-02,1.6871e-02,2.4411e+00,-3.8164e-02,3.8858e-02,-3.2702e-05,3.5563e-02,1.6785e-02,-1.5689e-02,-1.3815e-03,2.4594e-03,-2.3863e-05,4.2339e-02,2.8210e-03
+16,4.4833e+00,UP_FORCE_RAMP,1.0081e-03,3.1403e-02,1.6018e-02,2.4387e+00,-3.8110e-02,3.8980e-02,-3.2166e-05,3.7374e-02,1.5932e-02,-1.8117e-02,-1.3274e-03,2.5814e-03,-2.3327e-05,4.4485e-02,2.9027e-03
+17,4.7667e+00,UP_FORCE_RAMP,1.0712e-03,3.2985e-02,1.4978e-02,2.4360e+00,-3.8044e-02,3.9087e-02,-3.1660e-05,3.8957e-02,1.4892e-02,-2.0851e-02,-1.2611e-03,2.6887e-03,-2.2821e-05,4.6627e-02,2.9698e-03
+18,4.9833e+00,UP_FORCE_RAMP,1.1341e-03,3.3961e-02,1.4333e-02,2.4328e+00,-3.8003e-02,3.9155e-02,-3.1211e-05,3.9932e-02,1.4247e-02,-2.4076e-02,-1.2206e-03,2.7563e-03,-2.2372e-05,4.8757e-02,3.0146e-03
+19,5.2333e+00,UP_FORCE_RAMP,1.1992e-03,3.5042e-02,1.3640e-02,2.4294e+00,-3.7960e-02,3.9230e-02,-3.0630e-05,4.1013e-02,1.3554e-02,-2.7467e-02,-1.1772e-03,2.8318e-03,-2.1791e-05,5.1188e-02,3.0669e-03
+20,5.3333e+00,UP_FORCE_RAMP,1.2429e-03,3.5450e-02,1.3412e-02,2.4284e+00,-3.7946e-02,3.9259e-02,-3.0390e-05,4.1422e-02,1.3325e-02,-2.8396e-02,-1.1631e-03,2.8604e-03,-2.1551e-05,5.1958e-02,3.0879e-03
+21,5.3500e+00,UP_FORCE_RAMP,1.2927e-03,3.5518e-02,1.3376e-02,2.4283e+00,-3.7944e-02,3.9263e-02,-3.0349e-05,4.1490e-02,1.3289e-02,-2.8516e-02,-1.1609e-03,2.8652e-03,-2.1510e-05,5.2069e-02,3.0915e-03
+22,5.4167e+00,UP_FORCE_RAMP,1.3893e-03,2.8634e-02,1.5231e-02,2.4922e+00,-3.8072e-02,3.8822e-02,-2.7353e-05,3.4606e-02,1.5145e-02,3.5328e-02,-1.2897e-03,2.4240e-03,-1.8514e-05,5.1720e-02,2.7458e-03
+23,5.6833e+00,UP_FORCE_RAMP,1.4509e-03,2.8761e-02,1.6468e-02,2.4955e+00,-3.8195e-02,3.8803e-02,-1.4766e-05,3.4733e-02,1.6382e-02,3.8634e-02,-1.4126e-03,2.4047e-03,-5.9273e-06,5.4473e-02,2.7890e-03
+24,6.0000e+00,UP_FORCE_RAMP,1.5137e-03,3.0314e-02,2.1586e-02,2.4991e+00,-3.8628e-02,3.8906e-02,4.7520e-05,3.6285e-02,2.1499e-02,4.2311e-02,-1.8456e-03,2.5077e-03,5.6359e-05,5.9741e-02,3.1142e-03
+25,6.3333e+00,UP_FORCE_RAMP,1.5787e-03,3.3982e-02,2.1896e-02,2.4928e+00,-3.8621e-02,3.9143e-02,4.9876e-05,3.9954e-02,2.1810e-02,3.5966e-02,-1.8385e-03,2.7443e-03,5.8715e-05,5.8013e-02,3.3037e-03
+26,6.6167e+00,UP_FORCE_RAMP,1.6411e-03,3.4417e-02,2.1586e-02,2.4926e+00,-3.8599e-02,3.9173e-02,5.0500e-05,4.0389e-02,2.1500e-02,3.5784e-02,-1.8163e-03,2.7747e-03,5.9339e-05,5.8086e-02,3.3169e-03
+27,6.8167e+00,UP_FORCE_RAMP,1.7137e-03,4.3174e-02,1.5758e-02,2.4814e+00,-3.8167e-02,3.9835e-02,6.9457e-05,4.9146e-02,1.5672e-02,2.4518e-02,-1.3840e-03,3.4363e-03,7.8296e-05,5.7114e-02,3.7053e-03
+28,7.0167e+00,UP_FORCE_RAMP,1.7666e-03,5.7128e-02,1.3360e-02,2.4634e+00,-3.8000e-02,4.0867e-02,7.2208e-05,6.3099e-02,1.3273e-02,6.5637e-03,-1.2176e-03,4.4683e-03,8.1047e-05,6.4813e-02,4.6320e-03
+29,7.1333e+00,UP_FORCE_RAMP,1.8288e-03,5.7183e-02,1.3291e-02,2.4634e+00,-3.7996e-02,4.0870e-02,7.2241e-05,6.3155e-02,1.3205e-02,6.6009e-03,-1.2132e-03,4.4712e-03,8.1080e-05,6.4857e-02,4.6336e-03
+30,7.1833e+00,UP_FORCE_RAMP,1.8993e-03,5.6765e-02,1.2890e-02,2.4611e+00,-3.7970e-02,4.0842e-02,7.2224e-05,6.2737e-02,1.2804e-02,4.2181e-03,-1.1870e-03,4.4435e-03,8.1063e-05,6.4169e-02,4.6000e-03
+31,7.3667e+00,UP_FORCE_RAMP,1.9547e-03,5.2674e-02,6.5954e-03,2.4175e+00,-3.7565e-02,4.0585e-02,7.2115e-05,5.8645e-02,6.5090e-03,-3.9366e-02,-7.8199e-04,4.1864e-03,8.0954e-05,7.0932e-02,4.2596e-03
+32,7.6167e+00,UP_FORCE_RAMP,2.0210e-03,5.2818e-02,6.7069e-03,2.4163e+00,-3.7571e-02,4.0595e-02,7.2176e-05,5.8790e-02,6.6205e-03,-4.0522e-02,-7.8797e-04,4.1964e-03,8.1015e-05,7.1708e-02,4.2706e-03
+33,7.8500e+00,UP_FORCE_RAMP,2.0806e-03,5.3654e-02,6.2100e-03,2.4136e+00,-3.7537e-02,4.0650e-02,7.2273e-05,5.9625e-02,6.1236e-03,-4.3211e-02,-7.5466e-04,4.2516e-03,8.1112e-05,7.3891e-02,4.3188e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..950968a575a2867e22bb2deb3629c63d96246b0c
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/fem_node.csv
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..81e0589bc8d211169ec9b9bb15072bafe8a1366a
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
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+95760,1792649344208340560,17884507000000,1792649344200659582,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.676003974803018,-0.004455219254999281,0.09085841401124939,0.9999999803632715,3.535065935850615e-05,-0.00015727985137557217,6.877281565641882e-05,0.6761,-0.0045,0.09096020915297937,1.0,0.0,0.0,0.0,-0.20327919035862044,0.15045446898300557,0.06814583202958446,0.011498567094882015,0.015971870980472397,0.0002740028855294125,0.13656161606717335,-0.1367958495423528,0.30584680011739357,-0.00355107354694319,-0.007872137941412036,-0.00042674511407583723,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.4240447247325424,-0.2830065365932493,1.0818746749716572,0.32868747504679696,-0.5994066057807211,-0.2266794928641555,0.9848723482038328,0.06814583202958446,-0.09700232676782439,-0.09700232676782439,0.13537999999999906,0,0,-2.6099598256250307e-05,-9.999999025923074e-05
+95889,1792649345283432897,17885582000000,1792649345280668656,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760104896020666,-0.004456293987819886,0.09081757050746875,0.999999981816454,3.9104167684735445e-05,-0.00014198629823994091,7.823497540664046e-05,0.6761,-0.0045,0.09093096266121975,1.0,0.0,0.0,0.0,-0.2444790863726543,0.1104231713983331,0.19184504211012154,0.010009214081361649,0.01777765701933546,0.00021328258170653203,0.09536172005313946,-0.17682714712702527,0.42954601019793065,-0.0050404265604635555,-0.006066351902548972,-0.0004874654178987177,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.5321156550086305,-0.3638241280358949,0.7581753075929797,0.35211136698547524,-0.3678162466987532,-0.28338100149277423,0.9848723482038328,0.19184504211012154,0.22669704061085316,0.22669704061085316,0.2106299999999848,0,0,-1.593010196390831e-05,8.602382281364668e-05
+96027,1792649346433432684,17886732000000,1792649346432668450,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760168399650001,-0.004454941901472217,0.09081284148827214,0.9999999836821561,3.585327976700591e-05,-0.00012995836079350489,7.68369615810551e-05,0.6761,-0.0045,0.09090642883446486,1.0,0.0,0.0,0.0,-0.24519279840387426,0.12284735633298918,0.21194767579040463,0.009979596162692356,0.01878511454331768,0.00021267563817527576,0.09464800802191951,-0.1644029621923692,0.44964864387821374,-0.005070044479132848,-0.005058894378566754,-0.000488072361429974,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.5383360811366138,-0.25538202255041575,0.7933084826748336,0.31877978152858844,-0.39037517145731504,-0.2146205666569987,0.9848723482038328,0.21194767579040463,0.1915638655289993,0.1915638655289993,0.29112999999998584,0,0,-3.366801734214076e-05,-9.999184399778755e-05
+96153,1792649347483422361,17887782000000,1792649347476668629,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760219156871478,-0.0044453263252854916,0.09079558695822201,0.9999999881952111,-8.490742904341202e-06,-0.0001174354474353132,3.44857226566875e-05,0.6761,-0.0045,0.09086199254105871,1.0,0.0,0.0,0.0,-0.23652440916416265,0.1466151189503494,0.27302658286427833,0.012037974748393142,0.017719757252808332,0.00017173619281764707,0.10331639726163114,-0.14063519957500897,0.5107275509520874,-0.0030116658934320633,-0.006124251669076099,-0.0005290118067876027,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.5755584484878584,-0.23296094308508114,0.7070239866283212,0.31893537598188837,-0.3277077131322617,-0.19504003976502154,0.9848723482038328,0.27302658286427833,0.2778483615755116,0.2778483615755116,0.36463000000000106,0,0,-4.588214704978467e-05,-9.977662726446396e-05
+96297,1792649348683530608,17888982000000,1792649348680668671,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760188594414386,-0.004448139051218629,0.09074542625363193,0.9999999865820353,-7.663833934411257e-07,-0.00012750920058491433,4.494007309669727e-05,0.6761,-0.0045,0.09081861893772057,1.0,0.0,0.0,0.0,-0.24836614123071188,0.13316583420817246,0.40296423474285187,0.010963655732688562,0.018725362376908552,6.95010372468559e-05,0.09147466519508189,-0.1540844843171859,0.640665202830661,-0.0040859849091366435,-0.0051186465449758805,-0.0006312469623583938,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.5625846594117992,-0.353718568645322,0.6115598817290585,0.3600384949530929,-0.2679863265564179,-0.2724192339149462,0.9848723482038328,0.40296423474285187,0.37331246647477434,0.37331246647477434,0.44863000000001846,0,0,-2.167977005837341e-05,-7.50197779161354e-05
+96455,1792649350000576861,17890299000000,1792649349996658604,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760229886516326,-0.004450495055148275,0.0907294479023514,0.9999999723889713,0.00017241664852674722,-0.00011998760725020528,5.0402324856490716e-05,0.6761,-0.0045,0.09079453016726019,1.0,0.0,0.0,0.0,-0.264000765286721,0.1227553247371111,0.44231587539719547,0.009909438612305997,0.019701558244482137,3.980700358172725e-05,0.07584004113907278,-0.16449499378824728,0.6800168434850046,-0.005140202029519208,-0.0041424506774022955,-0.0006609409960235225,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.564829200691608,-0.2600793116706003,0.47498212938490714,0.2911416309856688,-0.17466206487465752,-0.26118195576051784,0.9848723482038328,0.44231587539719547,0.5098902188189257,0.5098902188189257,0.5408200000000375,0,0,-2.400144602277295e-05,2.3743426222168744e-05
+96585,1792649351083544776,17891382000000,1792649351076668540,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760279426740522,-0.004452903275666274,0.09070791617531158,0.9999999734079301,0.00017224903511599014,-0.00010867194729370178,5.610419782064706e-05,0.6761,-0.0045,0.09075556106430145,1.0,0.0,0.0,0.0,-0.28336617935981767,0.12153825089045864,0.4852137003981975,0.010892495510229198,0.02073532494730884,3.019366882894153e-05,0.0564746270659761,-0.16571206763489973,0.7229146684860066,-0.004157145131596007,-0.0031086839745755957,-0.0006705543307763082,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.6247341978061475,-0.23100921470808936,0.4624206747541231,0.2950943535299675,-0.1590610246750783,-0.23058235481648326,0.9848723482038328,0.4852137003981975,0.5224516734497098,0.5224516734497098,0.6166300000000532,0,0,-4.218700119382047e-05,-9.014384658024283e-05
+96705,1792649352083549164,17892382000000,1792649352080658523,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760307283327922,-0.004457556013325001,0.09067683941989509,0.9999999739186485,0.00016967899991827726,-0.00010385980425919893,6.346451622105576e-05,0.6761,-0.0045,0.09071186859854038,1.0,0.0,0.0,0.0,-0.2903965351126411,0.12404582052880106,0.5531822714960679,0.01085220504983955,0.02173400237387506,-9.834266249096027e-06,0.04944427131315272,-0.1632044979965573,0.790883239583877,-0.004197435591985655,-0.0021100065480093725,-0.0007105822658543458,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.662113445459299,-0.2735621495037628,0.3664374559909942,0.320028841012227,-0.08938927147576932,-0.24529712159546063,0.9848723482038328,0.5531822714960679,0.6184348922128386,0.6184348922128386,0.6866300000000677,0,0,-4.398331294933242e-05,-3.791174244169601e-05
+96839,1792649353200575687,17893499000000,1792649353196659003,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760402925380878,-0.00445358128979877,0.09064799259165371,0.999999973843204,0.0001752945899347811,-9.064082019608764e-05,6.937221160915269e-05,0.6761,-0.0045,0.09066565528296419,1.0,0.0,0.0,0.0,-0.31264313727330034,0.13904595339762257,0.6135934427160741,0.011807582624996288,0.023717140761105343,-1.845475776350591e-05,0.027197669152493463,-0.1482043651277358,0.8512944108038831,-0.0032420580168289167,-0.0001268681607790911,-0.0007192027573687557,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.6936912566411154,-0.3540202721417143,0.24023279790870522,0.35440888398101567,-0.010081760903290724,-0.27728597128926247,0.9848723482038328,0.6135934427160741,0.7446395502951276,0.7446395502951276,0.7648200000000839,0,0,-3.907206068823476e-05,9.999976821462581e-05
+96951,1792649354133593811,17894432000000,1792649354128658619,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760617658735099,-0.004457996415640072,0.09063130001819346,0.9999999759905849,0.00017165462151349945,-6.266310772957692e-05,7.790840723345503e-05,0.6761,-0.0045,0.09062313121411587,1.0,0.0,0.0,0.0,-0.35096247200675973,0.1732790593050798,0.6534802392920063,0.012741880001908682,0.02673857018021531,3.41794971049907e-06,-0.01112166558096594,-0.11397125922027856,0.8911812073798154,-0.0023077606399165233,0.0028945612583308766,-0.0006973300498947507,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8238185777748882,-0.35163214375599927,0.20326616650904306,0.3643851749170373,0.03523705564204932,-0.26656538468010754,0.9848723482038328,0.6534802392920063,0.7816061816947898,0.7816061816947898,0.8301300000000974,0,0,-4.749801594120117e-05,9.532048347716255e-05
+97083,1792649355233689283,17895532000000,1792649355232659031,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760624971426278,-0.004452532822810375,0.09058871682948372,0.9999999751658081,0.00017489412867834986,-5.877314385305411e-05,8.407739774664529e-05,0.6761,-0.0045,0.09057575396462929,1.0,0.0,0.0,0.0,-0.3522778795381223,0.1535014850517381,0.7141292186330805,0.012728382762264377,0.02672629195356891,-4.575489481776227e-05,-0.01243707311232849,-0.13374883347362027,0.9518301867208896,-0.0023212578795608297,0.002882283031684476,-0.000746502894423012,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.7899785680459178,-0.4211326760979658,0.1782489215685602,0.3909644488955057,0.04003842068562329,-0.30161131467089236,0.9848723482038328,0.7141292186330805,0.8066234266352726,0.8066234266352726,0.9071300000001133,0,0,-3.9624016896803955e-05,-9.99990465696598e-05
+97211,1792649356300723435,17896599000000,1792649356300658770,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760642981582778,-0.004458995816189949,0.09055474131454946,0.99999997438974,0.00017638737841319928,-5.4178735724936407e-05,9.28199387024136e-05,0.6761,-0.0045,0.09053458287377726,1.0,0.0,0.0,0.0,-0.36044470209423896,0.14819778608500214,0.7742821346825632,0.012715538498257368,0.026714887609988636,-9.535665367199891e-05,-0.020603895668445175,-0.13905253244035623,1.0119831027703723,-0.0023341021435678375,0.0028708786881042037,-0.0007961046532772487,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8215388996845038,-0.36871956481956597,0.0024213623741375498,0.37001869793332914,0.15906512424173333,-0.26787504197765677,0.9848723482038328,0.7742821346825632,0.9824509858296953,0.9824509858296953,0.9818200000001288,0,0,-4.063421242953146e-05,9.643556372752044e-05
+97339,1792649357366741568,17897665000000,1792649357364658382,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760680284058227,-0.004459685047770283,0.09052194745336986,0.999999974837008,0.00017328863757185424,-4.6703375906269616e-05,9.776855616558376e-05,0.6761,-0.0045,0.09049046273284823,1.0,0.0,0.0,0.0,-0.3606774364148356,0.13988321188260858,0.8343485417457557,0.01270291001783766,0.02670262207633236,-0.00014392132701698216,-0.02083662998904181,-0.1473671066427498,1.0720495098335647,-0.0023467306239875465,0.0028586131544479257,-0.0008446693266222319,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8071286735464449,-0.402200690953654,0.08162403626556525,0.38660945222449306,0.10329439180464188,-0.2857909350789196,0.9848723482038328,0.8343485417457557,0.9032483119382676,0.9032483119382676,1.0564400000001442,0,0,-4.310745270050121e-05,-9.988225110746924e-05
+97455,1792649358333767403,17898632000000,1792649358332659202,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760690543980772,-0.004463547347044464,0.09048587679861705,0.9999999736059708,0.00017550264828136394,-4.5702008190767065e-05,0.00010649445428260207,0.6761,-0.0045,0.09044767871736023,1.0,0.0,0.0,0.0,-0.3607995167870447,0.14057220097482218,0.8946948112329529,0.012691593101082626,0.026690002611367107,-0.00018945393037680762,-0.020958710361250885,-0.1466781175505362,1.132395779320762,-0.0023580475407425795,0.0028459936894826726,-0.0008902019299820574,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.7981270803589504,-0.34499474518297574,-0.033018517196517945,0.3708939125837425,0.17388895977617272,-0.24747066940867102,0.9848723482038328,0.8946948112329529,1.017890865400351,1.017890865400351,1.1241300000001582,0,0,-4.4283075105482024e-05,-9.672312536868616e-05
+97571,1792649359300811516,17899599000000,1792649359296659113,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760697975642858,-0.004462748174143344,0.09044655408251716,0.9999999747419056,0.00016907750262045435,-4.3815168826139497e-05,0.00010701439830608896,0.6761,-0.0045,0.09040367583464569,1.0,0.0,0.0,0.0,-0.3665734746731079,0.15099128453549296,0.945305063303723,0.013275993014902883,0.02666296590022699,0.000375531238739819,-0.02673266824731411,-0.1362590339898654,1.183006031391532,-0.0017736476269223235,0.0028189569783425568,-0.00032521676086543074,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8212853138633645,-0.3990139882178242,-0.17285468576448132,0.3987058560404479,0.26665390872700406,-0.28203292149596254,0.9848723482038328,0.945305063303723,1.1577270339683141,1.1577270339683141,1.1918200000001722,0,0,-4.62439240553073e-05,7.54317816805738e-05
+97677,1792649360183776324,17900482000000,1792649360180658800,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6760810256100223,-0.004448560148483369,0.09040661091449363,0.9999999935912736,6.125730873964655e-05,-1.6656490450388043e-05,1.5179612490294997e-05,0.6761,-0.0045,0.09035072399504902,1.0,0.0,0.0,0.0,-0.34522071090509715,0.2070789630560691,1.0171414940674093,0.016802050405262586,0.024551038217229405,0.0007521687806311629,-0.005379904479303373,-0.08017135546928929,1.2548424621552183,0.0017524097634373818,0.0007070292953449713,5.142078102591319e-05,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8365234642808103,-0.29450119154686505,-0.13339185591485392,0.2504438411857233,0.26658791596529663,-0.18315115334414306,0.9848723482038328,1.0171414940674093,1.1182642041186868,1.1182642041186868,1.253630000000185,0,0,-6.837193860661917e-05,-9.943771780840933e-05
+97783,1792649361066784046,17901365000000,1792649361060659111,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760835009353602,-0.004450629337092417,0.09035380607409492,0.9999999929214834,6.755738728700916e-05,-1.4806907600651686e-05,2.8577130905593593e-05,0.6761,-0.0045,0.0902913800176196,1.0,0.0,0.0,0.0,-0.35390588752102287,0.19994171169917846,1.0971799017817068,0.016758325434869114,0.025547782895139003,0.0007022072872385574,-0.014065081095229104,-0.08730860682617993,1.3348808698695158,0.001708684793043908,0.001703773973254571,1.459287633307628e-06,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8173030677221964,-0.36902429474597176,-0.30528709909584223,0.3059918494233255,0.363449212758902,-0.24075513561041814,0.9848723482038328,1.0971799017817068,1.2901594472996751,1.2901594472996751,1.3154400000001978,0,0,-6.305413035170992e-05,9.737060743664756e-05
+97899,1792649362033842997,17902332000000,1792649362032658871,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760824000236805,-0.004450224291541388,0.09030497934418864,0.9999999915968719,7.913263516012206e-05,-1.815918188393883e-05,4.071106368800575e-05,0.6761,-0.0045,0.09023956164933705,1.0,0.0,0.0,0.0,-0.3539769040773288,0.21009898040864594,1.13764031701779,0.016752094363715785,0.025538217121808874,0.0006695268936880854,-0.014136097651535003,-0.07715133811671243,1.375341285105599,0.0017024537218905788,0.0016942081999244405,-3.1221105917164414e-05,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.915003639014366,-0.27415786397143554,-0.356025907976467,0.3058540769791912,0.41659906390374113,-0.18923978346798045,0.9848723482038328,1.13764031701779,1.3408982561802998,1.3408982561802998,1.3831300000002118,0,0,-4.80757742962482e-05,9.999999025923074e-05
+98016,1792649363008893455,17903307000000,1792649363004659116,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760849054333083,-0.004452211807550725,0.09026495101489214,0.9999999899098331,9.10988343768781e-05,-1.5169320825199464e-05,5.56245649738988e-05,0.6761,-0.0045,0.09019190688165882,1.0,0.0,0.0,0.0,-0.34395462393018406,0.1962494605460966,1.1581709637004969,0.01676211042636145,0.024922566822915784,0.0006409532852248549,-0.004113817504390263,-0.09100085797926176,1.395871931788306,0.0017124697845362427,0.0010785579010313497,-5.979471438039488e-05,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8948536388233985,-0.3607723563503462,-0.4644358068776026,0.378780883809512,0.4711562526061332,-0.24937950167816136,0.9848723482038328,1.1581709637004969,1.4493081550814355,1.4493081550814355,1.451380000000226,0,0,-5.005427586715771e-05,9.999842206920845e-05
+98156,1792649364175927152,17904474000000,1792649364172659030,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760891018112466,-0.004448004851910902,0.09021172783161407,0.9999999883165809,0.0001006838370993054,-1.0343032183875264e-05,6.756840175148564e-05,0.6761,-0.0045,0.09013202811799544,1.0,0.0,0.0,0.0,-0.34332539223096636,0.21310094656675077,1.208050541173696,0.017786314313175067,0.024490551283787885,0.0006096468501889783,-0.003484585805172602,-0.07414937195860759,1.445751509261505,0.002736673671349863,0.0006465423619034502,-9.110114941627149e-05,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8693409683960278,-0.38723101825486256,-0.4072968334661205,0.416739195241585,0.41815751598542933,-0.278879901932607,0.9848723482038328,1.208050541173696,1.3921691816699533,1.3921691816699533,1.5330700000002428,0,0,-5.704556313021326e-05,-9.780208173738032e-05
+98255,1792649365000993506,17905299000000,1792649365000658745,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760958333823154,-0.004439488292099037,0.09017037402166259,0.9999999949993256,3.399116781621998e-05,7.208196439514494e-06,1.5390119662092592e-05,0.6761,-0.0045,0.09008277473961877,1.0,0.0,0.0,0.0,-0.3127132173959839,0.25015649598304596,1.2361433737145444,0.020894521049170785,0.022756011474782234,0.0005977287328675178,0.0271275890298099,-0.037093822542312416,1.4738443418023535,0.00584488040734558,-0.0010879974471022004,-0.0001030192667377319,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8994730932377512,-0.25457511359188884,-0.4741183107070532,0.37495128420130625,0.4665949541499484,-0.18769393466315312,0.9848723482038328,1.2361433737145444,1.458990658910886,1.458990658910886,1.5908200000002548,0,0,-6.359109392814333e-05,-9.999999025923074e-05
+98375,1792649366000954998,17906299000000,1792649366000659171,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6760991761603693,-0.0044437276571965625,0.09010985703458214,0.9999999943273327,4.246168848729675e-05,1.0510066074980449e-05,2.957605138720682e-05,0.6761,-0.0045,0.09001422363700157,1.0,0.0,0.0,0.0,-0.32072136828956216,0.2371429158644752,1.2795463011361505,0.019866374925948924,0.02262906386207464,0.0005519650888200692,0.019119438136231647,-0.050107402660883184,1.5172472692239596,0.004816734284123718,-0.0012149450598097939,-0.0001487829107851805,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8826200429191525,-0.27919984880111276,-0.5464780444205518,0.39770377826635817,0.5060518514123216,-0.21029779839043405,0.9848723482038328,1.2795463011361505,1.5313503926243848,1.5313503926243848,1.6608200000002693,0,0,-7.324755117307647e-05,-9.723978153098329e-05
+98487,1792649366934046948,17907232000000,1792649366928659234,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761010700960852,-0.004444875968522743,0.09004228720825454,0.999999993621944,5.001710283427148e-05,1.187104161727808e-05,3.9450529919018487e-05,0.6761,-0.0045,0.08994217685849813,1.0,0.0,0.0,0.0,-0.3111207317930572,0.23671788742457128,1.3257761392640388,0.019861994333892186,0.022399489968980613,0.0005141395310968257,0.028720074632736556,-0.05053243110078708,1.5634771073518479,0.00481235369206698,-0.001444518952903819,-0.00018660846850842398,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8567123912434693,-0.36543473348264804,-0.6499592299398417,0.4331692369487234,0.5637707526829459,-0.26280310952454167,0.9848723482038328,1.3257761392640388,1.6348315781436744,1.6348315781436744,1.7261300000002828,0,0,-7.91130885565997e-05,9.998172709047565e-05
+98598,1792649367859041230,17908157000000,1792649367856659384,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761048704967393,-0.004449827515914203,0.08997473149487653,0.9999999808558583,0.00016438572634452852,1.6344903827507674e-05,4.9409760519409744e-05,0.6761,-0.0045,0.08986376318567757,1.0,0.0,0.0,0.0,-0.3085431074459636,0.2250037671127993,1.3594237861118166,0.018844626949783293,0.022010829996155223,0.0004655700674665343,0.03129769897983019,-0.06224655141255909,1.5971247541996256,0.003794986307958089,-0.0018331789257292114,-0.0002351779321387154,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8826603497856211,-0.20825051635783456,-0.6394998367885095,0.35791864502166454,0.56908523449731,-0.21284019674623056,0.9848723482038328,1.3594237861118166,1.6243721849923425,1.6243721849923425,1.7908800000002962,0,0,-9.227257987828719e-05,-9.999967107011116e-05
+98711,1792649368801007264,17909099000000,1792649368800658446,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761075839395351,-0.00445677327602482,0.0898865090207617,0.9999999820294071,0.00015156424776558187,2.2119689645136513e-05,6.263424034767146e-05,0.6761,-0.0045,0.08977097293693667,1.0,0.0,0.0,0.0,-0.3087161601463799,0.22607004800027697,1.3895371041954303,0.018827802810130672,0.022404702847891894,0.0004474530491532929,0.031124646279413876,-0.061180270525081404,1.6272380722832394,0.0037781621683054658,-0.001439306073992539,-0.0002532949504519568,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8504950679617334,-0.23951306145238316,-0.6700050784096553,0.3923419334683853,0.5704137694772402,-0.198997047215075,0.9848723482038328,1.3895371041954303,1.654877426613488,1.654877426613488,1.8563300000003098,0,0,-0.00010475755774927287,-9.999965719232335e-05
+98812,1792649369642087967,17909940000000,1792649369640659154,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761129660482035,-0.004453314007239466,0.08980161706218219,0.9999999840895704,0.000135720048963972,2.8040461634274704e-05,6.369869767984516e-05,0.6761,-0.0045,0.08967919872830374,1.0,0.0,0.0,0.0,-0.3001519436241512,0.20808876126687578,1.4192910557588847,0.01786882203497365,0.02169288819249885,0.00040972228260506034,0.039688862801642605,-0.07916155725848259,1.6569920238466938,0.002819181393148444,-0.0021511207293855817,-0.0002910257170001894,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9201750690700985,-0.27526983004716127,-0.7040086749946405,0.4323816560240752,0.6076827685151706,-0.20246958015718716,0.9848723482038328,1.4192910557588847,1.6888810231984732,1.6888810231984732,1.915200000000322,0,0,-0.00011311801545041267,-9.999893554735734e-05
+98915,1792649370501151443,17910799000000,1792649370500658729,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.676113351532836,-0.004462612524991498,0.08970280812708915,0.9999999874900203,0.00010872070919951254,3.0151000293463756e-05,6.110276703564396e-05,0.6761,-0.0045,0.08957808188787102,1.0,0.0,0.0,0.0,-0.29330069490427363,0.21411246985218957,1.4493962430565628,0.01782508920160133,0.021269111752576002,0.00037163618404327986,0.04654011152152014,-0.07313784867316879,1.6870972111443718,0.0027754485597761263,-0.002574897169308433,-0.0003291118155619699,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8947697530977622,-0.33189327054021,-0.7686099278923305,0.455284775933208,0.6433876619090863,-0.23533106883143792,0.9848723482038328,1.4493962430565628,1.7534822760961633,1.7534822760961633,1.9753300000003344,0,0,-0.00012455549638498565,-9.937027175966335e-05
+98995,1792649371167129265,17911465000000,1792649371160658722,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.676118478357237,-0.004459877893854302,0.08962580931560006,0.9999999876270894,0.0001038408770643678,3.513648158957889e-05,6.458471335746215e-05,0.6761,-0.0045,0.089492907586649,1.0,0.0,0.0,0.0,-0.28910710964302766,0.20372067451307938,1.4783222573225214,0.016807288574829528,0.021392544590302612,0.00033875168373145105,0.05073369678276615,-0.083529644012279,1.7160232254103305,0.0017576479330043224,-0.0024514643315818223,-0.0003619963158737987,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9545506740509453,-0.49396471344096066,-0.8886411122085183,0.5035125005369326,0.7352972975120283,-0.34298151834871293,0.9848723482038328,1.4783222573225214,1.8735134604123511,1.8735134604123511,2.021950000000344,0,0,-0.0001318474819919383,7.549847832877816e-05
+99088,1792649371942155398,17912240000000,1792649371936659288,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761218058505689,-0.0044646667117826805,0.08952491007114627,0.999999988236185,9.430894135957587e-05,3.985784124654426e-05,6.699007708137359e-05,0.6761,-0.0045,0.08938733433364865,1.0,0.0,0.0,0.0,-0.28540496625820266,0.1940604369765127,1.489183061042878,0.01682014313410351,0.020425986531082293,0.0003189373412565049,0.05443584016759113,-0.09318988154884565,1.726884029130687,0.0017705024922783045,-0.0034180223908021417,-0.00038181065834874483,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8663310656749631,-0.35313890701759487,-0.8228050998132653,0.47765595869818983,0.661470594073836,-0.24343563101258783,0.9848723482038328,1.489183061042878,1.807677448017098,1.807677448017098,2.0762000000003553,0,0,-0.0001434420112092757,-9.999999025923074e-05
+99181,1792649372717116502,17913015000000,1792649372712658978,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.676121695719817,-0.004461483201103827,0.08941131498238238,0.9999999894374927,8.988044691529426e-05,4.139065761296459e-05,5.2689635023431446e-05,0.6761,-0.0045,0.08927313995705957,1.0,0.0,0.0,0.0,-0.27552489719215834,0.18291615358492153,1.529162079762961,0.01646677244598327,0.01938171495497042,0.0002645106928269898,0.06431590923363545,-0.10433416494043686,1.76686304785077,0.001417131804158062,-0.004462293966914014,-0.00043623730677825993,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8985011532616164,-0.31566918992805093,-0.8826986482789864,0.4831700587008693,0.71014257361889,-0.22020172756596093,0.9848723482038328,1.529162079762961,1.867570996482819,1.867570996482819,2.1304500000003666,0,0,-0.0001475153567590245,-9.9999032691872e-05
+99265,1792649373417162756,17913715000000,1792649373412659174,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761221786285085,-0.0044692399114917795,0.08930251350405587,0.999999989298448,8.927324617623449e-05,4.000116178039302e-05,5.723777527362971e-05,0.6761,-0.0045,0.089166046844028,1.0,0.0,0.0,0.0,-0.26365323512847666,0.17422431639194932,1.5386851301074544,0.014796634491729646,0.019410465699750103,0.00023850277815080294,0.07618757129731714,-0.11302600213340905,1.7763860981952635,-0.00025300615009555974,-0.00443354322213433,-0.0004622452214544468,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9502316975547833,-0.30129981139814177,-0.9968402296993002,0.48215097468362417,0.7956177350313922,-0.20788341848721917,0.9848723482038328,1.5386851301074544,1.981712577903133,1.981712577903133,2.1794500000003767,0,0,-0.00016060922200936278,9.628215866109286e-05
+99349,1792649374117243687,17914415000000,1792649374112659882,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761260757708067,-0.0044804150040409834,0.08919000201175704,0.9999999881153888,9.064357659538429e-05,4.4960920315557516e-05,7.052903185428078e-05,0.6761,-0.0045,0.08904906158684149,1.0,0.0,0.0,0.0,-0.2621119518456394,0.16504027173341485,1.569003904720637,0.014771254951232087,0.019404962573150858,0.00021475456891074907,0.07772885458015437,-0.12221004679194351,1.806704872808446,-0.000278385690593118,-0.004439046348733577,-0.0004859934306945007,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9583604481559931,-0.41838338106392353,-1.0609066047187825,0.5149910048836794,0.8398830860531903,-0.28935512291281645,0.9848723482038328,1.569003904720637,2.0457789529226154,2.0457789529226154,2.228450000000387,0,0,-0.0001737170633078503,9.988676138850678e-05
+99427,1792649374767258628,17915065000000,1792649374764659348,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761242499220602,-0.0044834636832105255,0.08906942048132915,0.9999999882738752,8.791413456606952e-05,3.997967696413044e-05,7.461798998078949e-05,0.6761,-0.0045,0.08893261799997317,1.0,0.0,0.0,0.0,-0.25803948798473875,0.14742817582908976,1.5882500576623941,0.013135862442885348,0.018469109683078563,0.00016686759380311596,0.08180131844105502,-0.1398221426962686,1.8259510257502032,-0.0019137781989398582,-0.005374899238805871,-0.0005338804058021338,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8659401446909486,-0.3961794822411314,-0.9609226955638431,0.5200512363401039,0.7498191563406443,-0.2720942219126078,0.9848723482038328,1.5882500576623941,1.945795043767676,1.945795043767676,2.2739500000003963,0,0,-0.00018582958341148282,-9.95097712827075e-05
+99508,1792649375442276752,17915740000000,1792649375440668546,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761251402402023,-0.004474941456793157,0.08894206332739085,0.999999990096259,7.639216887032186e-05,4.099644411846041e-05,6.110543919907516e-05,0.6761,-0.0045,0.08880487967986404,1.0,0.0,0.0,0.0,-0.258281408464036,0.14177796291664796,1.6184093392727903,0.013381472069325677,0.01840864663140258,0.00014094112027439743,0.08155939796175779,-0.1454723556087104,1.8561103073605993,-0.0016681685724995285,-0.005435362290481853,-0.0005598068793308523,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9291397519168088,-0.4697157677922801,-1.0330564561875035,0.5612549895100853,0.8089965384046062,-0.3212396349896125,0.9848723482038328,1.6184093392727903,2.017928804391336,2.017928804391336,2.321200000000406,0,0,-0.0001932737983781615,-9.984401780205871e-05
+99583,1792649376067272476,17916365000000,1792649376064659289,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761252322257257,-0.004479549164438245,0.08881833213859835,0.9999999898449179,7.861503453957825e-05,3.9495359561502094e-05,6.334683462006794e-05,0.6761,-0.0045,0.08868110008214114,1.0,0.0,0.0,0.0,-0.2529963877907386,0.1473765488064973,1.637989190597546,0.012762027627996608,0.018415040072452656,0.0001214936891915675,0.08684441863505521,-0.13987376971886106,1.8756901586853552,-0.002287613013828598,-0.005428968849431776,-0.0005792543104136822,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9176024010947652,-0.325528670589108,-1.1007855450707258,0.525191706424564,0.8442292044226175,-0.2233660230012234,0.9848723482038328,1.637989190597546,2.0856578932745586,2.0856578932745586,2.364950000000415,0,0,-0.0002048001387408308,7.607310201074852e-05
+99659,1792649376701208185,17916999000000,1792649376700668662,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761249242063522,-0.004484747793415403,0.08868518426501198,0.9999999893688112,8.051110756933613e-05,3.829371266108274e-05,6.896952252678297e-05,0.6761,-0.0045,0.08855020027853165,1.0,0.0,0.0,0.0,-0.2621546275818615,0.12919918777822445,1.6604761593581547,0.012755619993513972,0.018412864333529975,0.00010173946776249421,0.07768617884393234,-0.15805113074713392,1.8981771274459638,-0.0022940206483112345,-0.0054311445883544595,-0.0005990085318427555,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8533304094740826,-0.33893407639483486,-1.0403347642219931,0.5381698497052705,0.7846205126026572,-0.23463522078257257,0.9848723482038328,1.6604761593581547,2.025207112425826,2.025207112425826,2.4093300000004243,0,0,-0.00021143874777004713,-9.999999025923074e-05
+99733,1792649377317321746,17917615000000,1792649377312660524,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761293165397306,-0.00448866308427535,0.08856175922625964,0.9999999883177877,8.458073889432704e-05,4.5513415277551167e-05,7.471222486128583e-05,0.6761,-0.0045,0.08841543691697151,1.0,0.0,0.0,0.0,-0.2589610395106609,0.1330157696701596,1.6730215463538791,0.012750405848788938,0.018545307644141487,9.497158410848208e-05,0.08087976691513286,-0.15423454885519877,1.9107225144416882,-0.002299234793036268,-0.005298701277742946,-0.0006057764154967677,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9115738988364445,-0.3354832987157952,-1.1229531001443909,0.5492965433039722,0.8495188381343197,-0.22977093068241028,0.9848723482038328,1.6730215463538791,2.1078254483482235,2.1078254483482235,2.4524500000004332,0,0,-0.00022785465612493028,-9.805801590013203e-05
+99805,1792649377917346104,17918215000000,1792649377916668708,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761304255510322,-0.004489911053455797,0.08842049779133043,0.9999999881625233,8.328707128044417e-05,4.723442970422354e-05,7.713617864654907e-05,0.6761,-0.0045,0.08827594846598913,1.0,0.0,0.0,0.0,-0.2413787604195029,0.14036051668975658,1.6984771907987701,0.012749220067063279,0.018402403541643637,7.402500313352233e-05,0.0984620460062909,-0.1468898018356018,1.9361781588865792,-0.002300420574761927,-0.005441605380240794,-0.0006267229964717274,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9032686860604614,-0.3681247234587163,-1.1242735604905167,0.5738707071435257,0.8394698002432851,-0.25143437693771964,0.9848723482038328,1.6984771907987701,2.10914590869435,2.10914590869435,2.494450000000442,0,0,-0.00023350877867009257,-8.75056791179773e-05
+99877,1792649378517339819,17918815000000,1792649378512659300,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.676128766199677,-0.004487798861630101,0.08828117488787766,0.9999999868109819,9.710089630874766e-05,4.2782923441315797e-05,8.1005789595246e-05,0.6761,-0.0045,0.08813243857105503,1.0,0.0,0.0,0.0,-0.24478754654171608,0.12113710590161636,1.7081983875424795,0.012772421061524876,0.017389675277317447,5.623512767726998e-05,0.09505325988407771,-0.166113212623742,1.9458993556302886,-0.0022772195803003287,-0.006454333644566988,-0.0006445128719279798,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9043524797953431,-0.4059450712771369,-1.1864903557047302,0.5985308545343798,0.8773370073503338,-0.27501207991465093,0.9848723482038328,1.7081983875424795,2.171362703908563,2.171362703908563,2.5364500000004506,0,0,-0.00024593427394319577,-9.724074061743138e-05
+99940,1792649379042344812,17919340000000,1792649379036669050,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761300659824335,-0.004494164244127101,0.08814681779106888,0.9999999864078246,9.575945528803967e-05,4.4085577958011584e-05,8.668219898518221e-05,0.6761,-0.0045,0.08800177810886049,1.0,0.0,0.0,0.0,-0.24040241283159086,0.1217168684746022,1.7364211455715215,0.01276723947107961,0.01738178688940588,2.7064324531705258e-05,0.09943839359420291,-0.16553345005075618,1.9741221136593305,-0.002282401170745594,-0.006462222032478555,-0.0006736836750735445,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8524651128234813,-0.44897810588858805,-1.160737103629459,0.6198459027871475,0.8443716868875326,-0.30377950560925465,0.9848723482038328,1.7364211455715215,2.145609451833292,2.145609451833292,2.5732000000004582,0,0,-0.0002549199745696936,-9.999943514771843e-05
+100003,1792649379567328019,17919865000000,1792649379564669125,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761292920043603,-0.004495993375470692,0.0880083818074355,0.9999999867975549,9.327023472441816e-05,4.066671070076863e-05,8.657156869306868e-05,0.6761,-0.0045,0.08786615456968515,1.0,0.0,0.0,0.0,-0.24043980759877176,0.11862732518602126,1.7486207610593254,0.012764231232780783,0.01738011423270186,1.7880582507807572e-05,0.09940099882702201,-0.1686229933393371,1.9863217291471345,-0.0022854094090444216,-0.006463894689182574,-0.0006828674170974422,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9109664369525875,-0.3885287762873486,-1.2183250416253768,0.6203633027458912,0.8934368785476945,-0.2610123973422145,0.9848723482038328,1.7486207610593254,2.2031973898292097,2.2031973898292097,2.609950000000466,0,0,-0.00026283073690655377,-9.999999025923074e-05
+100070,1792649380126362275,17920424000000,1792649380124659098,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.676127652483882,-0.0044986287720296045,0.0878550528239151,0.9999999861499203,9.860846534621417e-05,3.486520934980752e-05,9.057489340280905e-05,0.6761,-0.0045,0.08771606247321827,1.0,0.0,0.0,0.0,-0.23022077655077572,0.11037358596428926,1.7776070089444393,0.011765707888027957,0.016383625168094974,-3.1744598387528004e-05,0.10962002987501807,-0.17687673256106912,2.0153079770322484,-0.003283932753797248,-0.007460383753789459,-0.0007324925979927778,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9319496886436517,-0.4062556664824492,-1.3137512265588147,0.6300838647106533,0.9600369399309631,-0.27141511172403954,0.9848723482038328,1.7776070089444393,2.2986235747626473,2.2986235747626473,2.649080000000474,0,0,-0.000271330192887194,9.999999025923074e-05
+100135,1792649380667386742,17920965000000,1792649380660669209,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761290146857707,-0.004498457076123478,0.08771528878432991,0.9999999855504691,0.00010221838516404933,3.7733206362265884e-05,9.20300654547056e-05,0.6761,-0.0045,0.08756659722953473,1.0,0.0,0.0,0.0,-0.2312413996327728,0.12082522318810399,1.7787785047634521,0.012766194802046762,0.016842749037806286,-1.4436178775532947e-05,0.10859940679302098,-0.1664250953372544,2.016479472851261,-0.0022834458397784432,-0.007001259884078146,-0.0007151841783807827,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8193145650963368,-0.37234114236916327,-1.2212595762049332,0.6415923521569235,0.862677737466435,-0.24734158655729885,0.9848723482038328,1.7787785047634521,2.206131924408766,2.206131924408766,2.686950000000482,0,0,-0.00028309783777910456,-9.999999025923074e-05
+100195,1792649381167432185,17921465000000,1792649381164659614,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761309776695483,-0.0044977367900732035,0.08757426614366172,0.9999999851168819,0.00010299774420730149,4.508082054509002e-05,9.256502897810397e-05,0.6761,-0.0045,0.08742186164444345,1.0,0.0,0.0,0.0,-0.2405248114639401,0.12323257779235236,1.782602683667802,0.012756807001956989,0.017372407120022082,-9.563005278154625e-06,0.09931599496185367,-0.164017740733006,2.020303651755611,-0.002292833639868216,-0.006471601801862352,-0.0007103110048834044,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9125770127757881,-0.4803169915340996,-1.321635505716582,0.6777127036039166,0.9452109430993241,-0.31770142980553695,0.9848723482038328,1.782602683667802,2.306507853920415,2.306507853920415,2.721950000000489,0,0,-0.00029706714158236034,6.320847804352147e-05
+100252,1792649381642402891,17921940000000,1792649381640659066,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761300708821827,-0.004503364859495546,0.08743454537160644,0.9999999858723917,9.38430200442865e-05,4.194731626712817e-05,9.556145107255024e-05,0.6761,-0.0045,0.08727734745811686,1.0,0.0,0.0,0.0,-0.2327825034452108,0.11246366516938852,1.788404367480655,0.011736184753323872,0.017390474094303002,-2.4832948833739574e-05,0.107058302980583,-0.17478665335596985,2.026105335568464,-0.0033134558885013336,-0.006453534827581432,-0.0007255809484389893,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8278807281808237,-0.4913987047767759,-1.1778739947240682,0.6985183484573367,0.8309906996420786,-0.324553748000385,0.9848723482038328,1.788404367480655,2.162746342927901,2.162746342927901,2.755200000000496,0,0,-0.0003118377374059219,-9.999996250365512e-05
+100309,1792649382117426182,17922415000000,1792649382112668416,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761277876514605,-0.004511030015041048,0.08728666659809703,0.999999986123713,9.161877964434895e-05,3.962169460342053e-05,9.608100049390902e-05,0.6761,-0.0045,0.08712640712985736,1.0,0.0,0.0,0.0,-0.2315410344551109,0.11148132874456859,1.808468794853239,0.01173168585215013,0.017403853027183946,-4.061869916494824e-05,0.10829977197068288,-0.17576898978078978,2.046169762941048,-0.0033179547896750755,-0.006440155894700486,-0.000741366698770198,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.8982970803942975,-0.40372164042742004,-1.3426076299556335,0.682917044988178,0.9527002362356981,-0.26417358311546957,0.9848723482038328,1.808468794853239,2.3274799781594666,2.3274799781594666,2.788450000000503,0,0,-0.000323184726904351,5.1081981376332325e-06
+100367,1792649382601440181,17922899000000,1792649382596659141,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.676132664424535,-0.004514415811076661,0.08713032151476242,0.9999999841833792,0.00010132767822668045,4.556315161587547e-05,0.00010359925928095683,0.6761,-0.0045,0.08696756582001831,1.0,0.0,0.0,0.0,-0.25261425557712924,0.12169200617752571,1.8183288601025194,0.011684260597009458,0.019380116207527023,-2.0408756742583932e-05,0.08722655084866454,-0.16555831234783266,2.0560298281903284,-0.003365380044815747,-0.00446389271435741,-0.0007211567563478337,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.892812615094127,-0.36319116739965907,-1.330747404156437,0.6749087480621048,0.9391893344094671,-0.23846145261661428,0.9848723482038328,1.8183288601025194,2.31561975236027,2.31561975236027,2.82233000000051,0,0,-0.00033326363505922627,-9.984301860133655e-05
+100423,1792649383067418853,17923365000000,1792649383060659701,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761321839597887,-0.004514364907398377,0.08697654002352533,0.999999984232701,0.00010319623251415742,4.375768565964705e-05,0.0001020454054476192,0.6761,-0.0045,0.0868101389529369,1.0,0.0,0.0,0.0,-0.24914817579889748,0.11223371283873734,1.8284437080117242,0.011701098466505135,0.018396008282990962,-4.34479118097005e-05,0.09069263062689631,-0.17501660568662103,2.0661446760995332,-0.0033485421753200705,-0.005448000638893469,-0.0007441959114149503,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9346630873219995,-0.37827029137648843,-1.3709424280050067,0.6918238904876427,0.9777842962369082,-0.2459460294946514,0.9848723482038328,1.8284437080117242,2.3558147762088395,2.3558147762088395,2.8549500000005166,0,0,-0.0003441554921378442,-5.2920853700300584e-05
+100472,1792649383476398513,17923774000000,1792649383472668803,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761357924094894,-0.004518158384637592,0.0868386304262756,0.9999999847401821,8.93034747044806e-05,5.512296290527555e-05,0.00010463674428672445,0.6761,-0.0045,0.08666716536992228,1.0,0.0,0.0,0.0,-0.25890514396250813,0.11855693731202671,1.837257826279765,0.01170289629798801,0.019400673227943227,-3.598361942300948e-05,0.08093566246328567,-0.16869338121333166,2.074958794367574,-0.003346744343837195,-0.004443335693941206,-0.0007367316190282592,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9371151578180655,-0.5506509658637414,-1.3430434555712172,0.7535524582635975,0.9600084267821032,-0.3613757200918342,0.9848723482038328,1.837257826279765,2.32791580377505,2.32791580377505,2.8835800000005225,0,0,-0.00035633412867194645,-9.999999025923074e-05
+100523,1792649383901461186,17924199000000,1792649383900658992,DOWN_FORCE_DETACH,9,0.0525,0.05250246822834015,0.6761338168047055,-0.004516775058789843,0.08668502789752952,0.9999999859352179,7.915129857688235e-05,4.861150895232305e-05,0.00010461558964154593,0.6761,-0.0045,0.08651277398015085,1.0,0.0,0.0,0.0,-0.24964475614840906,0.11387558875117451,1.86214566052302,0.011677122975269651,0.019031439269392013,-6.149172561969595e-05,0.09019605027738473,-0.17337472977418386,2.099846628610829,-0.003372517666555553,-0.00481256965249242,-0.0007622397252249457,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9011326026481143,-0.4597001145177945,-1.465162707471061,0.7268548477669953,1.0332292280415512,-0.30176496599681896,0.9848723482038328,1.86214566052302,2.4500350556748938,2.4500350556748938,2.9133300000005287,0,0,-0.00037041935309759113,9.875103098989086e-05
+100573,1792649384317469717,17924615000000,1792649384316658866,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761413862655009,-0.004521883632346945,0.08654163631597492,0.9999999851424443,7.266649184089654e-05,6.60254539508475e-05,0.00010732285916239376,0.6761,-0.0045,0.08635565807814746,1.0,0.0,0.0,0.0,-0.2590207312723091,0.11382731737421795,1.8585743853532264,0.01167666507246228,0.0194023726026414,-5.322947558964342e-05,0.08082007515348465,-0.17342300115114043,2.0962753534410354,-0.0033729755693629256,-0.004441636319243034,-0.0007539774751948932,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.981696754806973,-0.49282697391891434,-1.3353978878986754,0.7534802283888304,0.9690715730389493,-0.319780499177557,0.9848723482038328,1.8585743853532264,2.320270236102508,2.320270236102508,2.9424500000005347,0,0,-0.0003852990427641575,-9.999999025923074e-05
+100621,1792649384717458964,17925015000000,1792649384712668797,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761360042362914,-0.004530323502505505,0.08637839920736474,0.9999999858327893,6.108407681462691e-05,5.80284475821081e-05,0.00011259982539890802,0.6761,-0.0045,0.08619836594032469,1.0,0.0,0.0,0.0,-0.2571643807007369,0.11504215566547091,1.8884811550036267,0.011712520758514314,0.01939483014006972,-7.665267240726298e-05,0.08267642572505693,-0.17220816285988746,2.1261821230914357,-0.003337119883310892,-0.00444917878181471,-0.0007774006720125127,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9515175713520972,-0.42762322649991324,-1.4081782458629348,0.7340090151035866,1.0135392846136293,-0.2767317736108187,0.9848723482038328,1.8884811550036267,2.393050594066768,2.393050594066768,2.9704500000005405,0,0,-0.00040058431024644756,-2.3505873662738e-05
+100668,1792649385109505935,17925407000000,1792649385108658825,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.6761274619248484,-0.0045329836702516155,0.08621708979486975,0.9999999845728877,7.19102340180957e-05,4.9446742670955374e-05,0.00012116528595379085,0.6761,-0.0045,0.08603875887988283,1.0,0.0,0.0,0.0,-0.2399832655964207,0.09478498967665097,1.917518407438634,0.010662189254769775,0.018395780681406206,-0.00012582141584673338,0.09985754082937308,-0.1924653288487074,2.155219375526443,-0.00438745138705543,-0.005448228240478228,-0.0008265694154519831,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.9105910203115736,-0.36796854087078323,-1.3897625521984438,0.7242531076084059,1.0015374342457932,-0.23543739873606317,0.9848723482038328,1.917518407438634,2.3746349004022766,2.3746349004022766,2.997890000000546,0,0,-0.0004125507550120907,-9.999999025923074e-05
+100705,1792649385417543629,17925715000000,1792649385412668760,DOWN_FORCE_DETACH,9,0.0525,0.05250181257724762,0.676123036931113,-0.004539224546574552,0.08608626742207302,0.9999999841178787,7.116568924007928e-05,5.0834960870781536e-05,0.00012473314710502976,0.6761,-0.0045,0.08591046805390633,1.0,0.0,0.0,0.0,-0.2400005652483294,0.09260494192365706,1.9183221007302615,0.0106504603205125,0.018396360926291506,-0.00012653908843186866,0.09984024117746439,-0.1946453766017013,2.1560230688180706,-0.004399180321312705,-0.005447647995592927,-0.0008272870880371184,0.3398408064257938,-0.2872503185253584,0.2377009680878091,-0.015049640641825205,-0.023844008921884433,-0.0007007479996052497,1,0.953950218280088,-0.4426781028101538,-1.3517186282032694,0.7461939441975906,0.9905018509273469,-0.28342189690429925,0.9848723482038328,1.9183221007302615,2.336590976407102,2.336590976407102,3.0194500000005506,0,0,-0.00042058550369791634,-9.977303291742174e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8ffd0dd80516df0e0244fd4c4f959732bb33dd80
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fa8f3caa2affd1a09a400df5efcf55ac2865460
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792649341296149811,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.523457356e-09,1.257530666e-09,3.811108873e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017255655e-01,1.771729444e-06,8.297807423e-01
+1,7.833333333e-01,DOWN_FORCE_DETACH,1792649342465650949,-3.944388889e-07,4.650229867e-06,-1.081266612e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.905949773e-07,4.456397325e-08,1.599453224e-07,7.015374770e-01,6.201191189e-06,8.407398599e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259466e-01,1.815035886e-06,8.297808984e-01
+2,1.516666667e+00,DOWN_FORCE_DETACH,1792649343567041548,1.935683378e-06,5.893115955e-06,-5.384743810e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.477210581e-07,7.247338282e-08,2.749872633e-07,7.015398072e-01,7.444077277e-06,8.407355564e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262037e-01,1.842945296e-06,8.297810135e-01
+3,1.933333333e+00,DOWN_FORCE_DETACH,1792649344205239406,4.847161229e-05,7.646010163e-06,1.135292221e-05,5.213681802e-05,8.986761854e-06,2.774410310e-05,5.363117168e-05,8.951664550e-06,2.762697970e-05,7.015863431e-01,9.196971484e-06,8.407522941e-01,7.015900083e-01,1.053772317e-05,8.407686853e-01,7.017791872e-01,1.072213646e-05,8.298083655e-01
+4,2.650000000e+00,DOWN_FORCE_DETACH,1792649345282322332,5.278718717e-05,5.604335609e-06,-2.970283271e-05,5.056975335e-05,1.017230462e-05,-1.240100623e-05,5.231972482e-05,1.013700693e-05,-1.179453037e-05,7.015906587e-01,7.155296930e-06,8.407112384e-01,7.015884412e-01,1.172326594e-05,8.407285402e-01,7.017778757e-01,1.190747884e-05,8.297689439e-01
+5,3.416666667e+00,DOWN_FORCE_DETACH,1792649346432871365,5.759527733e-05,9.969358471e-06,-3.520981818e-05,5.622558068e-05,4.486487617e-06,-3.098233834e-05,5.829980933e-05,4.548583787e-06,-3.010174352e-05,7.015954668e-01,1.152031979e-05,8.407057314e-01,7.015940971e-01,6.037448938e-06,8.407099588e-01,7.017838558e-01,6.319055700e-06,8.297506367e-01
+6,4.116666667e+00,DOWN_FORCE_DETACH,1792649347482376585,6.301616399e-05,1.276851851e-05,-5.505069680e-05,6.255075938e-05,1.627211118e-05,-4.550307536e-05,6.489758311e-05,1.623102796e-05,-4.449779762e-05,7.016008876e-01,1.431947983e-05,8.406858905e-01,7.016004222e-01,1.782307250e-05,8.406954381e-01,7.017904536e-01,1.800149987e-05,8.297362407e-01
+7,4.916666667e+00,DOWN_FORCE_DETACH,1792649348681659257,6.365035937e-05,1.210716693e-05,-9.744502937e-05,6.164352620e-05,1.147451820e-05,-8.952345949e-05,6.405897072e-05,1.150037623e-05,-8.809315352e-05,7.016015218e-01,1.365812825e-05,8.406434962e-01,7.015995150e-01,1.302547952e-05,8.406514177e-01,7.017896150e-01,1.327084814e-05,8.296926453e-01
+8,5.800000000e+00,DOWN_FORCE_DETACH,1792649350002846623,6.487591233e-05,9.944742519e-06,-1.180079346e-04,6.334758794e-05,8.869194945e-06,-1.091965057e-04,6.584362197e-05,8.942868591e-06,-1.078570028e-04,7.016027474e-01,1.149570384e-05,8.406229333e-01,7.016012191e-01,1.042015627e-05,8.406317447e-01,7.017913996e-01,1.071334050e-05,8.296728815e-01
+9,6.516666667e+00,DOWN_FORCE_DETACH,1792649351083066771,7.055679423e-05,9.591692364e-06,-1.386821848e-04,6.432810335e-05,1.095139038e-05,-1.298274769e-04,6.685184042e-05,1.102145642e-05,-1.284466160e-04,7.016084283e-01,1.114265369e-05,8.406022590e-01,7.016021996e-01,1.250235170e-05,8.406111137e-01,7.017924079e-01,1.279192833e-05,8.296522919e-01
+10,7.183333333e+00,DOWN_FORCE_DETACH,1792649352082503298,7.082666234e-05,5.785335852e-06,-1.721450962e-04,6.826000346e-05,9.641441856e-06,-1.529489710e-04,7.085665057e-05,9.741831590e-06,-1.515430031e-04,7.016086981e-01,7.336297173e-06,8.405687961e-01,7.016061315e-01,1.119240318e-05,8.405879922e-01,7.017964127e-01,1.151230350e-05,8.296291955e-01
+11,7.933333333e+00,DOWN_FORCE_DETACH,1792649353201274774,8.292592460e-05,6.772811787e-06,-1.958839507e-04,7.661024142e-05,8.922669585e-06,-1.942990599e-04,7.928629649e-05,9.030257245e-06,-1.927192856e-04,7.016207974e-01,8.323773108e-06,8.405450572e-01,7.016144817e-01,1.047363091e-05,8.405466421e-01,7.018048423e-01,1.080072916e-05,8.295880192e-01
+12,8.550000000e+00,DOWN_FORCE_DETACH,1792649354134587477,1.037693393e-04,7.023255505e-06,-2.167157867e-04,1.001730981e-04,1.193579758e-05,-2.099301975e-04,1.033356960e-04,1.202444256e-05,-2.084921188e-04,7.016416408e-01,8.574216826e-06,8.405242254e-01,7.016380446e-01,1.348675890e-05,8.405310110e-01,7.018288917e-01,1.379491448e-05,8.295722464e-01
+13,9.283333333e+00,DOWN_FORCE_DETACH,1792649355232983623,1.047908342e-04,1.061464396e-05,-2.583376512e-04,1.049170781e-04,5.019456972e-06,-2.480179970e-04,1.081821943e-04,5.203839304e-06,-2.464705653e-04,7.016426623e-01,1.216560528e-05,8.404826035e-01,7.016427886e-01,6.570418293e-06,8.404929232e-01,7.018337382e-01,6.974311217e-06,8.295342679e-01
+14,1.000000000e+01,DOWN_FORCE_DETACH,1792649356301393798,1.094596687e-04,5.495054794e-06,-2.885359430e-04,1.074392859e-04,6.466921319e-06,-2.893956858e-04,1.107140132e-04,6.657625526e-06,-2.876888326e-04,7.016473312e-01,7.046016115e-06,8.404524052e-01,7.016453108e-01,8.017882640e-06,8.404515455e-01,7.018362700e-01,8.428097439e-06,8.294930496e-01
+15,1.070000000e+01,DOWN_FORCE_DETACH,1792649357364494209,1.101905852e-04,3.059901022e-06,-3.239918066e-04,1.071644954e-04,1.456419734e-06,-3.125980137e-04,1.104781762e-04,1.727432963e-06,-3.111043256e-04,7.016480621e-01,4.610862343e-06,8.404169494e-01,7.016450360e-01,3.007381055e-06,8.404283432e-01,7.018360342e-01,3.497904876e-06,8.294696342e-01
+16,1.135000000e+01,DOWN_FORCE_DETACH,1792649358332849587,1.110432615e-04,-1.368144644e-06,-3.612645636e-04,1.110080963e-04,1.788969938e-06,-3.547452196e-04,1.143144046e-04,2.037074249e-06,-3.531337304e-04,7.016489147e-01,1.828166770e-07,8.403796766e-01,7.016488796e-01,3.339931260e-06,8.403861960e-01,7.018398704e-01,3.807546162e-06,8.294276047e-01
+17,1.200000000e+01,DOWN_FORCE_DETACH,1792649359303941492,1.158612508e-04,1.209986884e-06,-3.945331017e-04,1.134237068e-04,3.747756044e-07,-3.941557273e-04,1.166843662e-04,6.840870302e-07,-3.924572588e-04,7.016537327e-01,2.760948205e-06,8.403464081e-01,7.016512952e-01,1.925736926e-06,8.403467855e-01,7.018422404e-01,2.454558943e-06,8.293882812e-01
+18,1.258333333e+01,DOWN_FORCE_DETACH,1792649360182700120,1.252697918e-04,1.534688998e-05,-4.375799197e-04,1.194325432e-04,1.558159780e-05,-4.210837894e-04,1.227532266e-04,1.574700633e-05,-4.194207131e-04,7.016631413e-01,1.689785130e-05,8.403033613e-01,7.016573040e-01,1.713255913e-05,8.403198574e-01,7.018483092e-01,1.751747824e-05,8.293613178e-01
+19,1.316666667e+01,DOWN_FORCE_DETACH,1792649361063514042,1.273183301e-04,1.316152671e-05,-4.902718589e-04,1.251447888e-04,1.783695447e-05,-4.846338540e-04,1.283492098e-04,1.800571179e-05,-4.826710399e-04,7.016651898e-01,1.471248803e-05,8.402506693e-01,7.016630163e-01,1.938791579e-05,8.402563073e-01,7.018539052e-01,1.977618371e-05,8.292980674e-01
+20,1.380000000e+01,DOWN_FORCE_DETACH,1792649362033581397,1.270688622e-04,9.714092878e-06,-5.400218961e-04,1.255690339e-04,1.225231218e-05,-5.290043427e-04,1.287267071e-04,1.245088558e-05,-5.269628719e-04,7.016649403e-01,1.126505420e-05,8.402009193e-01,7.016634405e-01,1.380327350e-05,8.402119368e-01,7.018542827e-01,1.422135749e-05,8.292537756e-01
+21,1.445000000e+01,DOWN_FORCE_DETACH,1792649363005204955,1.255275983e-04,1.375741558e-05,-5.834902216e-04,1.269159278e-04,1.073678891e-05,-5.706273485e-04,1.299941306e-04,1.098183039e-05,-5.686793788e-04,7.016633991e-01,1.530837690e-05,8.401574510e-01,7.016647874e-01,1.228775023e-05,8.401703138e-01,7.018555501e-01,1.275230230e-05,8.292120591e-01
+22,1.523333333e+01,DOWN_FORCE_DETACH,1792649364171517268,1.317389272e-04,1.682117006e-05,-6.303826936e-04,1.278931208e-04,1.315009628e-05,-6.313363803e-04,1.308588229e-04,1.334729645e-05,-6.293068538e-04,7.016696104e-01,1.837213138e-05,8.401105585e-01,7.016657646e-01,1.470105760e-05,8.401096048e-01,7.018564148e-01,1.511776836e-05,8.291514316e-01
+23,1.578333333e+01,DOWN_FORCE_DETACH,1792649365002385588,1.361813665e-04,2.451518700e-05,-6.779688556e-04,1.366830407e-04,2.895830931e-05,-6.708958542e-04,1.396281356e-04,2.897862252e-05,-6.688656097e-04,7.016740528e-01,2.606614832e-05,8.400629723e-01,7.016745545e-01,3.050927063e-05,8.400700453e-01,7.018651842e-01,3.074909443e-05,8.291118729e-01
+24,1.645000000e+01,DOWN_FORCE_DETACH,1792649366001806887,1.418364324e-04,2.029969038e-05,-7.365901154e-04,1.395592572e-04,1.851888017e-05,-7.337425774e-04,1.423586988e-04,1.862362203e-05,-7.315188982e-04,7.016797079e-01,2.185065170e-05,8.400043511e-01,7.016774307e-01,2.006984149e-05,8.400071986e-01,7.018679147e-01,2.039409395e-05,8.290492196e-01
+25,1.706666667e+01,DOWN_FORCE_DETACH,1792649366931792076,1.443672296e-04,1.264198210e-05,-8.021921716e-04,1.441846243e-04,1.254377661e-05,-8.022472480e-04,1.468164938e-04,1.270067065e-05,-7.996384415e-04,7.016822387e-01,1.419294342e-05,8.399387490e-01,7.016820561e-01,1.409473793e-05,8.399386939e-01,7.018723725e-01,1.447114257e-05,8.289811000e-01
+26,1.768333333e+01,DOWN_FORCE_DETACH,1792649367859441029,1.473933127e-04,1.244070850e-05,-8.721681241e-04,1.442084542e-04,1.129550973e-05,-8.655253842e-04,1.466628006e-04,1.145728256e-05,-8.626964478e-04,7.016852648e-01,1.399166982e-05,8.398687731e-01,7.016820799e-01,1.284647105e-05,8.398754158e-01,7.018722188e-01,1.322775447e-05,8.289180420e-01
+27,1.830000000e+01,DOWN_FORCE_DETACH,1792649368799773805,1.503944867e-04,7.533127159e-06,-9.605831007e-04,1.497588051e-04,5.454597262e-06,-9.464899351e-04,1.520220537e-04,5.660524398e-06,-9.432986955e-04,7.016882660e-01,9.084088480e-06,8.397803581e-01,7.016876303e-01,7.005558583e-06,8.397944513e-01,7.018775781e-01,7.430996311e-06,8.288374398e-01
+28,1.886666667e+01,DOWN_FORCE_DETACH,1792649369639671577,1.546642930e-04,6.232570631e-06,-1.044031825e-03,1.538583470e-04,6.113079797e-06,-1.037958556e-03,1.559172579e-04,6.240877657e-06,-1.034154964e-03,7.016925358e-01,7.783531952e-06,8.396969094e-01,7.016917298e-01,7.664041118e-06,8.397029826e-01,7.018814733e-01,8.011349571e-06,8.287465835e-01
+29,1.943333333e+01,DOWN_FORCE_DETACH,1792649370501980628,1.577996368e-04,-1.193470717e-06,-1.140361207e-03,1.555922853e-04,3.996084262e-06,-1.127528686e-03,1.574521755e-04,4.138306471e-06,-1.123368388e-03,7.016956711e-01,3.574906036e-07,8.396005800e-01,7.016934638e-01,5.547045583e-06,8.396134125e-01,7.018830082e-01,5.908778384e-06,8.286573701e-01
+30,1.988333333e+01,DOWN_FORCE_DETACH,1792649371169860462,1.613883174e-04,-2.961371541e-06,-1.220131132e-03,1.575547083e-04,-2.560633828e-07,-1.219306341e-03,1.590964089e-04,-1.431570145e-07,-1.214703791e-03,7.016992598e-01,-1.410410220e-06,8.395208101e-01,7.016954262e-01,1.294897938e-06,8.395216348e-01,7.018846524e-01,1.627314899e-06,8.285660347e-01
+31,2.040000000e+01,DOWN_FORCE_DETACH,1792649371939685074,1.632649573e-04,-3.384897833e-06,-1.323099146e-03,1.622031556e-04,-2.053421754e-06,-1.311069568e-03,1.634723739e-04,-1.916495452e-06,-1.306376144e-03,7.017011364e-01,-1.833936512e-06,8.394178420e-01,7.017000746e-01,-5.024604330e-07,8.394298716e-01,7.018890284e-01,-1.460235392e-07,8.284743623e-01
+32,2.088333333e+01,DOWN_FORCE_DETACH,1792649372720079857,1.648168117e-04,1.030738423e-06,-1.434989894e-03,1.638390891e-04,-5.433141420e-06,-1.421753473e-03,1.647588225e-04,-5.273401637e-06,-1.416729374e-03,7.017026883e-01,2.581699744e-06,8.393059513e-01,7.017017106e-01,-3.882180099e-06,8.393191877e-01,7.018903148e-01,-3.502929724e-06,8.283640091e-01
+33,2.135000000e+01,DOWN_FORCE_DETACH,1792649373420169224,1.646700768e-04,-6.829711768e-06,-1.544168388e-03,1.647889396e-04,-1.058769984e-05,-1.532142816e-03,1.652764539e-04,-1.038270846e-05,-1.526961244e-03,7.017025416e-01,-5.278750447e-06,8.391967728e-01,7.017026604e-01,-9.036738518e-06,8.392087984e-01,7.018908325e-01,-8.612236548e-06,8.282537772e-01
+34,2.181666667e+01,DOWN_FORCE_DETACH,1792649374121526089,1.678468776e-04,-1.680127292e-05,-1.659390323e-03,1.673782416e-04,-1.500521482e-05,-1.646340129e-03,1.674458061e-04,-1.478576244e-05,-1.640861685e-03,7.017057184e-01,-1.525031160e-05,8.390815509e-01,7.017052497e-01,-1.345425350e-05,8.390946011e-01,7.018930018e-01,-1.301529053e-05,8.281398768e-01
+35,2.225000000e+01,DOWN_FORCE_DETACH,1792649374770001983,1.654545318e-04,-2.013068000e-05,-1.783242884e-03,1.653999893e-04,-2.015991618e-05,-1.782924152e-03,1.648836685e-04,-1.982956968e-05,-1.776643269e-03,7.017033260e-01,-1.857971868e-05,8.389576983e-01,7.017032715e-01,-1.860895486e-05,8.389580170e-01,7.018904397e-01,-1.805909777e-05,8.280040952e-01
+36,2.270000000e+01,DOWN_FORCE_DETACH,1792649375440833543,1.656300262e-04,-1.402160447e-05,-1.904706955e-03,1.669190011e-04,-1.711995337e-05,-1.897245414e-03,1.660283608e-04,-1.685839353e-05,-1.890761748e-03,7.017035015e-01,-1.247064315e-05,8.388362342e-01,7.017047905e-01,-1.556899204e-05,8.388436958e-01,7.018915844e-01,-1.508792162e-05,8.278899767e-01
+37,2.311666667e+01,DOWN_FORCE_DETACH,1792649376071133147,1.673431434e-04,-1.965687451e-05,-2.029777385e-03,1.679283121e-04,-2.168702027e-05,-2.014551383e-03,1.666127779e-04,-2.130983199e-05,-2.007813423e-03,7.017052146e-01,-1.810591319e-05,8.387111638e-01,7.017057998e-01,-2.013605895e-05,8.387263898e-01,7.018921688e-01,-1.953936008e-05,8.277729251e-01
+38,2.353333333e+01,DOWN_FORCE_DETACH,1792649376700085669,1.678368099e-04,-2.396235586e-05,-2.158278824e-03,1.677297313e-04,-2.387270194e-05,-2.158342049e-03,1.659014950e-04,-2.340417555e-05,-2.151002416e-03,7.017057083e-01,-2.241139454e-05,8.385826624e-01,7.017056012e-01,-2.232174062e-05,8.385825991e-01,7.018914575e-01,-2.163370364e-05,8.276297361e-01
+39,2.395000000e+01,DOWN_FORCE_DETACH,1792649377320484342,1.748784797e-04,-2.363309540e-05,-2.282704209e-03,1.696741114e-04,-2.372491520e-05,-2.280115350e-03,1.674274535e-04,-2.317485871e-05,-2.272729440e-03,7.017127500e-01,-2.208213408e-05,8.384582370e-01,7.017075456e-01,-2.217395388e-05,8.384608258e-01,7.018929835e-01,-2.140438679e-05,8.275080090e-01
+40,2.435000000e+01,DOWN_FORCE_DETACH,1792649377920439818,1.711685409e-04,-2.644464004e-05,-2.430225690e-03,1.708585497e-04,-2.647074024e-05,-2.430339703e-03,1.680750125e-04,-2.585159611e-05,-2.422429119e-03,7.017090400e-01,-2.489367871e-05,8.383107155e-01,7.017087300e-01,-2.491977892e-05,8.383106015e-01,7.018936310e-01,-2.408112420e-05,8.273583094e-01
+41,2.475000000e+01,DOWN_FORCE_DETACH,1792649378520351025,1.733932300e-04,-2.613803666e-05,-2.561062250e-03,1.706474390e-04,-2.687963792e-05,-2.554686852e-03,1.673277633e-04,-2.625165014e-05,-2.546699892e-03,7.017112647e-01,-2.458707534e-05,8.381798789e-01,7.017085189e-01,-2.532867660e-05,8.381862543e-01,7.018928838e-01,-2.448117823e-05,8.272340386e-01
+42,2.510000000e+01,DOWN_FORCE_DETACH,1792649379040314139,1.711501644e-04,-2.976861611e-05,-2.700546014e-03,1.698466827e-04,-3.173712303e-05,-2.692933542e-03,1.660589289e-04,-3.107119102e-05,-2.684490871e-03,7.017090216e-01,-2.821765479e-05,8.380403952e-01,7.017077182e-01,-3.018616171e-05,8.380480076e-01,7.018916149e-01,-2.930071911e-05,8.270962476e-01
+43,2.545000000e+01,DOWN_FORCE_DETACH,1792649379570924484,1.703765137e-04,-3.118485886e-05,-2.840522575e-03,1.693767164e-04,-3.376383389e-05,-2.832430153e-03,1.650575163e-04,-3.317387127e-05,-2.823511346e-03,7.017082480e-01,-2.963389754e-05,8.379004186e-01,7.017072482e-01,-3.221287257e-05,8.379085110e-01,7.018906135e-01,-3.140339935e-05,8.269572271e-01
+44,2.581666667e+01,DOWN_FORCE_DETACH,1792649380126906219,1.689127381e-04,-3.369131097e-05,-2.993894460e-03,1.673224922e-04,-3.519840033e-05,-2.974855645e-03,1.624487278e-04,-3.470280248e-05,-2.965526150e-03,7.017067842e-01,-3.214034965e-05,8.377470467e-01,7.017051940e-01,-3.364743901e-05,8.377660855e-01,7.018880047e-01,-3.293233057e-05,8.268152123e-01
+45,2.618333333e+01,DOWN_FORCE_DETACH,1792649380670278489,1.715061341e-04,-3.604687640e-05,-3.131393107e-03,1.703008454e-04,-3.296682519e-05,-3.115765658e-03,1.650790743e-04,-3.251237033e-05,-3.106280354e-03,7.017093776e-01,-3.449591508e-05,8.376095481e-01,7.017081723e-01,-3.141586387e-05,8.376251755e-01,7.018906351e-01,-3.074189841e-05,8.266744581e-01
+46,2.651666667e+01,DOWN_FORCE_DETACH,1792649381170349727,1.733409985e-04,-4.250265561e-05,-3.272240231e-03,1.754781637e-04,-4.148574079e-05,-3.256189933e-03,1.697914140e-04,-4.082640010e-05,-3.246606223e-03,7.017112125e-01,-4.095169429e-05,8.374687010e-01,7.017133496e-01,-3.993477947e-05,8.374847513e-01,7.018953474e-01,-3.905592819e-05,8.265341323e-01
+47,2.683333333e+01,DOWN_FORCE_DETACH,1792649381641582703,1.725623305e-04,-4.095465977e-05,-3.412136520e-03,1.692378006e-04,-4.607862567e-05,-3.394100742e-03,1.630320462e-04,-4.536680247e-05,-3.384339720e-03,7.017104338e-01,-3.940369845e-05,8.373288047e-01,7.017071093e-01,-4.452766435e-05,8.373468404e-01,7.018885881e-01,-4.359633055e-05,8.263963988e-01
+48,2.715000000e+01,DOWN_FORCE_DETACH,1792649382121332063,1.702790998e-04,-4.861981532e-05,-3.560015294e-03,1.715856070e-04,-4.351214779e-05,-3.554813255e-03,1.649141367e-04,-4.290539195e-05,-3.544553589e-03,7.017081506e-01,-4.706885400e-05,8.371809259e-01,7.017094571e-01,-4.196118647e-05,8.371861279e-01,7.018904702e-01,-4.113492004e-05,8.262361849e-01
+49,2.746666667e+01,DOWN_FORCE_DETACH,1792649382600381086,1.758855125e-04,-4.718850189e-05,-3.716376523e-03,1.757932444e-04,-4.723384022e-05,-3.715695382e-03,1.687374301e-04,-4.659641878e-05,-3.704931119e-03,7.017137570e-01,-4.563754057e-05,8.370245647e-01,7.017136647e-01,-4.568287890e-05,8.370252458e-01,7.018942934e-01,-4.482594687e-05,8.260758074e-01
+50,2.778333333e+01,DOWN_FORCE_DETACH,1792649383070950593,1.743640115e-04,-5.356779000e-05,-3.873504880e-03,1.743313308e-04,-5.360354208e-05,-3.873323524e-03,1.667693285e-04,-5.283272261e-05,-3.862203979e-03,7.017122355e-01,-5.201682868e-05,8.368674363e-01,7.017122028e-01,-5.205258076e-05,8.368676177e-01,7.018923253e-01,-5.106225069e-05,8.259185345e-01
+51,2.805000000e+01,DOWN_FORCE_DETACH,1792649383472171724,1.780152326e-04,-5.401798227e-05,-4.006779775e-03,1.781003302e-04,-5.755504748e-05,-3.989181767e-03,1.702482231e-04,-5.672840720e-05,-3.978213532e-03,7.017158867e-01,-5.246702095e-05,8.367341614e-01,7.017159718e-01,-5.600408616e-05,8.367517594e-01,7.018958042e-01,-5.495793529e-05,8.258025249e-01
+52,2.833333333e+01,DOWN_FORCE_DETACH,1792649383901253800,1.778097457e-04,-5.733917528e-05,-4.160609987e-03,1.755323279e-04,-5.632774827e-05,-4.142459811e-03,1.672091518e-04,-5.547671469e-05,-4.131263102e-03,7.017156812e-01,-5.578821396e-05,8.365803312e-01,7.017134038e-01,-5.477678695e-05,8.365984814e-01,7.018927652e-01,-5.370624277e-05,8.256494754e-01
+53,2.861666667e+01,DOWN_FORCE_DETACH,1792649384320264679,1.804458353e-04,-5.915104188e-05,-4.315808717e-03,1.803648886e-04,-5.950974413e-05,-4.315921159e-03,1.715041785e-04,-5.865456722e-05,-4.304098866e-03,7.017183173e-01,-5.760008056e-05,8.364251325e-01,7.017182364e-01,-5.795878281e-05,8.364250200e-01,7.018970602e-01,-5.688409531e-05,8.254766396e-01
+54,2.888333333e+01,DOWN_FORCE_DETACH,1792649384719887892,1.802148034e-04,-6.357549321e-05,-4.462843514e-03,1.788757171e-04,-6.634017266e-05,-4.460368385e-03,1.694281272e-04,-6.541321554e-05,-4.448348862e-03,7.017180863e-01,-6.202453189e-05,8.362780977e-01,7.017167472e-01,-6.478921134e-05,8.362805728e-01,7.018949841e-01,-6.364274363e-05,8.253323896e-01
+55,2.913333333e+01,DOWN_FORCE_DETACH,1792649385103221303,1.694478553e-04,-7.112716952e-05,-4.626054585e-03,1.679276698e-04,-7.164849348e-05,-4.619169992e-03,1.577544572e-04,-7.073480807e-05,-4.606657115e-03,7.017073193e-01,-6.957620820e-05,8.361148866e-01,7.017057992e-01,-7.009753216e-05,8.361217712e-01,7.018833105e-01,-6.896433615e-05,8.251740814e-01
+56,2.935000000e+01,DOWN_FORCE_DETACH,1792649385419867070,1.627041146e-04,-7.402262251e-05,-4.767863696e-03,1.653265157e-04,-7.238530089e-05,-4.753124834e-03,1.545745526e-04,-7.149659951e-05,-4.740271324e-03,7.017005756e-01,-7.247166119e-05,8.359730775e-01,7.017031980e-01,-7.083433957e-05,8.359878164e-01,7.018801306e-01,-6.972612759e-05,8.250404672e-01
+57,2.956666667e+01,DOWN_FORCE_DETACH,1792649385741741472,1.899616426e-04,-7.400702274e-05,-4.877411085e-03,1.896086082e-04,-7.416194813e-05,-4.876939936e-03,1.787429771e-04,-7.322645819e-05,-4.863966933e-03,7.017278331e-01,-7.245606142e-05,8.358635301e-01,7.017274801e-01,-7.261098681e-05,8.358640013e-01,7.019042990e-01,-7.145598628e-05,8.249167715e-01
+58,2.981666667e+01,DOWN_SETTLE,1792649386120810933,1.905240216e-04,-8.104508212e-05,-5.034602762e-03,1.903759464e-04,-8.030486383e-05,-5.017439233e-03,1.790889954e-04,-7.928507087e-05,-5.004658125e-03,7.017283955e-01,-7.949412080e-05,8.357063384e-01,7.017282474e-01,-7.875390251e-05,8.357235020e-01,7.019046450e-01,-7.751459896e-05,8.247760804e-01
+59,3.035000000e+01,DOWN_PEAK_HOLD,1792649386924163019,1.752874773e-04,-6.761299931e-05,-5.109839338e-03,1.777472420e-04,-6.925548174e-05,-5.106174942e-03,1.659527935e-04,-6.830385248e-05,-5.095945635e-03,7.017131590e-01,-6.606203799e-05,8.356311018e-01,7.017156187e-01,-6.770452041e-05,8.356347662e-01,7.018915088e-01,-6.653338057e-05,8.246847928e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5a52ad241fe6d13f06f0a7777d0c5daab154ded9
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-6.8783e-03,1.7451e-04,2.4572e+00,-3.6788e-02,3.6339e-02,-9.6161e-06,3.1479e-05,2.9286e-05,2.3842e-06,-1.9036e-06,1.9185e-06,-1.1243e-07,4.3061e-05,2.7050e-06
+1,7.8333e-01,DOWN_FORCE_DETACH,1.6480e-04,-1.0181e-03,1.0538e-03,2.4593e+00,-3.6849e-02,3.6713e-02,-1.3860e-05,5.8917e-03,9.0853e-04,2.0735e-03,-6.3270e-05,3.7623e-04,-4.3565e-06,6.3117e-03,3.8154e-04
+2,1.5167e+00,DOWN_FORCE_DETACH,3.2267e-04,1.7202e-02,1.9147e-03,2.4673e+00,-3.6932e-02,3.7900e-02,-2.3098e-05,2.4112e-02,1.7694e-03,1.0088e-02,-1.4577e-04,1.5635e-03,-1.3594e-05,2.6197e-02,1.5703e-03
+3,1.9333e+00,DOWN_FORCE_DETACH,4.8946e-04,2.1811e-02,3.4895e-03,2.4706e+00,-3.7129e-02,3.8352e-02,-4.1471e-05,2.8721e-02,3.3443e-03,1.3348e-02,-3.4285e-04,2.0152e-03,-3.1968e-05,3.1847e-02,2.0444e-03
+4,2.6500e+00,DOWN_FORCE_DETACH,6.5473e-04,1.3769e-02,9.2266e-04,2.4727e+00,-3.6963e-02,3.7822e-02,-4.2374e-05,2.0679e-02,7.7744e-04,1.5429e-02,-1.7722e-04,1.4858e-03,-3.2871e-05,2.5812e-02,1.4966e-03
+5,3.4167e+00,DOWN_FORCE_DETACH,8.1511e-04,1.7506e-02,1.6586e-03,2.4963e+00,-3.7015e-02,3.8025e-02,-4.0227e-05,2.4415e-02,1.5133e-03,3.9090e-02,-2.2933e-04,1.6883e-03,-3.0723e-05,4.6113e-02,1.7040e-03
+6,4.1167e+00,DOWN_FORCE_DETACH,9.7942e-04,2.0703e-02,1.0722e-05,2.4957e+00,-3.6911e-02,3.8225e-02,-3.8807e-05,2.7613e-02,-1.3451e-04,3.8491e-02,-1.2552e-04,1.8887e-03,-2.9303e-05,4.7371e-02,1.8931e-03
+7,4.9167e+00,DOWN_FORCE_DETACH,1.1440e-03,2.9782e-02,-2.5875e-03,2.5128e+00,-3.6746e-02,3.8801e-02,-3.2898e-05,3.6692e-02,-2.7327e-03,5.5510e-02,3.9577e-05,2.4643e-03,-2.3394e-05,6.6596e-02,2.4647e-03
+8,5.8000e+00,DOWN_FORCE_DETACH,1.3079e-03,3.4050e-02,-1.3833e-03,2.5156e+00,-3.6822e-02,3.9080e-02,-2.9419e-05,4.0960e-02,-1.5285e-03,5.8368e-02,-3.6467e-05,2.7430e-03,-1.9915e-05,7.1323e-02,2.7433e-03
+9,6.5167e+00,DOWN_FORCE_DETACH,1.4686e-03,3.7790e-02,-7.1163e-04,2.5160e+00,-3.6861e-02,3.9326e-02,-2.5998e-05,4.4699e-02,-8.5685e-04,5.8794e-02,-7.5530e-05,2.9896e-03,-1.6494e-05,7.3862e-02,2.9906e-03
+10,7.1833e+00,DOWN_FORCE_DETACH,1.6353e-03,4.0447e-02,2.2191e-04,2.5172e+00,-3.6914e-02,3.9504e-02,-2.2416e-05,4.7357e-02,7.6684e-05,5.9980e-02,-1.2774e-04,3.1671e-03,-1.2913e-05,7.6422e-02,3.1697e-03
+11,7.9333e+00,DOWN_FORCE_DETACH,1.7956e-03,4.2132e-02,1.2888e-03,2.5201e+00,-3.6966e-02,3.9619e-02,-1.7982e-05,4.9041e-02,1.1435e-03,6.2883e-02,-1.8063e-04,3.2819e-03,-8.4778e-06,7.9754e-02,3.2869e-03
+12,8.5500e+00,DOWN_FORCE_DETACH,1.9591e-03,3.8943e-02,2.6799e-03,2.5190e+00,-3.7036e-02,3.9416e-02,-1.4214e-05,4.5853e-02,2.5347e-03,6.1718e-02,-2.5057e-04,3.0794e-03,-4.7105e-06,7.6929e-02,3.0896e-03
+13,9.2833e+00,DOWN_FORCE_DETACH,2.1218e-03,3.8502e-02,5.5829e-03,2.5201e+00,-3.7193e-02,3.9390e-02,-9.4302e-06,4.5411e-02,5.4377e-03,6.2818e-02,-4.0761e-04,3.0530e-03,7.3531e-08,7.7703e-02,3.0801e-03
+14,1.0000e+01,DOWN_FORCE_DETACH,2.2862e-03,4.0850e-02,7.9985e-03,2.5200e+00,-3.7313e-02,3.9545e-02,-4.8171e-06,4.7760e-02,7.8532e-03,6.2781e-02,-5.2739e-04,3.2079e-03,4.6865e-06,7.9273e-02,3.2510e-03
+15,1.0700e+01,DOWN_FORCE_DETACH,2.4498e-03,4.4265e-02,1.0198e-02,2.5210e+00,-3.7416e-02,3.9771e-02,-7.2835e-07,5.1175e-02,1.0053e-02,6.3744e-02,-6.3008e-04,3.4345e-03,8.7753e-06,8.2361e-02,3.4918e-03
+16,1.1350e+01,DOWN_FORCE_DETACH,2.6130e-03,4.7116e-02,1.2084e-02,2.5212e+00,-3.7498e-02,3.9964e-02,2.6285e-06,5.4025e-02,1.1938e-02,6.3924e-02,-7.1260e-04,3.6273e-03,1.2132e-05,8.4543e-02,3.6967e-03
+17,1.2000e+01,DOWN_FORCE_DETACH,2.7645e-03,4.9579e-02,1.3561e-02,2.5228e+00,-3.7557e-02,4.0133e-02,5.1165e-06,5.6489e-02,1.3416e-02,6.5511e-02,-7.7147e-04,3.7967e-03,1.4620e-05,8.7536e-02,3.8743e-03
+18,1.2583e+01,DOWN_FORCE_DETACH,2.9407e-03,4.9323e-02,9.0018e-03,2.5254e+00,-3.7233e-02,4.0126e-02,5.8232e-06,5.6232e-02,8.8566e-03,6.8147e-02,-4.4695e-04,3.7891e-03,1.5327e-05,8.8795e-02,3.8154e-03
+19,1.3167e+01,DOWN_FORCE_DETACH,3.1043e-03,4.9784e-02,7.7356e-03,2.5298e+00,-3.7126e-02,4.0163e-02,6.1243e-06,5.6693e-02,7.5904e-03,7.2609e-02,-3.4012e-04,3.8267e-03,1.5628e-05,9.2433e-02,3.8418e-03
+20,1.3800e+01,DOWN_FORCE_DETACH,3.2670e-03,5.1033e-02,7.0547e-03,2.5348e+00,-3.7067e-02,4.0252e-02,5.8266e-06,5.7943e-02,6.9095e-03,7.7591e-02,-2.8078e-04,3.9150e-03,1.5330e-05,9.7085e-02,3.9251e-03
+21,1.4450e+01,DOWN_FORCE_DETACH,3.4288e-03,5.2743e-02,5.4371e-03,2.5377e+00,-3.6960e-02,4.0370e-02,4.8538e-06,5.9653e-02,5.2919e-03,8.0456e-02,-1.7422e-04,4.0333e-03,1.4358e-05,1.0030e-01,4.0371e-03
+22,1.5233e+01,DOWN_FORCE_DETACH,3.5883e-03,5.5117e-02,2.1145e-03,2.5387e+00,-3.6760e-02,4.0534e-02,2.9522e-06,6.2027e-02,1.9692e-03,8.1418e-02,2.5492e-05,4.1968e-03,1.2456e-05,1.0237e-01,4.1969e-03
+23,1.5783e+01,DOWN_FORCE_DETACH,3.7535e-03,5.5634e-02,-8.9411e-04,2.5386e+00,-3.6585e-02,4.0574e-02,1.3530e-06,6.2543e-02,-1.0393e-03,8.1396e-02,2.0105e-04,4.2370e-03,1.0857e-05,1.0266e-01,4.2417e-03
+24,1.6450e+01,DOWN_FORCE_DETACH,3.9166e-03,5.4711e-02,-4.8514e-03,2.5406e+00,-3.6359e-02,4.0521e-02,-6.6904e-07,6.1621e-02,-4.9967e-03,8.3341e-02,4.2665e-04,4.1842e-03,8.8347e-06,1.0377e-01,4.2059e-03
+25,1.7067e+01,DOWN_FORCE_DETACH,4.0816e-03,5.4779e-02,-5.8722e-03,2.5457e+00,-3.6323e-02,4.0529e-02,-1.9394e-06,6.1689e-02,-6.0174e-03,8.8457e-02,4.6315e-04,4.1919e-03,7.5643e-06,1.0801e-01,4.2175e-03
+26,1.7683e+01,DOWN_FORCE_DETACH,4.2443e-03,5.4674e-02,-5.6832e-03,2.5542e+00,-3.6365e-02,4.0522e-02,-2.7581e-06,6.1584e-02,-5.8284e-03,9.6917e-02,4.2092e-04,4.1854e-03,6.7456e-06,1.1498e-01,4.2065e-03
+27,1.8300e+01,DOWN_FORCE_DETACH,4.4063e-03,5.4779e-02,-4.6197e-03,2.5666e+00,-3.6461e-02,4.0525e-02,-3.2847e-06,6.1689e-02,-4.7650e-03,1.0933e-01,3.2458e-04,4.1884e-03,6.2190e-06,1.2563e-01,4.2010e-03
+28,1.8867e+01,DOWN_FORCE_DETACH,4.5728e-03,5.4665e-02,-3.6043e-03,2.5815e+00,-3.6548e-02,4.0510e-02,-3.8850e-06,6.1575e-02,-3.7495e-03,1.2426e-01,2.3755e-04,4.1735e-03,5.6187e-06,1.3873e-01,4.1803e-03
+29,1.9433e+01,DOWN_FORCE_DETACH,4.7328e-03,5.5144e-02,-2.8199e-03,2.5993e+00,-3.6616e-02,4.0529e-02,-5.0943e-06,6.2054e-02,-2.9651e-03,1.4208e-01,1.6997e-04,4.1926e-03,4.4094e-06,1.5507e-01,4.1960e-03
+30,1.9883e+01,DOWN_FORCE_DETACH,4.8942e-03,5.5876e-02,-2.0627e-03,2.6138e+00,-3.6674e-02,4.0564e-02,-6.8486e-06,6.2786e-02,-2.2079e-03,1.5657e-01,1.1167e-04,4.2275e-03,2.6551e-06,1.6870e-01,4.2290e-03
+31,2.0400e+01,DOWN_FORCE_DETACH,5.0634e-03,5.6085e-02,-4.4694e-04,2.6281e+00,-3.6783e-02,4.0562e-02,-9.9193e-06,6.2995e-02,-5.9217e-04,1.7091e-01,2.7753e-06,4.2250e-03,-4.1559e-07,1.8215e-01,4.2250e-03
+32,2.0883e+01,DOWN_FORCE_DETACH,5.2254e-03,5.5593e-02,1.2996e-03,2.6407e+00,-3.6896e-02,4.0514e-02,-1.3699e-05,6.2503e-02,1.1544e-03,1.8348e-01,-1.1009e-04,4.1770e-03,-4.1952e-06,1.9383e-01,4.1784e-03
+33,2.1350e+01,DOWN_FORCE_DETACH,5.3885e-03,5.4806e-02,1.9336e-03,2.6518e+00,-3.6938e-02,4.0447e-02,-1.7764e-05,6.1716e-02,1.7883e-03,1.9455e-01,-1.5216e-04,4.1107e-03,-8.2601e-06,2.0411e-01,4.1136e-03
+34,2.1817e+01,DOWN_FORCE_DETACH,5.5505e-03,5.3430e-02,3.6653e-03,2.6627e+00,-3.7053e-02,4.0345e-02,-2.1467e-05,6.0340e-02,3.5200e-03,2.0542e-01,-2.6688e-04,4.0083e-03,-1.1963e-05,2.1413e-01,4.0172e-03
+35,2.2250e+01,DOWN_FORCE_DETACH,5.7186e-03,5.1348e-02,5.8918e-03,2.6745e+00,-3.7197e-02,4.0199e-02,-2.4321e-05,5.8257e-02,5.7466e-03,2.1725e-01,-4.1112e-04,3.8625e-03,-1.4817e-05,2.2500e-01,3.8843e-03
+36,2.2700e+01,DOWN_FORCE_DETACH,5.8830e-03,5.0054e-02,8.8203e-03,2.6901e+00,-3.7383e-02,4.0102e-02,-2.6384e-05,5.6964e-02,8.6750e-03,2.3283e-01,-5.9698e-04,3.7656e-03,-1.6880e-05,2.3986e-01,3.8126e-03
+37,2.3117e+01,DOWN_FORCE_DETACH,6.0428e-03,4.9395e-02,1.0899e-02,2.7050e+00,-3.7513e-02,4.0046e-02,-2.7168e-05,5.6305e-02,1.0754e-02,2.4775e-01,-7.2691e-04,3.7090e-03,-1.7664e-05,2.5429e-01,3.7796e-03
+38,2.3533e+01,DOWN_FORCE_DETACH,6.2050e-03,4.8952e-02,1.4247e-02,2.7200e+00,-3.7721e-02,4.0002e-02,-2.6646e-05,5.5862e-02,1.4102e-02,2.6275e-01,-9.3544e-04,3.6650e-03,-1.7143e-05,2.6899e-01,3.7825e-03
+39,2.3950e+01,DOWN_FORCE_DETACH,6.3670e-03,4.8245e-02,1.8101e-02,2.7333e+00,-3.7958e-02,3.9941e-02,-2.5037e-05,5.5155e-02,1.7956e-02,2.7605e-01,-1.1720e-03,3.6039e-03,-1.5534e-05,2.8208e-01,3.7897e-03
+40,2.4350e+01,DOWN_FORCE_DETACH,6.5343e-03,4.7207e-02,2.2060e-02,2.7459e+00,-3.8198e-02,3.9859e-02,-2.2585e-05,5.4117e-02,2.1915e-02,2.8862e-01,-1.4120e-03,3.5223e-03,-1.3081e-05,2.9446e-01,3.7948e-03
+41,2.4750e+01,DOWN_FORCE_DETACH,6.6897e-03,4.5896e-02,2.5576e-02,2.7590e+00,-3.8411e-02,3.9757e-02,-1.9423e-05,5.2805e-02,2.5430e-02,3.0178e-01,-1.6249e-03,3.4206e-03,-9.9189e-06,3.0742e-01,3.7870e-03
+42,2.5100e+01,DOWN_FORCE_DETACH,6.8580e-03,4.5311e-02,2.6996e-02,2.7725e+00,-3.8497e-02,3.9703e-02,-1.6538e-05,5.2220e-02,2.6851e-02,3.1528e-01,-1.7117e-03,3.3662e-03,-7.0344e-06,3.2070e-01,3.7764e-03
+43,2.5450e+01,DOWN_FORCE_DETACH,7.0191e-03,4.4904e-02,2.7393e-02,2.7871e+00,-3.8524e-02,3.9659e-02,-1.3826e-05,5.1814e-02,2.7248e-02,3.2991e-01,-1.7387e-03,3.3218e-03,-4.3223e-06,3.3506e-01,3.7493e-03
+44,2.5817e+01,DOWN_FORCE_DETACH,7.1903e-03,4.4883e-02,2.6762e-02,2.8031e+00,-3.8487e-02,3.9637e-02,-1.1669e-05,5.1793e-02,2.6617e-02,3.4581e-01,-1.7013e-03,3.3007e-03,-2.1650e-06,3.5068e-01,3.7133e-03
+45,2.6183e+01,DOWN_FORCE_DETACH,7.3484e-03,4.5653e-02,2.6141e-02,2.8194e+00,-3.8447e-02,3.9666e-02,-1.0265e-05,5.2563e-02,2.5995e-02,3.6211e-01,-1.6614e-03,3.3293e-03,-7.6099e-07,3.6683e-01,3.7208e-03
+46,2.6517e+01,DOWN_FORCE_DETACH,7.5102e-03,4.6092e-02,2.7067e-02,2.8316e+00,-3.8505e-02,3.9675e-02,-9.1995e-06,5.3002e-02,2.6921e-02,3.7437e-01,-1.7190e-03,3.3379e-03,3.0418e-07,3.7906e-01,3.7546e-03
+47,2.6833e+01,DOWN_FORCE_DETACH,7.6705e-03,4.6844e-02,2.9117e-02,2.8425e+00,-3.8636e-02,3.9705e-02,-8.1509e-06,5.3754e-02,2.8971e-02,3.8527e-01,-1.8505e-03,3.3681e-03,1.3528e-06,3.9008e-01,3.8430e-03
+48,2.7150e+01,DOWN_FORCE_DETACH,7.8362e-03,4.7799e-02,2.9839e-02,2.8533e+00,-3.8684e-02,3.9749e-02,-7.2118e-06,5.4709e-02,2.9694e-02,3.9607e-01,-1.8987e-03,3.4127e-03,2.2919e-06,4.0093e-01,3.9053e-03
+49,2.7467e+01,DOWN_FORCE_DETACH,8.0018e-03,4.9228e-02,3.0669e-02,2.8656e+00,-3.8737e-02,3.9826e-02,-6.2837e-06,5.6138e-02,3.0524e-02,4.0835e-01,-1.9511e-03,3.4890e-03,3.2200e-06,4.1332e-01,3.9975e-03
+50,2.7783e+01,DOWN_FORCE_DETACH,8.1706e-03,5.0881e-02,3.2749e-02,2.8777e+00,-3.8863e-02,3.9917e-02,-5.3304e-06,5.7791e-02,3.2604e-02,4.2045e-01,-2.0768e-03,3.5804e-03,4.1733e-06,4.2566e-01,4.1392e-03
+51,2.8050e+01,DOWN_FORCE_DETACH,8.3229e-03,5.2677e-02,3.5602e-02,2.8883e+00,-3.9035e-02,4.0020e-02,-4.6260e-06,5.9587e-02,3.5457e-02,4.3108e-01,-2.2487e-03,3.6834e-03,4.8777e-06,4.3662e-01,4.3156e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07a545fbc62bc7fb68f347e1f1d43693715c1cdf
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c62f26e3c4e6041c5e25c512a654d652e7c19318
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c3acc4f4ec5d10db6efddcac26423193995914ca
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..474e34dda450f7999f1a324793ff1d7e8b507521
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+11,2.833333333e+00,UP_FORCE_RAMP,1792649318762518780,8.695293663e-06,-2.866515693e-05,1.345303069e-05,2.256863525e-06,-1.948798736e-05,5.795796009e-06,3.231499824e-06,-1.922478376e-05,6.172527997e-06,7.015465668e-01,-2.711419560e-05,8.407543942e-01,7.015401283e-01,-1.793702604e-05,8.407467370e-01,7.017287875e-01,-1.745431185e-05,8.297869110e-01
+12,3.033333333e+00,UP_FORCE_RAMP,1792649319062794161,1.085036490e-05,-2.309329122e-05,2.147639352e-05,1.341114433e-05,-2.113886265e-05,2.248903657e-05,1.463504817e-05,-2.084806135e-05,2.264892569e-05,7.015487218e-01,-2.154232990e-05,8.407624176e-01,7.015512826e-01,-1.958790133e-05,8.407634302e-01,7.017401911e-01,-1.907758944e-05,8.298033874e-01
+13,3.250000000e+00,UP_FORCE_RAMP,1792649319390908267,1.573455475e-05,-2.150225619e-05,3.771478064e-05,1.341114433e-05,-2.113886265e-05,2.248903657e-05,1.469062611e-05,-2.084403312e-05,2.269575694e-05,7.015536060e-01,-1.995129486e-05,8.407786560e-01,7.015512826e-01,-1.958790133e-05,8.407634302e-01,7.017402466e-01,-1.907356121e-05,8.298034342e-01
+14,3.433333333e+00,UP_FORCE_RAMP,1792649319661631627,1.625732771e-05,-2.386319178e-05,5.633953642e-05,1.433122038e-05,-1.759517456e-05,4.306947121e-05,1.575460124e-05,-1.729696272e-05,4.303453736e-05,7.015541288e-01,-2.231223046e-05,8.407972807e-01,7.015522027e-01,-1.604421324e-05,8.407840107e-01,7.017413106e-01,-1.552649080e-05,8.298237730e-01
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+16,3.833333333e+00,UP_FORCE_RAMP,1792649320260928217,-1.217439722e-07,-1.410591131e-05,8.762836312e-05,5.760981716e-06,-1.469055316e-05,8.495639833e-05,7.292633788e-06,-1.443694620e-05,8.443039557e-05,7.015377497e-01,-1.255494999e-05,8.408285696e-01,7.015436325e-01,-1.313959184e-05,8.408258976e-01,7.017328486e-01,-1.266647429e-05,8.298651689e-01
+17,4.066666667e+00,UP_FORCE_RAMP,1792649320611854833,-1.583363017e-06,-1.143508337e-05,1.007408028e-04,5.760981716e-06,-1.469055316e-05,8.495639833e-05,7.318412091e-06,-1.443198665e-05,8.455008965e-05,7.015362881e-01,-9.884122047e-06,8.408416820e-01,7.015436325e-01,-1.313959184e-05,8.408258976e-01,7.017328744e-01,-1.266151474e-05,8.298652886e-01
+18,4.300000000e+00,UP_FORCE_RAMP,1792649320960780253,-2.688037005e-06,-8.783656778e-06,1.173585832e-04,-2.738931116e-06,-1.323043020e-05,1.059685905e-04,-1.169964215e-06,-1.296749975e-05,1.054137419e-04,7.015351834e-01,-7.232695457e-06,8.408582998e-01,7.015351326e-01,-1.167946888e-05,8.408469098e-01,7.017243861e-01,-1.119702784e-05,8.298861522e-01
+19,4.500000000e+00,UP_FORCE_RAMP,1792649321260946873,2.278514728e-07,-7.076145410e-06,1.546735660e-04,3.155748921e-06,-5.643414779e-06,1.529336520e-04,4.976488100e-06,-5.460042014e-06,1.518188152e-04,7.015380993e-01,-5.525184089e-06,8.408956148e-01,7.015410272e-01,-4.092453458e-06,8.408938748e-01,7.017305325e-01,-3.689570101e-06,8.299325573e-01
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+22,5.150000000e+00,UP_FORCE_RAMP,1792649322226388511,-9.717416459e-07,-2.223042213e-06,2.048498271e-04,1.007202835e-06,-2.525820628e-06,1.936579290e-04,2.987259478e-06,-2.366376884e-06,1.924603310e-04,7.015368997e-01,-6.720808917e-07,8.409457910e-01,7.015388787e-01,-9.748593074e-07,8.409345991e-01,7.017285433e-01,-5.959049704e-07,8.299731988e-01
+23,5.383333333e+00,UP_FORCE_RAMP,1792649322564999155,-3.099979493e-07,-3.969103811e-07,2.147936032e-04,-4.726384306e-07,2.963127032e-06,2.142268401e-04,1.531267032e-06,3.068234566e-06,2.129559084e-04,7.015375615e-01,1.154050940e-06,8.409557348e-01,7.015373988e-01,4.514088353e-06,8.409551680e-01,7.017270873e-01,4.838706479e-06,8.299936944e-01
+24,5.566666667e+00,UP_FORCE_RAMP,1792649322845251966,-2.529849187e-06,2.715444177e-06,2.235349877e-04,-4.726384306e-07,2.963127032e-06,2.142268401e-04,1.542614434e-06,3.075149924e-06,2.131223806e-04,7.015353416e-01,4.266405498e-06,8.409644762e-01,7.015373988e-01,4.514088353e-06,8.409551680e-01,7.017270986e-01,4.845621838e-06,8.299938609e-01
+25,5.800000000e+00,UP_FORCE_RAMP,1792649323195561468,-1.046336616e-06,2.327897402e-06,2.392478207e-04,-1.821004029e-06,-2.853791445e-06,2.331866258e-04,2.930422947e-07,-2.694510419e-06,2.319177829e-04,7.015368251e-01,3.878858723e-06,8.409801890e-01,7.015360505e-01,-1.302830124e-06,8.409741278e-01,7.017258491e-01,-9.240385054e-07,8.300126563e-01
+26,6.000000000e+00,UP_FORCE_RAMP,1792649323498744743,-3.652156896e-06,-6.086966985e-07,2.495897513e-04,-1.821004029e-06,-2.853791445e-06,2.331866258e-04,3.054303017e-07,-2.695736784e-06,2.320833106e-04,7.015342193e-01,9.422646226e-07,8.409905309e-01,7.015360505e-01,-1.302830124e-06,8.409741278e-01,7.017258614e-01,-9.252648707e-07,8.300128218e-01
+27,6.200000000e+00,UP_FORCE_RAMP,1792649323795345657,-2.879763486e-06,3.308686049e-06,2.639424745e-04,-2.140261555e-06,4.189570462e-06,2.531651069e-04,7.092484178e-08,4.306461891e-06,2.519477575e-04,7.015349917e-01,4.859647370e-06,8.410048837e-01,7.015357312e-01,5.740531783e-06,8.409941063e-01,7.017256269e-01,6.076933804e-06,8.300326862e-01
+28,6.383333333e+00,UP_FORCE_RAMP,1792649324065638120,-3.655766194e-06,5.810084087e-06,2.763753792e-04,-3.994086246e-06,4.939550783e-06,2.742681251e-04,-1.673740030e-06,5.030279660e-06,2.728971214e-04,7.015342157e-01,7.361045408e-06,8.410173166e-01,7.015338774e-01,6.490512104e-06,8.410152093e-01,7.017238823e-01,6.800751573e-06,8.300536356e-01
+29,6.633333333e+00,UP_FORCE_RAMP,1792649324445967842,-6.006082963e-06,9.751708862e-06,2.908065367e-04,-3.994086246e-06,4.939550783e-06,2.742681251e-04,-1.664367355e-06,5.035645934e-06,2.731109917e-04,7.015318654e-01,1.130267018e-05,8.410317477e-01,7.015338774e-01,6.490512104e-06,8.410152093e-01,7.017238916e-01,6.806117847e-06,8.300538495e-01
+30,6.850000000e+00,UP_FORCE_RAMP,1792649324768367330,-8.140127111e-06,7.445866489e-06,3.085732442e-04,-5.412789722e-06,7.820512220e-06,2.954341379e-04,-3.072693704e-06,7.907948648e-06,2.941068422e-04,7.015297314e-01,8.996827810e-06,8.410495144e-01,7.015324587e-01,9.371473541e-06,8.410363753e-01,7.017224833e-01,9.678420562e-06,8.300748453e-01
+31,7.100000000e+00,UP_FORCE_RAMP,1792649325145972442,-1.215245818e-05,7.268981792e-06,3.255615892e-04,-1.086914121e-05,1.075817587e-05,3.153878038e-04,-8.517115917e-06,1.079847976e-05,3.139952175e-04,7.015257190e-01,8.819943113e-06,8.410665028e-01,7.015270023e-01,1.230913719e-05,8.410563290e-01,7.017170389e-01,1.256895167e-05,8.300947337e-01
+32,7.350000000e+00,UP_FORCE_RAMP,1792649325531003709,-1.225590054e-05,8.976957680e-06,3.449007918e-04,-1.148808666e-05,7.542711747e-06,3.377494060e-04,-9.034535512e-06,7.636004447e-06,3.361867745e-04,7.015256156e-01,1.052791900e-05,8.410858420e-01,7.015263834e-01,9.093673068e-06,8.410786906e-01,7.017165215e-01,9.406476360e-06,8.301169253e-01
+33,7.400000000e+00,UP_FORCE_RAMP,1792649325598744926,-1.688845602e-05,6.063949296e-06,3.529810178e-04,-1.682331232e-05,5.958574413e-06,3.527538641e-04,-1.441913247e-05,6.044937068e-06,3.509830852e-04,7.015209830e-01,7.614910617e-06,8.410939222e-01,7.015210482e-01,7.509535734e-06,8.410936951e-01,7.017111369e-01,7.815408981e-06,8.301317216e-01
+34,7.600000000e+00,UP_FORCE_RAMP,1792649325902085536,-1.659143128e-05,-3.191593698e-06,3.639708825e-04,-1.682331232e-05,5.958574413e-06,3.527538641e-04,-1.443765813e-05,6.079843348e-06,3.511638117e-04,7.015212801e-01,-1.640632377e-06,8.411049121e-01,7.015210482e-01,7.509535734e-06,8.410936951e-01,7.017111184e-01,7.850315261e-06,8.301319023e-01
+35,7.816666667e+00,UP_FORCE_RAMP,1792649326226529569,-1.369544067e-05,5.740146493e-06,3.808436441e-04,-1.580217086e-05,-8.649433649e-07,3.714266587e-04,-1.330033199e-05,-6.661545075e-07,3.697456176e-04,7.015241760e-01,7.291107814e-06,8.411217848e-01,7.015220693e-01,6.860179561e-07,8.411123678e-01,7.017122557e-01,1.104317406e-06,8.301504841e-01
+36,8.083333333e+00,UP_FORCE_RAMP,1792649326626466900,-1.726387647e-05,4.242917839e-06,3.971173058e-04,-1.437641870e-05,4.724520269e-06,3.927249434e-04,-1.182462338e-05,4.865052255e-06,3.909847053e-04,7.015206076e-01,5.793879160e-06,8.411380585e-01,7.015234951e-01,6.275481591e-06,8.411336661e-01,7.017137314e-01,6.635524168e-06,8.301717232e-01
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+40,8.983333333e+00,UP_FORCE_RAMP,1792649327999162368,-2.195478479e-05,9.588196137e-06,4.572550226e-04,-1.843436120e-05,3.651703449e-06,4.530015884e-04,-1.573930076e-05,3.814947765e-06,4.510548628e-04,7.015159167e-01,1.113915746e-05,8.411981962e-01,7.015194371e-01,5.202664770e-06,8.411939428e-01,7.017098167e-01,5.585419678e-06,8.302317933e-01
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+46,1.008333333e+01,UP_FORCE_RAMP,1792649329658741346,-5.734622396e-05,1.565706490e-05,5.350685609e-04,-5.623548500e-05,9.714008047e-06,5.235551500e-04,-5.412159770e-05,9.788956904e-06,5.213773356e-04,7.014805253e-01,1.720802622e-05,8.412760097e-01,7.014816360e-01,1.126496937e-05,8.412644963e-01,7.016714344e-01,1.155942882e-05,8.303021158e-01
+47,1.025000000e+01,UP_FORCE_RAMP,1792649329899215094,-5.901928492e-05,1.251348387e-05,5.448299910e-04,-5.556194030e-05,1.502723362e-05,5.441344111e-04,-5.338121041e-05,1.506626708e-05,5.417701821e-04,7.014788522e-01,1.406444519e-05,8.412857712e-01,7.014823095e-01,1.657819494e-05,8.412850756e-01,7.016721748e-01,1.683673899e-05,8.303225087e-01
+48,1.055000000e+01,UP_FORCE_RAMP,1792649330358666243,-5.398022565e-05,1.452027481e-05,5.701392892e-04,-5.643563237e-05,1.547857335e-05,5.639306663e-04,-5.427813815e-05,1.549826948e-05,5.614925631e-04,7.014838913e-01,1.607123613e-05,8.413110805e-01,7.014814358e-01,1.702953467e-05,8.413048719e-01,7.016712779e-01,1.726874139e-05,8.303422310e-01
+49,1.075000000e+01,UP_FORCE_RAMP,1792649330658652842,-5.506203243e-05,1.869089089e-05,5.820138006e-04,-5.643563237e-05,1.547857335e-05,5.639306663e-04,-5.432242131e-05,1.549727164e-05,5.616672904e-04,7.014828094e-01,2.024185221e-05,8.413229550e-01,7.014814358e-01,1.702953467e-05,8.413048719e-01,7.016712336e-01,1.726774355e-05,8.303424058e-01
+50,1.098333333e+01,UP_FORCE_RAMP,1792649330997883199,-5.617967808e-05,2.071228103e-05,5.925080841e-04,-5.594704642e-05,1.486780624e-05,5.854635006e-04,-5.379676595e-05,1.491720971e-05,5.830992660e-04,7.014816918e-01,2.226324235e-05,8.413334493e-01,7.014819244e-01,1.641876756e-05,8.413264047e-01,7.016717592e-01,1.668768162e-05,8.303638377e-01
+51,1.123333333e+01,UP_FORCE_RAMP,1792649331378586785,-5.595302288e-05,1.643059879e-05,6.057010475e-04,-5.355575542e-05,2.059567966e-05,6.077813803e-04,-5.128113799e-05,2.057723772e-05,6.052591372e-04,7.014819185e-01,1.798156011e-05,8.413466422e-01,7.014843157e-01,2.214664098e-05,8.413487226e-01,7.016742749e-01,2.234770963e-05,8.303859976e-01
+52,1.143333333e+01,UP_FORCE_RAMP,1792649331667008603,-5.521751870e-05,1.493382426e-05,6.150601825e-04,-5.355575542e-05,2.059567966e-05,6.077813803e-04,-5.131003790e-05,2.058300539e-05,6.054483687e-04,7.014826540e-01,1.648478558e-05,8.413560014e-01,7.014843157e-01,2.214664098e-05,8.413487226e-01,7.016742460e-01,2.235347730e-05,8.303861868e-01
+53,1.168333333e+01,UP_FORCE_RAMP,1792649332035056915,-5.495968423e-05,1.585652925e-05,6.263456411e-04,-5.355575542e-05,2.059567966e-05,6.077813803e-04,-5.134313546e-05,2.058230816e-05,6.056436373e-04,7.014829118e-01,1.740749058e-05,8.413672868e-01,7.014843157e-01,2.214664098e-05,8.413487226e-01,7.016742129e-01,2.235278007e-05,8.303863821e-01
+54,1.190000000e+01,UP_FORCE_RAMP,1792649332365188355,-5.720224661e-05,1.971372366e-05,6.332515038e-04,-5.510768740e-05,1.476529400e-05,6.285884784e-04,-5.288708612e-05,1.478309758e-05,6.262818065e-04,7.014806692e-01,2.126468498e-05,8.413741927e-01,7.014827638e-01,1.631625532e-05,8.413695297e-01,7.016726689e-01,1.655356949e-05,8.304070203e-01
+55,1.216666667e+01,UP_FORCE_RAMP,1792649332765951906,-5.837311208e-05,1.964005489e-05,6.417702378e-04,-5.510768740e-05,1.476529400e-05,6.285884784e-04,-5.291901748e-05,1.477901862e-05,6.264841147e-04,7.014794984e-01,2.119101621e-05,8.413827114e-01,7.014827638e-01,1.631625532e-05,8.413695297e-01,7.016726370e-01,1.654949053e-05,8.304072226e-01
+56,1.248333333e+01,UP_FORCE_RAMP,1792649333235037339,-5.869008178e-05,2.238276811e-05,6.539862268e-04,-5.932697912e-05,2.055999966e-05,6.471761304e-04,-5.716784081e-05,2.051450819e-05,6.450527700e-04,7.014791814e-01,2.393372943e-05,8.413949274e-01,7.014785445e-01,2.211096099e-05,8.413881173e-01,7.016683882e-01,2.228498010e-05,8.304257912e-01
+57,1.271666667e+01,UP_FORCE_HOLD,1792649333594977430,-6.252746415e-05,1.853498855e-05,6.592820063e-04,-5.932697912e-05,2.055999966e-05,6.471761304e-04,-5.719515030e-05,2.051403245e-05,6.452180936e-04,7.014753440e-01,2.008594987e-05,8.414002232e-01,7.014785445e-01,2.211096099e-05,8.413881173e-01,7.016683609e-01,2.228450437e-05,8.304259566e-01
+58,1.291666667e+01,UP_FORCE_HOLD,1792649333894871555,-6.093592322e-05,2.078358104e-05,6.700843437e-04,-5.873136930e-05,1.441846594e-05,6.687087648e-04,-5.658842000e-05,1.445404280e-05,6.665375677e-04,7.014769356e-01,2.233454236e-05,8.414110255e-01,7.014791401e-01,1.596942726e-05,8.414096500e-01,7.016689676e-01,1.622451471e-05,8.304472760e-01
+59,1.316666667e+01,UP_FORCE_HOLD,1792649334264838963,-6.009161110e-05,2.099214429e-05,6.801261703e-04,-5.873136930e-05,1.441846594e-05,6.687087648e-04,-5.660892812e-05,1.445132039e-05,6.667185030e-04,7.014777799e-01,2.254310561e-05,8.414210674e-01,7.014791401e-01,1.596942726e-05,8.414096500e-01,7.016689471e-01,1.622179231e-05,8.304474570e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8e436bbbafb626f27d05e672140406e962aebe2f
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-6.8783e-03,1.7451e-04,2.4572e+00,-3.6788e-02,3.6339e-02,-9.6161e-06,3.1479e-05,2.9286e-05,2.3842e-06,-1.9036e-06,1.9185e-06,-1.1243e-07,4.3061e-05,2.7050e-06
+1,2.5000e-01,XJC_ZERO_HOLD_BEFORE_UP,5.7419e-05,-5.8163e-03,5.5686e-04,2.4575e+00,-3.6813e-02,3.6406e-02,-1.1181e-05,1.0935e-03,4.1163e-04,2.9135e-04,-2.7221e-05,6.8814e-05,-1.6775e-06,1.2042e-03,7.4021e-05
+2,4.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,1.1143e-04,-4.0280e-03,8.2237e-04,2.4582e+00,-3.6831e-02,3.6520e-02,-1.2463e-05,2.8818e-03,6.7715e-04,9.1648e-04,-4.5694e-05,1.8293e-04,-2.9588e-06,3.0989e-03,1.8857e-04
+3,8.0000e-01,WAIT_W2,1.6949e-04,-8.3431e-04,1.0636e-03,2.4594e+00,-3.6850e-02,3.6725e-02,-1.3930e-05,6.0755e-03,9.1839e-04,2.1467e-03,-6.4079e-05,3.8807e-04,-4.4266e-06,6.5087e-03,3.9335e-04
+4,1.0833e+00,WAIT_W2,2.2471e-04,1.7566e-02,1.9550e-03,2.4671e+00,-3.6929e-02,3.7915e-02,-2.1804e-05,2.4476e-02,1.8097e-03,9.8758e-03,-1.4342e-04,1.5780e-03,-1.2301e-05,2.6455e-02,1.5846e-03
+5,1.3333e+00,WAIT_W2,2.8343e-04,1.6926e-02,2.9611e-03,2.4669e+00,-3.6998e-02,3.7879e-02,-2.2595e-05,2.3836e-02,2.8158e-03,9.6884e-03,-2.1232e-04,1.5424e-03,-1.3091e-05,2.5883e-02,1.5570e-03
+6,1.5500e+00,WAIT_W2,3.3825e-04,1.9763e-02,8.7840e-03,2.4662e+00,-3.7456e-02,3.8117e-02,-2.8891e-05,2.6672e-02,8.6388e-03,8.9283e-03,-6.6971e-04,1.7805e-03,-1.9387e-05,2.9424e-02,1.9024e-03
+7,1.8000e+00,WAIT_W2,3.9512e-04,2.0008e-02,9.8661e-03,2.4663e+00,-3.7527e-02,3.8136e-02,-2.9162e-05,2.6917e-02,9.7208e-03,9.1000e-03,-7.4154e-04,1.7994e-03,-1.9659e-05,3.0031e-02,1.9464e-03
+8,2.0667e+00,WAIT_W2,4.5180e-04,2.3365e-02,1.2968e-02,2.4687e+00,-3.7781e-02,3.8405e-02,-3.1990e-05,3.0275e-02,1.2823e-02,1.1426e-02,-9.9485e-04,2.0685e-03,-2.2487e-05,3.4807e-02,2.2954e-03
+9,2.3167e+00,WAIT_W2,5.1072e-04,2.4223e-02,1.3287e-02,2.4690e+00,-3.7803e-02,3.8462e-02,-3.2021e-05,3.1133e-02,1.3142e-02,1.1759e-02,-1.0171e-03,2.1252e-03,-2.2517e-05,3.5780e-02,2.3562e-03
+10,2.5833e+00,UP_FORCE_RAMP,5.6441e-04,3.2209e-02,1.4961e-02,2.4728e+00,-3.7928e-02,3.8990e-02,-3.1574e-05,3.9118e-02,1.4815e-02,1.5554e-02,-1.1423e-03,2.6531e-03,-2.2070e-05,4.4628e-02,2.8887e-03
+11,2.8333e+00,UP_FORCE_RAMP,6.2336e-04,3.2045e-02,1.4855e-02,2.4729e+00,-3.7923e-02,3.8983e-02,-3.1457e-05,3.8955e-02,1.4710e-02,1.5611e-02,-1.1377e-03,2.6458e-03,-2.1953e-05,4.4470e-02,2.8801e-03
+12,3.0333e+00,UP_FORCE_RAMP,6.7964e-04,2.6304e-02,1.6818e-02,2.4635e+00,-3.8098e-02,3.8677e-02,-2.7285e-05,3.3213e-02,1.6673e-02,6.2752e-03,-1.3119e-03,2.3404e-03,-1.7781e-05,3.7689e-02,2.6831e-03
+13,3.2500e+00,UP_FORCE_RAMP,7.3644e-04,2.6979e-02,1.6685e-02,2.4639e+00,-3.8090e-02,3.8719e-02,-2.7061e-05,3.3889e-02,1.6540e-02,6.6156e-03,-1.3043e-03,2.3827e-03,-1.7557e-05,3.8286e-02,2.7163e-03
+14,3.4333e+00,UP_FORCE_RAMP,7.9060e-04,2.7749e-02,1.6316e-02,2.4633e+00,-3.8067e-02,3.8768e-02,-2.6813e-05,3.4658e-02,1.6171e-02,6.1088e-03,-1.2814e-03,2.4314e-03,-1.7309e-05,3.8730e-02,2.7485e-03
+15,3.6333e+00,UP_FORCE_RAMP,8.4565e-04,3.1468e-02,1.5725e-02,2.4406e+00,-3.8037e-02,3.9010e-02,-2.4675e-05,3.8377e-02,1.5579e-02,-1.6655e-02,-1.2514e-03,2.6734e-03,-1.5171e-05,4.4642e-02,2.9518e-03
+16,3.8333e+00,UP_FORCE_RAMP,9.0558e-04,3.2391e-02,1.5206e-02,2.4403e+00,-3.8005e-02,3.9072e-02,-2.4343e-05,3.9300e-02,1.5060e-02,-1.6945e-02,-1.2188e-03,2.7350e-03,-1.4839e-05,4.5370e-02,2.9944e-03
+17,4.0667e+00,UP_FORCE_RAMP,9.6075e-04,3.3835e-02,1.4606e-02,2.4401e+00,-3.7967e-02,3.9167e-02,-2.3948e-05,4.0745e-02,1.4461e-02,-1.7115e-02,-1.1815e-03,2.8302e-03,-1.4444e-05,4.6499e-02,3.0669e-03
+18,4.3000e+00,UP_FORCE_RAMP,1.0203e-03,3.5964e-02,1.3924e-02,2.4393e+00,-3.7925e-02,3.9308e-02,-2.3456e-05,4.2873e-02,1.3778e-02,-1.7920e-02,-1.1390e-03,2.9709e-03,-1.3953e-05,4.8468e-02,3.1818e-03
+19,4.5000e+00,UP_FORCE_RAMP,1.0738e-03,3.8019e-02,1.2889e-02,2.4372e+00,-3.7859e-02,3.9444e-02,-2.2995e-05,4.4929e-02,1.2743e-02,-2.0027e-02,-1.0734e-03,3.1073e-03,-1.3491e-05,5.0814e-02,3.2875e-03
+20,4.7000e+00,UP_FORCE_RAMP,1.1306e-03,3.8846e-02,1.1699e-02,2.4320e+00,-3.7784e-02,3.9502e-02,-2.2591e-05,4.5756e-02,1.1554e-02,-2.5218e-02,-9.9802e-04,3.1654e-03,-1.3088e-05,5.3507e-02,3.3190e-03
+21,4.9500e+00,UP_FORCE_RAMP,1.1876e-03,4.0029e-02,1.0416e-02,2.4265e+00,-3.7702e-02,3.9585e-02,-2.2046e-05,4.6939e-02,1.0270e-02,-3.0697e-02,-9.1669e-04,3.2480e-03,-1.2542e-05,5.7018e-02,3.3749e-03
+22,5.1500e+00,UP_FORCE_RAMP,1.2419e-03,4.0798e-02,9.3870e-03,2.4229e+00,-3.7637e-02,3.9639e-02,-2.1616e-05,4.7708e-02,9.2418e-03,-3.4369e-02,-8.5163e-04,3.3026e-03,-1.2112e-05,5.9521e-02,3.4107e-03
+23,5.3833e+00,UP_FORCE_RAMP,1.2982e-03,4.1782e-02,8.1991e-03,2.4205e+00,-3.7562e-02,3.9709e-02,-2.1044e-05,4.8692e-02,8.0539e-03,-3.6733e-02,-7.7640e-04,3.3720e-03,-1.1540e-05,6.1523e-02,3.4603e-03
+24,5.5667e+00,UP_FORCE_RAMP,1.3565e-03,4.2608e-02,7.0773e-03,2.4183e+00,-3.7491e-02,3.9767e-02,-2.0606e-05,4.9518e-02,6.9321e-03,-3.8915e-02,-7.0531e-04,3.4300e-03,-1.1102e-05,6.3360e-02,3.5018e-03
+25,5.8000e+00,UP_FORCE_RAMP,1.4145e-03,4.3703e-02,6.1421e-03,2.4168e+00,-3.7433e-02,3.9844e-02,-1.9930e-05,5.0613e-02,5.9969e-03,-4.0457e-02,-6.4704e-04,3.5068e-03,-1.0426e-05,6.5072e-02,3.5660e-03
+26,6.0000e+00,UP_FORCE_RAMP,1.4698e-03,4.4622e-02,5.8625e-03,2.4155e+00,-3.7416e-02,3.9908e-02,-1.9294e-05,5.1532e-02,5.7173e-03,-4.1763e-02,-6.3056e-04,3.5711e-03,-9.7903e-06,6.6576e-02,3.6263e-03
+27,6.2000e+00,UP_FORCE_RAMP,1.5247e-03,4.5541e-02,4.9588e-03,2.4140e+00,-3.7360e-02,3.9973e-02,-1.8626e-05,5.2451e-02,4.8136e-03,-4.3250e-02,-5.7383e-04,3.6359e-03,-9.1228e-06,6.8153e-02,3.6809e-03
+28,6.3833e+00,UP_FORCE_RAMP,1.5831e-03,4.6371e-02,4.1295e-03,2.4130e+00,-3.7308e-02,4.0031e-02,-1.7968e-05,5.3281e-02,3.9843e-03,-4.4241e-02,-5.2213e-04,3.6945e-03,-8.4643e-06,6.9369e-02,3.7313e-03
+29,6.6333e+00,UP_FORCE_RAMP,1.6382e-03,4.7527e-02,3.2160e-03,2.4111e+00,-3.7251e-02,4.0113e-02,-1.7046e-05,5.4437e-02,3.0708e-03,-4.6167e-02,-4.6553e-04,3.7759e-03,-7.5424e-06,7.1444e-02,3.8045e-03
+30,6.8500e+00,UP_FORCE_RAMP,1.6931e-03,4.8574e-02,2.2372e-03,2.4090e+00,-3.7190e-02,4.0187e-02,-1.6153e-05,5.5484e-02,2.0919e-03,-4.8200e-02,-4.0435e-04,3.8498e-03,-6.6496e-06,7.3526e-02,3.8710e-03
+31,7.1000e+00,UP_FORCE_RAMP,1.7505e-03,5.0009e-02,1.1273e-03,2.4071e+00,-3.7121e-02,4.0287e-02,-1.5039e-05,5.6919e-02,9.8208e-04,-5.0158e-02,-3.3489e-04,3.9501e-03,-5.5351e-06,7.5872e-02,3.9643e-03
+32,7.3500e+00,UP_FORCE_RAMP,1.8071e-03,5.1479e-02,3.8632e-04,2.4049e+00,-3.7075e-02,4.0389e-02,-1.3833e-05,5.8389e-02,2.4110e-04,-5.2335e-02,-2.8928e-04,4.0524e-03,-4.3290e-06,7.8411e-02,4.0628e-03
+33,7.4000e+00,UP_FORCE_RAMP,1.8664e-03,5.1864e-02,1.3158e-03,2.4039e+00,-3.7137e-02,4.0416e-02,-1.3394e-05,5.8774e-02,1.1706e-03,-5.3357e-02,-3.5138e-04,4.0797e-03,-3.8906e-06,7.9389e-02,4.0948e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0fa630e3f46db1e225c1c800fac4dd1c2adf4111
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..673e52eee4cc3abf2d6d6b71909284928b8b2253
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/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
+4307,1792650044513952000,18584801000000,1792650044508781929,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0526,0.05260162800550461,0.6759490520678385,-0.004466624520659048,0.09081056664523873,0.9999999671072699,2.7594659157859924e-05,-0.00022713351694072424,6.983712328468854e-05,0.6761,-0.0045,0.091,1.0,0.0,0.0,0.0,-0.05369748232519683,0.008427116433753934,0.042937531188857125,0.0011475828967708983,0.004175752440246216,3.824227581823193e-05,0.2713313881794497,-0.3158677749195725,0.33559292006324865,-0.016919877494197898,-0.018987443441727262,-0.0007327133752515204,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.16534435635561592,-0.262814931146261,0.9478794783039666,0.3358308681354318,-0.5412079434853391,-0.20864483193943395,1.0073068357881203,0.042937531188857125,0.05942735748415373,0.0,0.0,0,0,0.0,0.0
+4445,1792650045664963980,18585952000000,1792650045660772392,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6759502482698625,-0.00447036439922747,0.09081229602047029,0.9999999675398462,2.561683779380983e-05,-0.00022543243088185298,6.990827927646074e-05,0.6761,-0.0045,0.09099978512683975,1.0,0.0,0.0,0.0,-0.10122537438034965,0.023213562152401057,0.06680730514985284,0.00256282278801921,0.007181839218907929,7.788434507025553e-05,0.22380349612429687,-0.3010813292009254,0.35946269402424436,-0.015504637602949586,-0.01598135666306555,-0.0006930713059994968,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.2202645595679798,-0.3524061632845475,0.9675692645622286,0.35655304255325226,-0.5420553427605317,-0.27171317837499975,1.0073068357881203,0.06680730514985284,0.03973757122589172,0.03973757122589172,0.07480518462832843,0,0,-3.935853985807764e-06,-9.999953229223308e-05
+4570,1792650046706882228,18586994000000,1792650046704772111,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.675948855538807,-0.0044652934335535225,0.09081074917573226,0.999999967131829,2.6643857557078587e-05,-0.00022760232693280996,6.831171964034023e-05,0.6761,-0.0045,0.09098856567139928,1.0,0.0,0.0,0.0,-0.12837698691119676,0.034442353934614534,0.08348456613339073,0.003062302436471596,0.008584956454043733,8.855197727832443e-05,0.19665188359344976,-0.2898525374187119,0.37613995500778225,-0.0150051579544972,-0.014578239427929745,-0.0006824036737914279,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.22434333498355483,-0.3790898742075816,0.8230628299250845,0.36855099373399003,-0.45782036911621415,-0.28663716266716016,1.0073068357881203,0.08348456613339073,0.1842440058630358,0.1842440058630358,0.14774518462832456,0,0,-1.7000405379248622e-05,9.999597957855428e-05
+4706,1792650047839877003,18588127000000,1792650047836772353,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6759503245542273,-0.004465562312799276,0.090801588477137,0.9999999676315345,2.7859295813279608e-05,-0.00022455449723450107,7.056154664183975e-05,0.6761,-0.0045,0.0909625321103767,1.0,0.0,0.0,0.0,-0.1394457538220913,0.03579389696505231,0.10560071039672825,0.003549158017750985,0.010202792540240209,-9.89453037034269e-05,0.18558311668255523,-0.28850099438827415,0.39825609927111977,-0.014518302373217811,-0.012960403341733269,-0.0008699009547731792,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.26929757323426246,-0.4218859478284083,0.8816516561295161,0.39470792700838514,-0.4904193346267626,-0.306758710600601,1.0073068357881203,0.10560071039672825,0.12565517965860418,0.12565517965860418,0.22705518462830954,0,0,-2.9969282731882825e-05,-9.841800571586674e-05
+4769,1792650048364944479,18588652000000,1792650048364772042,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.675990965520473,-0.004456006422102926,0.09081765188986453,0.9999999751172373,3.812954417180226e-05,-0.0001860329957900142,7.173738077822832e-05,0.6761,-0.0045,0.09094565259991813,1.0,0.0,0.0,0.0,-0.2470939644913434,0.15578202920097242,0.016133249270448513,0.012013241509760877,0.017649515275239107,-0.0006453764448940447,0.07793490601330309,-0.16851286215235403,0.30878863814484003,-0.00605421888120792,-0.005513680606734371,-0.001416332095963797,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.36183088781249245,-0.298451390694676,1.01580267998284,0.3657886466110352,-0.5813381914021607,-0.22247102736604826,1.0073068357881203,0.016133249270448513,-0.008495844194719604,-0.008495844194719604,0.26380518462830804,0,0,-3.8390284641558143e-05,-9.999999025923074e-05
+4889,1792650049364964403,18589652000000,1792650049360781381,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760146515270107,-0.004460276114608052,0.09080558442582642,0.9999999823917263,4.618209930091074e-05,-0.0001326024187730272,8.332601031336157e-05,0.6761,-0.0045,0.09088748570175632,1.0,0.0,0.0,0.0,-0.27706159370827876,0.1669593678280404,0.10690116005258343,0.013972952509003597,0.02012379988736478,0.00033433396820795513,0.047967276796367725,-0.15733552352528604,0.39955654892697495,-0.0040945078819652,-0.0030393959946086978,-0.00043662168286179716,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.574943268522493,-0.3427290156951202,0.8153920681834907,0.3779333490064192,-0.4146402378551307,-0.26215039475578233,1.0073068357881203,0.10690116005258343,0.19191476760462955,0.19191476760462955,0.33380518462832254,0,0,-6.849922727233804e-05,-9.973463307855752e-05
+5006,1792650050339998317,18590627000000,1792650050336781645,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.676016651350402,-0.004464504317618417,0.09075908970489822,0.9999999812071325,4.889786512665645e-05,-0.00013292272917102998,9.47055753139504e-05,0.6761,-0.0045,0.09082716095393562,1.0,0.0,0.0,0.0,-0.28193756930034,0.1571133921845655,0.24651102697399957,0.012903904725533068,0.020913042301284164,0.00024740856169506065,0.043091301204306515,-0.16718149916876096,0.5391664158483911,-0.0051635556654357284,-0.0022501535806893147,-0.0005235470893746916,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.6512962077868618,-0.3816075326173042,0.6612893758741052,0.3833595110394249,-0.29182041472450204,-0.2882760002718113,1.0073068357881203,0.24651102697399957,0.3460174599140151,0.3460174599140151,0.40205518462833667,0,0,-4.952960553220175e-05,6.935401838792927e-05
+5145,1792650051498915059,18591786000000,1792650051496772631,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760191249031273,-0.004464874758814764,0.09072556859438799,0.9999999803758374,5.52303274462477e-05,-0.0001320828438683,0.00010096990927603659,0.6761,-0.0045,0.09079977026748859,1.0,0.0,0.0,0.0,-0.2792934278033597,0.1524882832308681,0.3374714830633136,0.012877815011103006,0.021106322062300027,0.00017847097270000812,0.04573544270128681,-0.17180660812245835,0.6301268719377051,-0.0051896453798657895,-0.002056873819673451,-0.0005924846783697442,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.5710491535624667,-0.33580177386026416,0.5067020820759559,0.3629985580346927,-0.2088534922450425,-0.25372780231880576,1.0073068357881203,0.3374714830633136,0.5006047537121644,0.5006047537121644,0.48318518462835347,0,0,-7.4991746987218555e-06,7.574923938102884e-05
+5266,1792650052506990707,18592794000000,1792650052500782100,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760182448114792,-0.004466803233258621,0.09071480399485354,0.9999999803944006,5.449103165651783e-05,-0.00013035899945330206,0.00010339884698915492,0.6761,-0.0045,0.09078772552483641,1.0,0.0,0.0,0.0,-0.27734599857559517,0.15107998725603683,0.34733867027843596,0.012882549267623652,0.020930480693893055,0.0001678331625779261,0.04768287192905136,-0.17321490409728962,0.6399940591528275,-0.005184911123345144,-0.0022327151880804216,-0.0006031224884918262,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.5972144180316349,-0.4108210254281221,0.5358570787739589,0.3886276269198784,-0.22053094542553114,-0.3009333283368109,1.0073068357881203,0.34733867027843596,0.47144975701416136,0.47144975701416136,0.5537451846283681,0,0,-2.1492225939249938e-05,-9.999999025923074e-05
+5400,1792650053623988614,18593911000000,1792650053620773335,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760221209661272,-0.00446843271569587,0.09069731308160249,0.9999999548496324,0.00023674412621444845,-0.00012002820197017398,0.00010624992463310473,0.6761,-0.0045,0.0907506846553847,1.0,0.0,0.0,0.0,-0.29003067332585386,0.15245256557080536,0.3874451760356628,0.012870119486131305,0.021144205841970517,0.000136870297217995,0.034998197178792684,-0.1718423257825211,0.6801005649100543,-0.005197340904837492,-0.0020189900400029606,-0.0006340853538517573,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.6101473100433458,-0.3634862029753672,0.5191411525113928,0.3688893914248892,-0.2125274618576839,-0.2779264633930664,1.0073068357881203,0.3874451760356628,0.4881656832767275,0.4881656832767275,0.6319351846283843,0,0,-4.242826226050068e-05,-9.526093388967922e-05
+5500,1792650054457017275,18594744000000,1792650054456772171,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.67603144309613,-0.004451077206484283,0.09067301334932197,0.9999999775754004,0.00015577136028960452,-0.00010006889840027444,4.487273184787159e-05,0.6761,-0.0045,0.09070445288908766,1.0,0.0,0.0,0.0,-0.2697180990879666,0.18555884296339734,0.45897955488063286,0.015947614322610437,0.02000903141608645,0.00010013061385959654,0.05531077141667991,-0.13873604838992912,0.7516349437550244,-0.002119846068358359,-0.0031541644658870287,-0.0006708250372101557,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7009591452791084,-0.2523987445538782,0.42289351964862687,0.23461324240124104,-0.10494564007006071,-0.21290401119700492,1.0073068357881203,0.45897955488063286,0.5844133161394934,0.5844133161394934,0.6902451846283963,0,0,-6.78390193823006e-05,-6.306352080738835e-05
+5617,1792650055432019605,18595719000000,1792650055424781919,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760393700501138,-0.004456396922093131,0.09063117522300104,0.9999999771738937,0.00015972575783750075,-8.902065451225044e-05,6.048207746588757e-05,0.6761,-0.0045,0.090645131583365,1.0,0.0,0.0,0.0,-0.2981342078899976,0.1887206847856314,0.5491272031080623,0.0158749865470279,0.022015156329668613,5.047798086495962e-05,0.02689466261464888,-0.13557420656769506,0.8417825919824538,-0.0021924738439408962,-0.001148039552304866,-0.0007204776702047927,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7221135457157604,-0.249184693231962,0.23945559446412512,0.29615925431465,-0.00232774192835899,-0.19604799516780713,1.0073068357881203,0.5491272031080623,0.7678512413239952,0.7678512413239952,0.7584951846284105,0,0,-4.605422998929664e-05,9.999999025923074e-05
+5716,1792650056257001350,18596544000000,1792650056256782014,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760591375770091,-0.0044561925783785615,0.09061603884380137,0.9999999779352383,0.00016327822973109183,-6.510023854987158e-05,6.837079613169365e-05,0.6761,-0.0045,0.09061013872525166,1.0,0.0,0.0,0.0,-0.33091234380284074,0.23457974812331628,0.5793444107583916,0.01783361258308756,0.02500699085770539,9.680543673622243e-05,-0.005883473298194207,-0.08971514323001016,0.8719997996327832,-0.00023384780788123706,0.0018437949757319114,-0.0006741502143335299,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7969587709527228,-0.22257180354993084,0.1951050489983842,0.3153956461334572,0.03094758270631311,-0.17359911460536254,1.0073068357881203,0.5793444107583916,0.8122017867897361,0.8122017867897361,0.8162451846284224,0,0,-3.9757630913824e-05,9.996927871481204e-05
+5845,1792650057332039033,18597619000000,1792650057324783203,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760591001385299,-0.004455779019377926,0.09058143063510903,0.9999999776547298,0.00016235007369608796,-6.20670008234966e-05,7.69645696875958e-05,0.6761,-0.0045,0.09057193765920425,1.0,0.0,0.0,0.0,-0.3278058114491493,0.2267854404995266,0.6199498088627298,0.017824714203352462,0.024997394589342935,6.459689500259362e-05,-0.0027769409445027736,-0.09750945085379985,0.9126051977371212,-0.00024274618761633394,0.001834198707369456,-0.0007063587560671587,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7897027662403148,-0.32968042094249495,0.0984103458992335,0.3566864548968019,0.08949543852323162,-0.23129021129675145,1.0073068357881203,0.6199498088627298,0.9088964898888868,0.9088964898888868,0.891495184628438,0,0,-3.355851437428369e-05,9.768718753211942e-05
+5970,1792650058374124280,18598661000000,1792650058372772511,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760608546575755,-0.00445099041534726,0.09055201378982952,0.999999975692416,0.00017191208553998707,-5.888991852936537e-05,8.388232161288427e-05,0.6761,-0.0045,0.09053305465073196,1.0,0.0,0.0,0.0,-0.337157217294829,0.22228346774064217,0.6700986583418218,0.017815193755940265,0.02499063920918122,2.3008189060817383e-05,-0.0121283467901825,-0.10201142361268428,0.9627540472162133,-0.00025226663502853015,0.0018274433272077407,-0.0007479474620089349,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8177985226936136,-0.35185806249829765,0.010009480872693495,0.36356931318767094,0.1524528064320356,-0.24896313466279185,1.0073068357881203,0.6700986583418218,0.9972973549154268,0.9972973549154268,0.9644351846284531,0,0,-4.019394403834286e-05,9.997938174433613e-05
+6097,1792650059432049259,18599719000000,1792650059428782453,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760636647082209,-0.00446002361034666,0.09051711458420718,0.9999999756012315,0.000169383022283033,-5.414895693697015e-05,9.283147535344619e-05,0.6761,-0.0045,0.0904883354185209,1.0,0.0,0.0,0.0,-0.33727590535160673,0.22022394283299762,0.720248124397687,0.017790558794780705,0.02498035276154342,-1.7545538076766407e-05,-0.012247034846960204,-0.10407094852032883,1.0129035132720785,-0.00027690159618809273,0.0018171568795699409,-0.0007885011891465187,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7863131177235081,-0.3853238976791084,0.09424758522360402,0.3812404634349386,0.08670421296528201,-0.26623674728853597,1.0073068357881203,0.720248124397687,0.9130592505645163,0.9130592505645163,1.0384951846284685,0,0,-4.417271528697609e-05,-9.567121680842944e-05
+6214,1792650060407039455,18600694000000,1792650060400772147,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760659520396526,-0.004455796431970408,0.09048315329814076,0.9999999740906769,0.00017555036208011406,-4.921948705273787e-05,0.00010010505541579041,0.6761,-0.0045,0.09044327233024187,1.0,0.0,0.0,0.0,-0.3378171407997531,0.21235981209897042,0.7856159469523005,0.01774390094104957,0.024967613665145105,-7.004338249288978e-05,-0.012788270295106586,-0.11193507925435603,1.078271335826692,-0.00032355944991922504,0.0018044177831716272,-0.0008409990335626421,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8140993107946995,-0.3389055219919126,-0.06013884079172698,0.3628011985024336,0.19162159050181993,-0.2351566724420669,1.0073068357881203,0.7856159469523005,1.0674456765798472,1.0674456765798472,1.1067451846284826,0,0,-4.7377908128616635e-05,9.999999025923074e-05
+6330,1792650061374029769,18601661000000,1792650061372781946,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760689966756056,-0.004461464921190443,0.09044499178243959,0.9999999734521838,0.00017485515059280317,-4.4033909671508974e-05,0.00010965941281650429,0.6761,-0.0045,0.09039736428441772,1.0,0.0,0.0,0.0,-0.3470558105490604,0.21457950151432842,0.8403699499784048,0.017752760296318906,0.025968385478205475,-9.859975032192026e-05,-0.02202694004441386,-0.10971538983899802,1.1330253388527962,-0.0003147000946498899,0.0028051895962319987,-0.0008695554013916725,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.7608362531757882,-0.3723656927707622,-0.011496530791249291,0.37979091360906453,0.1407473937566936,-0.25583086004400785,1.0073068357881203,0.8403699499784048,1.0188033665793697,1.0188033665793697,1.1744351846284966,0,0,-4.946565405480741e-05,-9.999169134212166e-05
+6460,1792650062457103370,18602744000000,1792650062456782162,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760728829329632,-0.004465114896501874,0.09039734949086897,0.9999999719021015,0.0001777501799911779,-4.067550537564139e-05,0.00011995431211541611,0.6761,-0.0045,0.0903443033159551,1.0,0.0,0.0,0.0,-0.36024837895693973,0.19447926257235426,0.9068354168236101,0.016728498963250845,0.02597301258593778,5.327509622911027e-05,-0.035219508452293206,-0.1298156287809722,1.1994908056980016,-0.0013389614277179507,0.0028098167039643037,-0.000717680554840642,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8374583954335355,-0.358794019974864,-0.20836900351562906,0.37607053574632,0.28913820863447176,-0.247966860703678,1.0073068357881203,0.9068354168236101,1.2156758393037495,1.2156758393037495,1.2502451846285123,0,0,-4.890144792294026e-05,9.999999025923074e-05
+6544,1792650063157067857,18603444000000,1792650063156782416,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760815329225865,-0.0044453523547969016,0.09036637733072503,0.9999999939059668,5.6328582468721584e-05,-1.6098343697155826e-05,1.41019515029022e-05,0.6761,-0.0045,0.0903090243114001,1.0,0.0,0.0,0.0,-0.32599954163679007,0.2711534888874607,0.9431072489536965,0.02214857820230479,0.023172199757972127,0.0008595083437855568,-0.0009706711321435611,-0.053141402465865746,1.235762637828088,0.004081117811335993,9.003875998647368e-06,8.855269271580449e-05,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8291217200533828,-0.3439311690931871,-0.08589727118957428,0.26528106589299605,0.23425800523544785,-0.20888358183073152,1.0073068357881203,0.9431072489536965,1.0932041069776945,1.0932041069776945,1.2992451846285225,0,0,-5.6570438287965825e-05,-9.999999025923074e-05
+6652,1792650064057074678,18604344000000,1792650064052782461,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760790303657118,-0.004453293379175381,0.09031061262163724,0.999999993154989,6.221186310738465e-05,-1.9274799518862135e-05,2.9850504553373844e-05,0.6761,-0.0045,0.0902472101567221,1.0,0.0,0.0,0.0,-0.3300374414965567,0.25840144321301894,1.0028870931258853,0.020833982140913213,0.02384161897552429,0.0008011200692779525,-0.0050085709919102045,-0.06589344814030752,1.2955424820002768,0.002766521749944418,0.0006784230935508093,3.0164418208200222e-05,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8997292094936662,-0.393201733103415,-0.20370972586459385,0.3048252195154724,0.31968801384078366,-0.24401417710139703,1.0073068357881203,1.0028870931258853,1.2110165616527142,1.2110165616527142,1.3622451846285355,0,0,-7.281701163849708e-05,-9.125334795990198e-05
+6808,1792650065357128212,18605644000000,1792650065356781996,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760802767776728,-0.004459328085783119,0.0902312053342347,0.9999999907712012,8.024108611990775e-05,-2.166702460218494e-05,5.470256041289778e-05,0.6761,-0.0045,0.09016095560676288,1.0,0.0,0.0,0.0,-0.3298607260514606,0.2384684290107705,1.0832014556560667,0.01979611780941203,0.023846064944185192,0.0007250440455901991,-0.004831855546814105,-0.08582646234255595,1.3758568445304582,0.0017286574184432325,0.0006828690622117137,-4.591160547955314e-05,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8896968811186157,-0.39402273008746025,-0.4344496685799189,0.3727477334670493,0.45116946813027714,-0.2618221873806854,1.0073068357881203,1.0832014556560667,1.4417565043680391,1.4417565043680391,1.4532451846285543,0,0,-5.799978445156372e-05,9.999980984798924e-05
+6949,1792650066532113560,18606819000000,1792650066528773205,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760851956091408,-0.0044663779622422985,0.09017346086679452,0.9999999894639936,8.609790970692075e-05,-1.4572451160547039e-05,6.992618045106427e-05,0.6761,-0.0045,0.09009702556401013,1.0,0.0,0.0,0.0,-0.33316105880362196,0.22950669825645026,1.112826879897285,0.019788924534445078,0.023838989311783312,0.0007003792365984597,-0.008132188298975449,-0.09478819309687618,1.4054822687716764,0.0017214641434762827,0.0006757934298098356,-7.057641447129262e-05,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8709628413520997,-0.33875552693038463,-0.4367649628393598,0.40834157237806123,0.4376905781551171,-0.23722660582690064,1.0073068357881203,1.112826879897285,1.44407179862748,1.44407179862748,1.5354951846285714,0,0,-5.181062230216605e-05,-8.22834259325333e-05
+7062,1792650067474132646,18607761000000,1792650067472771999,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6760877111767906,-0.004464471848166492,0.09012459677812978,0.9999999892734388,8.554421657689809e-05,-1.0710637771198372e-05,7.39151934271995e-05,0.6761,-0.0045,0.09004468428169532,1.0,0.0,0.0,0.0,-0.33640700932648065,0.23024337011211565,1.1328919613657449,0.019784397497459853,0.023833266989912373,0.0006787031905126773,-0.011378138821834118,-0.09405152124121079,1.4255473502401363,0.0017169371064910588,0.0006700711079388953,-9.225246055707507e-05,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.863636058751281,-0.34988078378519805,-0.4272654074011919,0.43844633607318756,0.41922654033791157,-0.24754068991922965,1.0073068357881203,1.1328919613657449,1.4345722431893122,1.4345722431893122,1.601435184628585,0,0,-6.160600940083161e-05,-9.560984923074329e-05
+7180,1792650068457152918,18608744000000,1792650068452782583,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760951663904196,-0.004461637979373827,0.09006832906434142,0.9999999946420612,2.985952888318283e-05,5.838321704387631e-06,3.5115017584696196e-05,0.6761,-0.0045,0.08997505063062816,1.0,0.0,0.0,0.0,-0.32149684253889516,0.26737465248333514,1.1803189660702746,0.021848651618528045,0.02277249795633157,0.0006546166996236282,0.00353202796575138,-0.056920238869991334,1.472974354944666,0.0037811912275592502,-0.0003906979256419076,-0.00011633895144612405,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.960153785870205,-0.3446973045401089,-0.4953042922867704,0.4393807654122029,0.4889411040008617,-0.24437281520299348,1.0073068357881203,1.1803189660702746,1.5026111280748906,1.5026111280748906,1.6702451846285993,0,0,-7.51676277985488e-05,-9.999999025923074e-05
+7285,1792650069332063349,18609619000000,1792650069328781695,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.676095646009336,-0.00446407282991011,0.0899995203463833,0.9999999942247308,3.248277524004989e-05,2.4064018689371165e-06,4.3959996408296384e-05,0.6761,-0.0045,0.0899050250043136,1.0,0.0,0.0,0.0,-0.31302719081326846,0.25003558911706464,1.213678929830945,0.02082013120074797,0.022782414394696936,0.0006171719806775279,0.012001679691378064,-0.07425930223626183,1.5063343187053364,0.0027526708097791726,-0.0003807814872765416,-0.00015378367039222437,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9043307587850076,-0.41077529871853774,-0.5371699631378486,0.46451273524030373,0.49901855647090965,-0.2847987353239996,1.0073068357881203,1.213678929830945,1.544476798925969,1.544476798925969,1.731495184628612,0,0,-8.395634737009961e-05,-9.63307031628446e-05
+7398,1792650070274137756,18610561000000,1792650070268772457,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6760993923975998,-0.00446751856687372,0.08992607116624765,0.999999982324577,0.00015386924170080366,8.665081207284553e-06,5.516233288143445e-05,0.6761,-0.0045,0.08982081549986744,1.0,0.0,0.0,0.0,-0.3064536438521227,0.22938656761970055,1.2336858935886112,0.01982310060011161,0.02183402991083992,0.0005762159070573929,0.01857522665252382,-0.09490832373362589,1.5263412824630027,0.0017556402091428143,-0.00132916597113356,-0.00019473974401235946,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9398268657281754,-0.2217499700238732,-0.5781855900302175,0.3756358434099531,0.5408893689062225,-0.2197219463979368,1.0073068357881203,1.2336858935886112,1.5854924258183378,1.5854924258183378,1.7974351846286256,0,0,-9.756774009136849e-05,-9.966849154186547e-05
+7510,1792650071207092084,18611494000000,1792650071204772712,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761030550418387,-0.004471589601228475,0.08983310159232574,0.9999999827310254,0.00014506674516437897,1.4170333336280046e-05,6.881609001685408e-05,0.6761,-0.0045,0.0897227191280113,1.0,0.0,0.0,0.0,-0.31183993634084095,0.2292638518792074,1.2834726504507508,0.019782823756464268,0.022787400387998737,0.0005493877032237051,0.013188934163805545,-0.09503103947411908,1.5761280393251422,0.0017153633654954706,-0.00037579549397473953,-0.00022156794784604716,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9801014195700961,-0.4362021142699977,-0.7815640799417651,0.4613102172745876,0.674719021715477,-0.3287498502602348,1.0073068357881203,1.2834726504507508,1.7888709157298854,1.7888709157298854,1.8627451846286391,0,0,-0.00010998023220323982,9.999979597020143e-05
+7626,1792650072174233865,18612461000000,1792650072168781721,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761072889235707,-0.004478581852190378,0.08972937035342443,0.9999999864415176,0.00011525456341415416,2.0210278615788814e-05,6.976932992705933e-05,0.6761,-0.0045,0.08961115749754849,1.0,0.0,0.0,0.0,-0.31073812473928747,0.21485456368477354,1.3133435201305215,0.01878228776499057,0.02186923163780411,0.0004994182579722587,0.014290745765359072,-0.10944032766855291,1.605998909004913,0.0007148273740217731,-0.0012939642441693682,-0.00027153739309749355,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9090741513625893,-0.34723333763330333,-0.7907751077079684,0.4696811652109979,0.6558072156881899,-0.23722670467455048,1.0073068357881203,1.3133435201305215,1.7980819434960886,1.7980819434960886,1.9304351846286532,0,0,-0.00011729848696931532,9.091671446104783e-05
+7714,1792650072907128500,18613194000000,1792650072904772709,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761105800609762,-0.0044796482950175825,0.08964292510401231,0.9999999883430085,9.710065455055676e-05,2.4152194674318924e-05,6.888382756376534e-05,0.6761,-0.0045,0.0895193537032199,1.0,0.0,0.0,0.0,-0.2956745112321083,0.21496314176601405,1.3426245909997985,0.0187801654557156,0.021782047783707313,0.0004701562124514674,0.029354359272538186,-0.1093317495873124,1.63527997987419,0.0007127050647468017,-0.0013811480982661637,-0.0003007994386182849,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9342840453481761,-0.41246909674541016,-0.82419916422221,0.49471770881928917,0.685263254525074,-0.2781393961139831,1.0073068357881203,1.3426245909997985,1.8315060000103303,1.8315060000103303,1.9817451846286638,0,0,-0.00013105060052834438,8.717263996616537e-05
+7810,1792650073707115364,18613994000000,1792650073704781976,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.676114339999984,-0.004483697386681294,0.08953708089299657,0.9999999893712792,8.203354456673217e-05,2.9188500542281928e-05,7.154603382861357e-05,0.6761,-0.0045,0.08940977591263237,1.0,0.0,0.0,0.0,-0.2965343963775381,0.20379334517338582,1.37308832022271,0.01776169231913859,0.02143503400183428,0.00043468208956582994,0.028494474127108427,-0.12050154617994063,1.6657437090971015,-0.0003057680718302078,-0.0017281618801391965,-0.00033627356150392235,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.899915571055015,-0.41237027059809017,-0.8497596057118721,0.5011195319674069,0.6913413902953884,-0.27842097457816134,1.0073068357881203,1.37308832022271,1.8570664414999924,1.8570664414999924,2.037745184628675,0,0,-0.00014342469713682503,9.524272623207537e-05
+7906,1792650074507109476,18614794000000,1792650074500781925,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761179619120271,-0.004488462943462867,0.08942088099089052,0.9999999899524393,7.346532643912218e-05,3.456044487873188e-05,7.033070052558502e-05,0.6761,-0.0045,0.08928942699841813,1.0,0.0,0.0,0.0,-0.2795402136014078,0.2039564297397962,1.4132868577066273,0.017771524872488006,0.020772675359969336,0.0003939812794298999,0.04548865690323874,-0.12033846161353026,1.7059422465810188,-0.00029593551848079047,-0.0023905205220041414,-0.0003769743716398524,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8945337576009209,-0.4742167396457086,-0.8448912742381659,0.5305928517707368,0.6873729070820553,-0.31730933458997546,1.0073068357881203,1.4132868577066273,1.8521981100262863,1.8521981100262863,2.0937451846286868,0,0,-0.00015489167448232,-9.94394386540975e-05
+7980,1792650075124191202,18615411000000,1792650075116782304,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761183631416064,-0.004483879436838995,0.08932130316168671,0.9999999911364583,6.820375380536463e-05,3.4162235231576584e-05,5.7889010185305474e-05,0.6761,-0.0045,0.08919181146111214,1.0,0.0,0.0,0.0,-0.2631766958159279,0.19265684191792942,1.4330968474111292,0.016779774207556726,0.01956821475831058,0.0003495380885566374,0.06185217468871862,-0.13163804943539703,1.7257522362855207,-0.0012876861834120689,-0.0035949811236628965,-0.0004214175625131149,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8661811481734095,-0.4723834567548163,-0.8444658022664369,0.5513496930026534,0.6802250601225545,-0.31383693169710486,1.0073068357881203,1.4330968474111292,1.8517726380545572,1.8517726380545572,2.1369351846286957,0,0,-0.00016088177718784203,-9.921896223919475e-05
+8064,1792650075824215050,18616111000000,1792650075820772642,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761164924978228,-0.004488344697866289,0.08919850947069827,0.9999999905269109,7.192000640012204e-05,2.902571810329606e-05,6.613670031886569e-05,0.6761,-0.0045,0.08907513612132774,1.0,0.0,0.0,0.0,-0.26260807509890133,0.1728487967008954,1.4714780414082789,0.015768392328421716,0.018908717678116596,0.00029666454094353614,0.06242079540574519,-0.15144609465243106,1.7641334302826703,-0.0022990680625470795,-0.004254478203856881,-0.00047429111012621615,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9057353299696608,-0.3136570567783953,-0.9486678701196994,0.5085638578957375,0.7591250783997097,-0.20520289946871365,1.0073068357881203,1.4714780414082789,1.9559747059078196,1.9559747059078196,2.185935184628706,0,0,-0.0001717260901159826,6.198553756243114e-05
+8148,1792650076524155724,18616811000000,1792650076520772899,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761200188417974,-0.0044919210041797,0.08907895948157564,0.9999999885861912,8.248665367450005e-05,3.4199513797590115e-05,7.935254898529201e-05,0.6761,-0.0045,0.088950558247499,1.0,0.0,0.0,0.0,-0.2553992945907217,0.1720204811206186,1.4915401049875952,0.015767286447530744,0.018786086173935117,0.00027911295609084753,0.06962957591392484,-0.15227441023270785,1.7841954938619866,-0.002300173943438053,-0.00437710970803836,-0.0004918426949789048,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9077207984255536,-0.3986341169839701,-0.9585006677425243,0.5407634294334567,0.762524143263044,-0.26033568295441684,1.0073068357881203,1.4915401049875952,1.9658075035306446,1.9658075035306446,2.234935184628716,0,0,-0.0001859782885523317,-2.4354426427457667e-05
+8226,1792650077174229694,18617461000000,1792650077172772335,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761208981707639,-0.004492160538499834,0.08895603281539305,0.999999989078189,7.678142204625615e-05,3.565932199684056e-05,7.822731069670515e-05,0.6761,-0.0045,0.08882512038976313,1.0,0.0,0.0,0.0,-0.2528758659557728,0.17272189002171404,1.51303221392475,0.015791651719586366,0.017751163007675153,0.0002464614194699974,0.0721530045488737,-0.15157300133161242,1.8056876027991415,-0.0022758086713824286,-0.005412032874298325,-0.0005244942315997549,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9017267626406333,-0.34033142047370907,-0.9174258820550811,0.529601109547585,0.7359898567886528,-0.2270424584095067,1.0073068357881203,1.51303221392475,1.9247327178432014,1.9247327178432014,2.2804351846287254,0,0,-0.00019928711701286262,-9.922968976917019e-05
+8294,1792650077740148686,18618027000000,1792650077736773044,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761201275422821,-0.004488346003402473,0.08884003865362455,0.9999999903069536,7.116088976582924e-05,3.463755044246211e-05,6.756718800245254e-05,0.6761,-0.0045,0.08870843976912174,1.0,0.0,0.0,0.0,-0.24391922451469866,0.18089420326379904,1.522924112393653,0.015790795763467973,0.017747636344005287,0.00023955997551985075,0.08110964598994784,-0.1434006880895274,1.8155795012680445,-0.0022766646275008246,-0.005415559537968191,-0.0005313956755499015,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9012614769000655,-0.4239820134790149,-0.9554389296678485,0.5695685491668941,0.7562822277140853,-0.28189669946226587,1.0073068357881203,1.522924112393653,1.9627457654559688,1.9627457654559688,2.3200551846287336,0,0,-0.00021370354765934264,-9.984161694476796e-05
+8365,1792650078332197909,18618619000000,1792650078324772891,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761211961799327,-0.004486109102821644,0.08870817544153936,0.9999999897469776,7.562365012948001e-05,3.487073717035749e-05,7.08096346369437e-05,0.6761,-0.0045,0.08857991866004805,1.0,0.0,0.0,0.0,-0.2439398568893364,0.1803842350732065,1.5568560126286826,0.015783927983158478,0.01774061133435751,0.0002121411368382445,0.08108901361531011,-0.14391065628011995,1.849511401503074,-0.002283532407810317,-0.005422584547615969,-0.0005588145142315078,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9062954860456421,-0.46809717735052575,-1.0365729864533288,0.5964918634137732,0.8075718295215657,-0.3088011845291392,1.0073068357881203,1.5568560126286826,2.043879822241449,2.043879822241449,2.361495184628742,0,0,-0.00021657735952837343,-9.740769260256025e-12
+8439,1792650078949249259,18619236000000,1792650078944782673,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761241550214038,-0.004491587368941901,0.0885760383183,0.9999999880978047,8.454751536344551e-05,3.8922621463503296e-05,8.114186422181885e-05,0.6761,-0.0045,0.08844188401330932,1.0,0.0,0.0,0.0,-0.23476237807785866,0.1845703419020128,1.5631967620685279,0.01578349170490587,0.017738438500717525,0.00020810793511418858,0.09026649242678786,-0.13972454945131366,1.8558521509429193,-0.0022839686860629273,-0.005424757381255951,-0.0005628477159555637,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9139345440270408,-0.4244962409102442,-1.0591713972842254,0.5913893651223392,0.8216670303917779,-0.2825970019814122,1.0073068357881203,1.5631967620685279,2.0664782330723455,2.0664782330723455,2.404685184628751,0,0,-0.00023071758291487993,-6.088164822832371e-05
+8502,1792650079474244132,18619761000000,1792650079472782625,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761243417503114,-0.004492701797754985,0.08844973656983593,0.9999999877563058,8.53261709105617e-05,3.7621218256060636e-05,8.505492926489667e-05,0.6761,-0.0045,0.08831725393124613,1.0,0.0,0.0,0.0,-0.24206366603251256,0.17310432374211748,1.6025386309431418,0.015774947904391733,0.017730875578534595,0.00017530523215081913,0.08296520447213396,-0.15119056761120897,1.8951940198175332,-0.002292512486577062,-0.005432320303438884,-0.0005956504189189332,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9054780646761067,-0.3745059998268972,-1.108210710219188,0.5850324368887294,0.848904341457963,-0.24818487831220268,1.0073068357881203,1.6025386309431418,2.1155175460073083,2.1155175460073083,2.4414351846287587,0,0,-0.00024072713235703957,9.711257772793686e-05
+8574,1792650080074253045,18620361000000,1792650080068772899,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761246936400502,-0.0044956391284319205,0.08830637215124888,0.9999999877116063,8.384831445023197e-05,3.77543024510136e-05,8.696967661285299e-05,0.6761,-0.0045,0.08816942905678708,1.0,0.0,0.0,0.0,-0.23489406493030032,0.17608101161544654,1.6135838596577186,0.015772750310057385,0.01772820932219231,0.00016740652666321352,0.0901348055743462,-0.14821387973787992,1.90623924853211,-0.002294710080911412,-0.00543498655978117,-0.0006035491244065388,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9470420572197601,-0.42560015293723336,-1.0646810709908203,0.6211769408377396,0.8232497202200726,-0.278446756534662,1.0073068357881203,1.6135838596577186,2.071987906778941,2.071987906778941,2.4834351846287674,0,0,-0.0002496633962304192,-9.992575797224674e-05
+8640,1792650080624494382,18620911000000,1792650080616773083,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.676124835456406,-0.004496655373662164,0.08816724261936543,0.9999999864438679,9.409519076330026e-05,3.719012002458357e-05,9.120372022408014e-05,0.6761,-0.0045,0.08803060998791674,1.0,0.0,0.0,0.0,-0.23489820865849934,0.16609487332883094,1.6081275555414205,0.015772922300810732,0.01773006557610231,0.0001720665070905293,0.09013066184614718,-0.15820001802449551,1.900782944415812,-0.002294538090158063,-0.0054331303058711665,-0.000598889143979223,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.8993590494193622,-0.3728045756689722,-1.1235645832031058,0.6158008151544939,0.8416765683303656,-0.24281393261318793,1.0073068357881203,1.6081275555414205,2.130871418991226,2.130871418991226,2.5219351846287754,0,0,-0.0002565967510651231,-9.071371018099512e-05
+8700,1792650081124226434,18621411000000,1792650081116782379,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761282549794192,-0.00450519825612416,0.08804490419023973,0.9999999866580507,8.711758599343018e-05,4.170788616106608e-05,9.379627609673396e-05,0.6761,-0.0045,0.08790120340747584,1.0,0.0,0.0,0.0,-0.2347165982167913,0.16113013913502758,1.633508065209669,0.015794184059020493,0.016729844750309857,0.00013592306379627277,0.0903122722878552,-0.16316475221829888,1.9261634540840604,-0.002273276331948304,-0.00643335113166362,-0.0006350325872734795,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9030266427897796,-0.37499023767309014,-1.1527113226426104,0.620852273736582,0.8559129530993611,-0.2468141806500298,1.0073068357881203,1.633508065209669,2.1600181584307308,2.1600181584307308,2.5569351846287827,0,0,-0.000263730431364377,-9.999999025923074e-05
+8763,1792650081649234828,18621936000000,1792650081648782412,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761229766720532,-0.00450068717189425,0.08789743457365774,0.9999999864395263,9.35908939564682e-05,3.0591857023882456e-05,9.417374682328722e-05,0.6761,-0.0045,0.08776066618566997,1.0,0.0,0.0,0.0,-0.22526715545384282,0.15547572169446858,1.65055726263655,0.015143821382188491,0.01672308420974627,0.0001140203810824816,0.0997617150508037,-0.16881916965885788,1.9432126515109414,-0.0029236390087803046,-0.006440111672227206,-0.0006569352699872707,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9177620527311202,-0.41367346037968816,-1.1915033807961,0.6499599770169086,0.8835553578496198,-0.2675117162505351,1.0073068357881203,1.65055726263655,2.1988102165842203,2.1988102165842203,2.5936851846287903,0,0,-0.0002728284670705748,-3.6202126874992e-05
+8822,1792650082140173113,18622427000000,1792650082136782333,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761227565464077,-0.00449959495609225,0.08776294365844567,0.9999999857897323,9.752077872238408e-05,2.941531693338113e-05,9.740552645888375e-05,0.6761,-0.0045,0.08762586994499774,1.0,0.0,0.0,0.0,-0.21569562725446367,0.151330975871928,1.6595807622544785,0.014797820045128378,0.016324756416458044,9.544867100354628e-05,0.10933324325018283,-0.17296391548139844,1.95223615112887,-0.0032696403458404174,-0.006838439465515434,-0.000675506980066206,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.926632394403891,-0.40459880161642997,-1.2239462465133648,0.6581466972297034,0.9027982118150216,-0.2632868666034186,1.0073068357881203,1.6595807622544785,2.2312530823014853,2.2312530823014853,2.6280551846287974,0,0,-0.0002772073326103059,-5.597363826389135e-06
+8883,1792650082649251039,18622936000000,1792650082648782222,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761239974633625,-0.0045040847193002975,0.08762632562192765,0.999999985403887,9.74429039555056e-05,3.462306807481697e-05,9.970563493949028e-05,0.6761,-0.0045,0.08748250262430939,1.0,0.0,0.0,0.0,-0.21993954080248057,0.16787977541137347,1.653220348648347,0.0157913173292554,0.01670683855492161,0.00012148251602607594,0.10508932970216596,-0.15641511594195298,1.9458757375227385,-0.0022761430617133957,-0.006456357327051868,-0.0006494731350436763,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9500821620980381,-0.340178179081672,-1.2261576481614285,0.6530851745198469,0.9019951226347763,-0.2205368647761302,1.0073068357881203,1.653220348648347,2.2334644839495486,2.2334644839495486,2.6636851846288048,0,0,-0.00028801810833120465,-9.999999025923074e-05
+8940,1792650083124236734,18623411000000,1792650083120772285,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761227822755429,-0.004506753959683148,0.08748817569732979,0.999999984797081,0.00010048870964664214,3.336787968125155e-05,0.0001031373166363544,0.6761,-0.0045,0.08734315381885288,1.0,0.0,0.0,0.0,-0.21609262961151388,0.15948205185378825,1.667619659158185,0.01578783893314151,0.01582732317058847,9.637438620980902e-05,0.10893624089313265,-0.1648128394995382,1.9602750480325766,-0.0022796214578272847,-0.007335872711385006,-0.0006745812648599433,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9351804566074472,-0.368720394755433,-1.1819648996394838,0.663924094081966,0.8658392609737011,-0.2418543327154797,1.0073068357881203,1.667619659158185,2.189271735427604,2.189271735427604,2.6969351846288117,0,0,-0.00029901051365052576,-9.874793624320972e-05
+8998,1792650083607189750,18623894000000,1792650083604782161,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761243249269324,-0.0045098914549322735,0.08734658051220197,0.9999999851176705,9.325607113733755e-05,3.5234569100607854e-05,0.00010615721186720265,0.6761,-0.0045,0.08719516955843187,1.0,0.0,0.0,0.0,-0.21639435986123223,0.1632409667749315,1.677098102383926,0.01577511952639481,0.016717198752750125,9.47252403406e-05,0.10863451064341428,-0.16105392457839496,1.9697534912583174,-0.002292340864573985,-0.0064459971292233536,-0.0006762304107291523,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9625373301735642,-0.4765070105347373,-1.2181811117468597,0.7123279422676304,0.8910275686545597,-0.31093844373643015,1.0073068357881203,1.677098102383926,2.22548794753498,2.22548794753498,2.7307451846288187,0,0,-0.0003128248695042065,-9.999999025923074e-05
+9054,1792650084074248661,18624361000000,1792650084072772597,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761257278537578,-0.004509542141964168,0.08719992094216678,0.9999999845258234,9.523883335895351e-05,3.9729785386434665e-05,0.00010836201359401051,0.6761,-0.0045,0.0870477424350218,1.0,0.0,0.0,0.0,-0.22535177285987662,0.16132021415497727,1.7013283023210315,0.015126994245870868,0.01699741481566744,7.030255909102386e-05,0.09967709764476991,-0.16297467719834918,1.993983691195423,-0.0029404661450979272,-0.00616578106630604,-0.0007006530919787284,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9775386856691296,-0.45869119318366364,-1.3401687232287316,0.7224998013025584,0.964323743497502,-0.29429434611396543,1.0073068357881203,1.7013283023210315,2.3474755590168517,2.3474755590168517,2.7634351846288254,0,0,-0.00031897734587418993,6.656917658632295e-05
+9106,1792650084507194901,18624794000000,1792650084504772715,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761246011652695,-0.004510386007979117,0.08706823968563296,0.9999999840668037,0.00010434364700906076,3.1916309956998785e-05,0.00010678487402479748,0.6761,-0.0045,0.08690850899723185,1.0,0.0,0.0,0.0,-0.22510962263145884,0.15793095458956546,1.6871921800761098,0.014764147197459486,0.016707420700970827,8.846126721811251e-05,0.09991924787318769,-0.166363936763761,1.9798475689505013,-0.00330331319350931,-0.006455775181002651,-0.0006824943838516398,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9137769299682583,-0.4401605289673781,-1.19672501586209,0.7179438021970886,0.85526558099455,-0.282726793591877,1.0073068357881203,1.6871921800761098,2.2040318516502104,2.2040318516502104,2.7937451846288317,0,0,-0.0003273203433809809,-9.99999347480795e-05
+9161,1792650084965274747,18625252000000,1792650084964781984,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761300965663876,-0.004511269453696202,0.08692109008343112,0.9999999833951949,0.00010413491597363136,4.4310552571402935e-05,0.00010883459294466844,0.6761,-0.0045,0.08675591538587452,1.0,0.0,0.0,0.0,-0.22596168553241713,0.16969825666067798,1.7065681213340993,0.015762778596003738,0.01738754381522184,8.738040866909343e-05,0.09906718497222937,-0.15459663469264848,1.9992235102084908,-0.0023046817949650585,-0.00577565206675164,-0.0006835752424006589,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9685441566812938,-0.45000833694775266,-1.22429758545391,0.7327018759594998,0.8832845697498065,-0.2880601646404418,1.0073068357881203,1.7065681213340993,2.2316044212420305,2.2316044212420305,2.8258051846288383,0,0,-0.0003401052970045378,-9.999999025923074e-05
+9208,1792650085357252264,18625644000000,1792650085352772983,DOWN_FORCE_DETACH,10,0.0526,0.05260162800550461,0.6761268896361889,-0.004518332239929533,0.08678355819888198,0.9999999843832561,9.248747538216108e-05,3.950505262862248e-05,0.00011207930098181493,0.6761,-0.0045,0.08662054951997429,1.0,0.0,0.0,0.0,-0.2310973826219822,0.1638661838929592,1.723383550666638,0.014730531430900211,0.017724147177827713,6.765995411397194e-05,0.09393148788266431,-0.16042870746036725,2.0160389395410294,-0.003336928960068585,-0.005439048704145766,-0.0007032956969557804,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9585326357574425,-0.37749518735271537,-1.27256894832571,0.718891495047724,0.91799624015931,-0.24119127220216585,1.0073068357881203,1.723383550666638,2.2798757841138304,2.2798757841138304,2.853245184628844,0,0,-0.00034955016036816575,-9.986061563627686e-05
+9259,1792650085782297359,18626069000000,1792650085780772943,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761276655860657,-0.004525796898375715,0.08663676214391974,0.9999999853914842,7.573979674576955e-05,4.1492916541186414e-05,0.00011489872565453502,0.6761,-0.0045,0.08646953073101826,1.0,0.0,0.0,0.0,-0.22538202236385876,0.15618807327866732,1.7238440190057462,0.01472936974559228,0.017724575904525544,6.81052300468629e-05,0.09964684814078775,-0.16810681807465913,2.0164994078801377,-0.0033380906453765163,-0.005438619977447933,-0.0007028504210228894,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9962366427531658,-0.4499410945351469,-1.3400247188755359,0.7461272340129259,0.9726126500782829,-0.29005768346616456,1.0073068357881203,1.7238440190057462,2.347331554663656,2.347331554663656,2.88299518462885,0,0,-0.0003612847794501591,-9.13437617474699e-05
+9310,1792650086207227033,18626494000000,1792650086200782201,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761326501502788,-0.004522389499572099,0.08649005796745615,0.9999999850271688,7.253625833883196e-05,5.3105843563523166e-05,0.00011535504881967462,0.6761,-0.0045,0.08631420207611379,1.0,0.0,0.0,0.0,-0.2434850606184641,0.1694638958679414,1.732365383871852,0.015721620956688657,0.018716721129120466,8.610842329202166e-05,0.08154380988618244,-0.15483099548538506,2.0250207727462435,-0.002345839434280138,-0.004446474752853011,-0.0006848472277777306,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,1.0805386911831516,-0.4793448694489083,-1.331617789067063,0.7565602314331168,0.9881682170038957,-0.3096612134012832,1.0073068357881203,1.732365383871852,2.338924624855183,2.338924624855183,2.9127451846288563,0,0,-0.00037162185031611026,-9.975488077096912e-05
+9358,1792650086607209861,18626894000000,1792650086604772867,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761331868708761,-0.004530149282662731,0.08634262319126436,0.9999999851486642,6.232452534626461e-05,5.4551416893171385e-05,0.00011952126332560916,0.6761,-0.0045,0.08616287577579713,1.0,0.0,0.0,0.0,-0.2446679708284305,0.1594794971516312,1.743909657312736,0.01571659954226134,0.018699068275271454,7.6657185591554e-05,0.08036089967621603,-0.16481539420169525,2.0365650461871274,-0.0023508608487074556,-0.004464127606702023,-0.0006942984654781983,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,1.0536303805591511,-0.5200875382756596,-1.2946322814808062,0.7761490002532845,0.9618628423900074,-0.3341186824146565,1.0073068357881203,1.743909657312736,2.3019391172689265,2.3019391172689265,2.940745184628862,0,0,-0.0003854705715136949,-9.999503588898335e-05
+9406,1792650087007240821,18627294000000,1792650087000772675,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761237654483476,-0.004532925744203357,0.0861817618985026,0.9999999848917697,6.45987570742948e-05,4.363752771856631e-05,0.00012482824790247836,0.6761,-0.0045,0.0860063381439833,1.0,0.0,0.0,0.0,-0.22864227648623148,0.13658711301192325,1.7767507458515837,0.013696906493941003,0.01773355239514277,1.30153117548574e-05,0.09638659401841503,-0.1877077783414032,2.069406134725975,-0.004370553897027793,-0.005429643486830708,-0.0007579403393148949,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9819814209981115,-0.5013798741150638,-1.2374468094180207,0.7778306480466445,0.9129143292662633,-0.3217602661813,1.0073068357881203,1.7767507458515837,2.244753645206141,2.244753645206141,2.968745184628868,0,0,-0.00039871105314145803,-9.999922698090131e-05
+9448,1792650087357286728,18627644000000,1792650087352772722,DOWN_FORCE_DETACH,10,0.0526,0.05260228365659714,0.6761143068428982,-0.0045380360044468045,0.08603419246884587,0.9999999834608772,7.642391198838915e-05,3.515803324896442e-05,0.00013207728141685803,0.6761,-0.0045,0.08586520587502289,1.0,0.0,0.0,0.0,-0.22092435816521114,0.1314857555735869,1.7919725782590306,0.012673095905098686,0.017749236350658937,-1.0302767415900477e-05,0.10410451233943538,-0.19280913577973954,2.084627967133422,-0.005394364485870111,-0.00541395953131454,-0.0007812584184856528,0.3250288705046465,-0.32429489135332645,0.2926553888743915,-0.018067460390968796,-0.023163195881973478,-0.0007709556510697523,1,0.9839805104065156,-0.4199815122388435,-1.2783522817246047,0.7602439194811134,0.9481477852733973,-0.2665494874954741,1.0073068357881203,1.7919725782590306,2.2856591175127248,2.2856591175127248,2.993245184628873,0,0,-0.0004082133768193704,-9.999597957855428e-05
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cec23dd88c0885277cb9679cf56b590d90bba6ec
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2f31e6fe39a5894f01005baec33170c94e134f94
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792650044517849923,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.034950547e-08,1.263331972e-09,3.614258892e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017255472e-01,1.829494028e-06,8.297807356e-01
+1,7.333333333e-01,DOWN_FORCE_DETACH,1792650045667467712,2.533155906e-07,2.176531486e-06,-1.128930632e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.054040794e-07,4.149856944e-08,1.431572304e-07,7.015381248e-01,3.727492807e-06,8.407398123e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017259423e-01,1.869729265e-06,8.297808751e-01
+2,1.433333333e+00,DOWN_FORCE_DETACH,1792650046707881530,-1.297712635e-07,4.199400433e-06,-1.950767183e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.881595521e-07,6.642429656e-08,2.488089165e-07,7.015377417e-01,5.750361754e-06,8.407389904e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262250e-01,1.894654992e-06,8.297809808e-01
+3,2.183333333e+00,DOWN_FORCE_DETACH,1792650047837384102,1.468165066e-06,6.370566187e-06,-1.118909026e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.156366528e-07,8.582538947e-08,3.380872184e-07,7.015393396e-01,7.921527508e-06,8.407297521e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017264525e-01,1.914056085e-06,8.297810701e-01
+4,2.533333333e+00,DOWN_FORCE_DETACH,1792650048367671052,4.172909331e-05,1.132234487e-05,5.349645573e-06,3.841385781e-05,1.085114417e-05,4.359238697e-06,3.989253235e-05,1.077756472e-05,4.679154939e-06,7.015796006e-01,1.287330619e-05,8.407462908e-01,7.015762853e-01,1.240210549e-05,8.407453004e-01,7.017654294e-01,1.260579541e-05,8.297854111e-01
+5,3.200000000e+00,DOWN_FORCE_DETACH,1792650049367529922,6.791010001e-05,1.057877832e-05,-4.487192273e-06,5.772488883e-05,1.120442479e-05,1.196613512e-05,5.984724356e-05,1.117108219e-05,1.224744971e-05,7.016057816e-01,1.212973964e-05,8.407364540e-01,7.015955964e-01,1.275538611e-05,8.407529073e-01,7.017853841e-01,1.299931289e-05,8.297929794e-01
+6,3.833333333e+00,DOWN_FORCE_DETACH,1792650050339326845,6.825143160e-05,8.287833731e-06,-5.234449894e-05,6.870807899e-05,4.477777392e-06,-5.191534530e-05,7.105410150e-05,4.544200516e-06,-5.067574668e-05,7.016061229e-01,9.838795052e-06,8.406885967e-01,7.016065796e-01,6.028738713e-06,8.406890258e-01,7.017965910e-01,6.372431212e-06,8.297300562e-01
+7,4.600000000e+00,DOWN_FORCE_DETACH,1792650051500061389,7.087038495e-05,7.277530847e-06,-8.540134593e-05,6.924482718e-05,1.062830663e-05,-7.183256132e-05,7.181533028e-05,1.062322800e-05,-7.055183520e-05,7.016087419e-01,8.828492168e-06,8.406555398e-01,7.016071163e-01,1.217926795e-05,8.406691086e-01,7.017973522e-01,1.245145869e-05,8.297101801e-01
+8,5.283333333e+00,DOWN_FORCE_DETACH,1792650052505944601,7.207217823e-05,5.517707290e-06,-9.135397301e-05,6.989446265e-05,5.423875777e-06,-9.210752686e-05,7.262559527e-05,5.506998148e-06,-9.072168031e-05,7.016099437e-01,7.068668611e-06,8.406495872e-01,7.016077659e-01,6.974837098e-06,8.406488337e-01,7.017981625e-01,7.335228844e-06,8.296900103e-01
+9,5.983333333e+00,DOWN_FORCE_DETACH,1792650053624519689,7.525192450e-05,5.857472656e-06,-1.133626298e-04,7.577843109e-05,7.691971083e-06,-1.117608571e-04,7.863701868e-05,7.767339128e-06,-1.102635445e-04,7.016131234e-01,7.408433977e-06,8.406275786e-01,7.016136499e-01,9.242932405e-06,8.406291803e-01,7.018041739e-01,9.595569824e-06,8.296704684e-01
+10,6.550000000e+00,DOWN_FORCE_DETACH,1792650054456006105,8.254345931e-05,2.214141077e-05,-1.389581861e-04,7.756007396e-05,2.228354841e-05,-1.257084342e-04,8.052040295e-05,2.219114445e-05,-1.242526972e-04,7.016204149e-01,2.369237209e-05,8.406019830e-01,7.016154316e-01,2.383450973e-05,8.406152328e-01,7.018060573e-01,2.401937514e-05,8.296564793e-01
+11,7.200000000e+00,DOWN_FORCE_DETACH,1792650055435806917,9.168672164e-05,1.757459466e-05,-1.794379421e-04,8.428484624e-05,1.763425710e-05,-1.671862386e-04,8.732179497e-05,1.760846039e-05,-1.655121805e-04,7.016295582e-01,1.912555598e-05,8.405615032e-01,7.016221563e-01,1.918521842e-05,8.405737549e-01,7.018128587e-01,1.943669108e-05,8.296152198e-01
+12,7.750000000e+00,DOWN_FORCE_DETACH,1792650056255469263,1.100575817e-04,1.734174254e-05,-1.961454410e-04,1.074042030e-04,1.794784403e-05,-1.933153185e-04,1.108363486e-04,1.790592719e-05,-1.914891105e-04,7.016479291e-01,1.889270386e-05,8.405447957e-01,7.016452757e-01,1.949880535e-05,8.405476259e-01,7.018363732e-01,1.973415788e-05,8.295892429e-01
+13,8.466666667e+00,DOWN_FORCE_DETACH,1792650057335662464,1.107889292e-04,1.470922564e-05,-2.306518971e-04,1.097268885e-04,1.273054406e-05,-2.128667173e-04,1.132646616e-04,1.276340357e-05,-2.112699623e-04,7.016486604e-01,1.626018696e-05,8.405102893e-01,7.016475984e-01,1.428150538e-05,8.405280745e-01,7.018388015e-01,1.459163426e-05,8.295694620e-01
+14,9.166666667e+00,DOWN_FORCE_DETACH,1792650058374551449,1.147827353e-04,1.592306541e-05,-2.556548455e-04,1.139320623e-04,2.150560075e-05,-2.535216722e-04,1.176308255e-04,2.145246327e-05,-2.517483305e-04,7.016526542e-01,1.747402673e-05,8.404852863e-01,7.016518035e-01,2.305656207e-05,8.404874195e-01,7.018431677e-01,2.328069396e-05,8.295289836e-01
+15,9.866666667e+00,DOWN_FORCE_DETACH,1792650059435727394,1.131385930e-04,1.564478208e-05,-2.954368828e-04,1.130494992e-04,1.566112897e-05,-2.952736809e-04,1.166853785e-04,1.571634580e-05,-2.933197183e-04,7.016510101e-01,1.719574340e-05,8.404455043e-01,7.016509210e-01,1.721209029e-05,8.404456675e-01,7.018422223e-01,1.754457649e-05,8.294874123e-01
+16,1.051666667e+01,DOWN_FORCE_DETACH,1792650060406752461,1.173236191e-04,1.506312989e-05,-3.313634636e-04,1.136726143e-04,1.370883822e-05,-3.176959258e-04,1.173317719e-04,1.377225310e-05,-3.159205779e-04,7.016551951e-01,1.661409121e-05,8.404095777e-01,7.016515441e-01,1.525979955e-05,8.404232453e-01,7.018428686e-01,1.560048380e-05,8.294648114e-01
+17,1.116666667e+01,DOWN_FORCE_DETACH,1792650061376041649,1.203656124e-04,1.408655939e-05,-3.683466480e-04,1.175655554e-04,1.304223076e-05,-3.581733555e-04,1.212316464e-04,1.310621902e-05,-3.563639194e-04,7.016582371e-01,1.563752072e-05,8.403725945e-01,7.016554370e-01,1.459319208e-05,8.403827678e-01,7.018467685e-01,1.493444972e-05,8.294243681e-01
+18,1.188333333e+01,DOWN_FORCE_DETACH,1792650062456118510,1.242398564e-04,6.717830706e-06,-4.145575128e-04,1.224861530e-04,9.430140115e-06,-3.998981048e-04,1.261834813e-04,9.579023551e-06,-3.979858195e-04,7.016621113e-01,8.268792028e-06,8.403263837e-01,7.016603576e-01,1.098110144e-05,8.403410431e-01,7.018517204e-01,1.140725425e-05,8.293827462e-01
+19,1.235000000e+01,DOWN_FORCE_DETACH,1792650063156217947,1.332784044e-04,2.679993486e-05,-4.445926096e-04,1.263231171e-04,2.540461752e-05,-4.415685671e-04,1.299314997e-04,2.539387727e-05,-4.394553289e-04,7.016711499e-01,2.835089619e-05,8.402963486e-01,7.016641946e-01,2.695557884e-05,8.402993726e-01,7.018554684e-01,2.722210797e-05,8.293412766e-01
+20,1.295000000e+01,DOWN_FORCE_DETACH,1792650064056503261,1.312403740e-04,2.373260518e-05,-5.002610616e-04,1.303786633e-04,2.734957973e-05,-4.832969359e-04,1.340242163e-04,2.733311565e-05,-4.810925382e-04,7.016691119e-01,2.528356650e-05,8.402406801e-01,7.016682501e-01,2.890054105e-05,8.402576443e-01,7.018595611e-01,2.916134635e-05,8.292996394e-01
+21,1.381666667e+01,DOWN_FORCE_DETACH,1792650065356220703,1.329122041e-04,1.667045066e-05,-5.800474084e-04,1.310584766e-04,1.865619882e-05,-5.683998120e-04,1.344675093e-04,1.876741349e-05,-5.659523379e-04,7.016707837e-01,1.822141198e-05,8.401608938e-01,7.016689300e-01,2.020716014e-05,8.401725414e-01,7.018600044e-01,2.059564418e-05,8.292147796e-01
+22,1.460000000e+01,DOWN_FORCE_DETACH,1792650066535781826,1.394451789e-04,1.191192085e-05,-6.356601884e-04,1.346686360e-04,1.334393351e-05,-6.350013213e-04,1.380130260e-04,1.351431600e-05,-6.324610738e-04,7.016773167e-01,1.346288217e-05,8.401052810e-01,7.016725401e-01,1.489489483e-05,8.401059399e-01,7.018635499e-01,1.534254669e-05,8.291482709e-01
+23,1.523333333e+01,DOWN_FORCE_DETACH,1792650067476675841,1.418507979e-04,7.156689348e-06,-6.815472750e-04,1.368561848e-04,5.447481556e-06,-6.792437326e-04,1.400902689e-04,5.677462815e-06,-6.768363262e-04,7.016797223e-01,8.707650670e-06,8.400593939e-01,7.016747277e-01,6.998442877e-06,8.400616975e-01,7.018656271e-01,7.505693510e-06,8.291038956e-01
+24,1.588333333e+01,DOWN_FORCE_DETACH,1792650068456430054,1.453431910e-04,1.327134714e-05,-7.457753328e-04,1.455787134e-04,1.071494227e-05,-7.363970228e-04,1.487208324e-04,1.087206418e-05,-7.339127225e-04,7.016832147e-01,1.482230846e-05,8.399951659e-01,7.016834502e-01,1.226590360e-05,8.400045442e-01,7.018742577e-01,1.270029488e-05,8.290468193e-01
+25,1.646666667e+01,DOWN_FORCE_DETACH,1792650069335857603,1.459235539e-04,6.406027094e-06,-8.128490491e-04,1.470762342e-04,6.769332422e-06,-7.993702802e-04,1.500056614e-04,6.921391497e-06,-7.966641539e-04,7.016837950e-01,7.956988416e-06,8.399280921e-01,7.016849477e-01,8.320293743e-06,8.399415709e-01,7.018755425e-01,8.749622193e-06,8.289840678e-01
+26,1.710000000e+01,DOWN_FORCE_DETACH,1792650070277267693,1.509012149e-04,4.033970533e-06,-8.839445504e-04,1.486500071e-04,2.888334226e-06,-8.863176453e-04,1.513566063e-04,3.041441723e-06,-8.830289197e-04,7.016887727e-01,5.584931854e-06,8.398569966e-01,7.016865215e-01,4.439295547e-06,8.398546235e-01,7.018768935e-01,4.869672419e-06,8.288977031e-01
+27,1.771666667e+01,DOWN_FORCE_DETACH,1792650071206032964,1.559372153e-04,3.849499492e-07,-9.770816155e-04,1.544307234e-04,3.138770260e-07,-9.746774167e-04,1.569078895e-04,4.743035328e-07,-9.709332245e-04,7.016938087e-01,1.935911270e-06,8.397638596e-01,7.016923022e-01,1.864838347e-06,8.397662638e-01,7.018824448e-01,2.302534229e-06,8.288097988e-01
+28,1.835000000e+01,DOWN_FORCE_DETACH,1792650072176068218,1.605665698e-04,-6.209384325e-06,-1.080767553e-03,1.605710098e-04,-6.294706128e-06,-1.080449897e-03,1.628295957e-04,-6.116271144e-06,-1.076052549e-03,7.016984381e-01,-4.658423004e-06,8.396601736e-01,7.016984425e-01,-4.743744807e-06,8.396604913e-01,7.018883665e-01,-4.288040448e-06,8.287046794e-01
+29,1.883333333e+01,DOWN_FORCE_DETACH,1792650072904109954,1.629337466e-04,-7.550492495e-06,-1.167393685e-03,1.616103276e-04,-4.854234535e-06,-1.167041493e-03,1.636678250e-04,-4.712352237e-06,-1.162224124e-03,7.017008052e-01,-5.999531174e-06,8.395735475e-01,7.016994818e-01,-3.303273214e-06,8.395738997e-01,7.018892047e-01,-2.884121541e-06,8.286185079e-01
+30,1.936666667e+01,DOWN_FORCE_DETACH,1792650073703936014,1.668448378e-04,-8.482885378e-06,-1.271462990e-03,1.659834926e-04,-1.136773316e-05,-1.256123200e-03,1.678540930e-04,-1.117646575e-05,-1.251048889e-03,7.017047163e-01,-6.931924057e-06,8.394694782e-01,7.017038550e-01,-9.816771844e-06,8.394848180e-01,7.018933910e-01,-9.348235055e-06,8.285296831e-01
+31,1.990000000e+01,DOWN_FORCE_DETACH,1792650074504098254,1.716966055e-04,-1.009034610e-05,-1.389024033e-03,1.714626859e-04,-9.924039145e-06,-1.388974532e-03,1.729549823e-04,-9.786126466e-06,-1.383292465e-03,7.017095681e-01,-8.539384776e-06,8.393519172e-01,7.017093342e-01,-8.373077824e-06,8.393519667e-01,7.018984919e-01,-7.957895770e-06,8.283974395e-01
+32,2.031666667e+01,DOWN_FORCE_DETACH,1792650075123835604,1.714495439e-04,-1.161500087e-05,-1.488424409e-03,1.675969747e-04,-1.330354866e-05,-1.477259619e-03,1.686994334e-04,-1.311012619e-05,-1.471413194e-03,7.017093210e-01,-1.006403955e-05,8.392525168e-01,7.017054685e-01,-1.175258734e-05,8.392636816e-01,7.018942363e-01,-1.128189550e-05,8.283093188e-01
+33,2.078333333e+01,DOWN_FORCE_DETACH,1792650075826466858,1.709383356e-04,-1.464910330e-05,-1.610061715e-03,1.706347135e-04,-1.472086239e-05,-1.609823861e-03,1.712312362e-04,-1.449859856e-05,-1.603455445e-03,7.017088098e-01,-1.309814198e-05,8.391308795e-01,7.017085062e-01,-1.316990107e-05,8.391311173e-01,7.018967681e-01,-1.267036787e-05,8.281772765e-01
+34,2.125000000e+01,DOWN_FORCE_DETACH,1792650076524919144,1.698845504e-04,-1.775434037e-05,-1.733519289e-03,1.715928917e-04,-2.261089682e-05,-1.728860649e-03,1.717397216e-04,-2.232929694e-05,-1.722187550e-03,7.017077560e-01,-1.620337905e-05,8.390074219e-01,7.017094644e-01,-2.105993550e-05,8.390120805e-01,7.018972766e-01,-2.050106625e-05,8.280585444e-01
+35,2.168333333e+01,DOWN_FORCE_DETACH,1792650077174468666,1.712512042e-04,-1.744049464e-05,-1.857227513e-03,1.709456875e-04,-1.399206476e-05,-1.848440742e-03,1.706093386e-04,-1.380826866e-05,-1.841392254e-03,7.017091227e-01,-1.588953331e-05,8.388837137e-01,7.017088172e-01,-1.244110344e-05,8.388925004e-01,7.018961462e-01,-1.198003797e-05,8.279393397e-01
+36,2.206666667e+01,DOWN_FORCE_DETACH,1792650077742776812,1.724125961e-04,-2.222515132e-05,-1.971654719e-03,1.724401078e-04,-1.718274092e-05,-1.967176175e-03,1.717020863e-04,-1.692725121e-05,-1.959691725e-03,7.017102841e-01,-2.067419000e-05,8.387692865e-01,7.017103116e-01,-1.563177960e-05,8.387737650e-01,7.018972390e-01,-1.509902052e-05,8.278210403e-01
+37,2.245000000e+01,DOWN_FORCE_DETACH,1792650078334452017,1.750588549e-04,-1.811104642e-05,-2.104741259e-03,1.748963455e-04,-1.824998877e-05,-2.104870651e-03,1.736469587e-04,-1.795946761e-05,-2.096702786e-03,7.017129303e-01,-1.656008510e-05,8.386361999e-01,7.017127678e-01,-1.669902745e-05,8.386360705e-01,7.018991838e-01,-1.613123691e-05,8.276840292e-01
+38,2.286666667e+01,DOWN_FORCE_DETACH,1792650078948364003,1.759005032e-04,-1.943507928e-05,-2.234931622e-03,1.756881299e-04,-1.917611405e-05,-2.234760709e-03,1.739724142e-04,-1.875713340e-05,-2.226399440e-03,7.017137720e-01,-1.788411796e-05,8.385060096e-01,7.017135596e-01,-1.762515273e-05,8.385061805e-01,7.018995093e-01,-1.692890270e-05,8.275543325e-01
+39,2.321666667e+01,DOWN_FORCE_DETACH,1792650079474515305,1.760872321e-04,-2.054950809e-05,-2.361233370e-03,1.757603442e-04,-1.785029111e-05,-2.353739007e-03,1.736243666e-04,-1.738091692e-05,-2.345047441e-03,7.017139587e-01,-1.899854677e-05,8.383797078e-01,7.017136318e-01,-1.629932979e-05,8.383872022e-01,7.018991612e-01,-1.555268622e-05,8.274356845e-01
+40,2.361666667e+01,DOWN_FORCE_DETACH,1792650080074243036,1.766345086e-04,-2.221972067e-05,-2.502844870e-03,1.775241950e-04,-2.376004717e-05,-2.496506028e-03,1.748697645e-04,-2.316372328e-05,-2.487581728e-03,7.017145060e-01,-2.066875935e-05,8.382380963e-01,7.017153957e-01,-2.220908585e-05,8.382444352e-01,7.019004066e-01,-2.133549259e-05,8.272931502e-01
+41,2.398333333e+01,DOWN_FORCE_DETACH,1792650080625774676,1.780267136e-04,-2.765780732e-05,-2.643316809e-03,1.778889530e-04,-2.760725469e-05,-2.643096009e-03,1.746755736e-04,-2.699984728e-05,-2.633684116e-03,7.017158982e-01,-2.610684600e-05,8.380976244e-01,7.017157604e-01,-2.605629336e-05,8.380978452e-01,7.019002124e-01,-2.517161659e-05,8.271470479e-01
+42,2.431666667e+01,DOWN_FORCE_DETACH,1792650081126316325,1.766885039e-04,-2.473814010e-05,-2.772576677e-03,1.764795473e-04,-2.476192857e-05,-2.772518393e-03,1.727237870e-04,-2.420592004e-05,-2.762765900e-03,7.017145600e-01,-2.318717878e-05,8.379683645e-01,7.017143510e-01,-2.321096725e-05,8.379684228e-01,7.018982607e-01,-2.237768934e-05,8.270179661e-01
+43,2.466666667e+01,DOWN_FORCE_DETACH,1792650081646482537,1.758531141e-04,-2.575542734e-05,-2.911134848e-03,1.757712606e-04,-2.587001766e-05,-2.911120896e-03,1.715621094e-04,-2.541149091e-05,-2.900956179e-03,7.017137246e-01,-2.420446601e-05,8.378298063e-01,7.017136427e-01,-2.431905634e-05,8.378298203e-01,7.018970990e-01,-2.358326022e-05,8.268797758e-01
+44,2.500000000e+01,DOWN_FORCE_DETACH,1792650082144537707,1.745020282e-04,-2.744266643e-05,-3.048026282e-03,1.748385746e-04,-2.943679628e-05,-3.029149445e-03,1.701843776e-04,-2.900724796e-05,-3.018918904e-03,7.017123735e-01,-2.589170511e-05,8.376929149e-01,7.017127101e-01,-2.788583496e-05,8.377117917e-01,7.018957213e-01,-2.717901726e-05,8.267618131e-01
+45,2.533333333e+01,DOWN_FORCE_DETACH,1792650082645599766,1.771387587e-04,-3.186760975e-05,-3.180379101e-03,1.751146837e-04,-3.175925465e-05,-3.176036053e-03,1.699900507e-04,-3.134591600e-05,-3.165371121e-03,7.017150102e-01,-3.031664843e-05,8.375605621e-01,7.017129862e-01,-3.020829333e-05,8.375649051e-01,7.018955269e-01,-2.951768531e-05,8.266153609e-01
+46,2.565000000e+01,DOWN_FORCE_DETACH,1792650083123718237,1.761586380e-04,-3.408433647e-05,-3.317048077e-03,1.745254471e-04,-3.346469115e-05,-3.309926180e-03,1.688772970e-04,-3.292887584e-05,-3.299124807e-03,7.017140301e-01,-3.253337515e-05,8.374238931e-01,7.017123969e-01,-3.191372983e-05,8.374310150e-01,7.018944142e-01,-3.110064515e-05,8.264816072e-01
+47,2.596666667e+01,DOWN_FORCE_DETACH,1792650083604147480,1.748898218e-04,-3.544818599e-05,-3.463666273e-03,1.769755132e-04,-3.551589322e-05,-3.444695454e-03,1.709243017e-04,-3.492430769e-05,-3.433781133e-03,7.017127613e-01,-3.389722467e-05,8.372772749e-01,7.017148470e-01,-3.396493190e-05,8.372962457e-01,7.018964612e-01,-3.309607700e-05,8.263469508e-01
+48,2.628333333e+01,DOWN_FORCE_DETACH,1792650084075230159,1.802393670e-04,-3.904074210e-05,-3.608336554e-03,1.801991075e-04,-3.910894418e-05,-3.608206775e-03,1.737665102e-04,-3.856930444e-05,-3.596703532e-03,7.017181108e-01,-3.748978078e-05,8.371326046e-01,7.017180706e-01,-3.755798285e-05,8.371327344e-01,7.018993034e-01,-3.674107375e-05,8.261840284e-01
+49,2.656666667e+01,DOWN_FORCE_DETACH,1792650084504305490,1.776482922e-04,-4.280210786e-05,-3.741312921e-03,1.770060513e-04,-4.431634919e-05,-3.732863133e-03,1.701195092e-04,-4.377044463e-05,-3.721253010e-03,7.017155198e-01,-4.125114654e-05,8.369996283e-01,7.017148775e-01,-4.276538787e-05,8.370080781e-01,7.018956564e-01,-4.194221393e-05,8.260594790e-01
+50,2.688333333e+01,DOWN_FORCE_DETACH,1792650084963319164,1.802945155e-04,-4.027748593e-05,-3.891932078e-03,1.801448966e-04,-4.005359796e-05,-3.891662753e-03,1.728870189e-04,-3.955392782e-05,-3.879698140e-03,7.017181660e-01,-3.872652461e-05,8.368490091e-01,7.017180164e-01,-3.850263664e-05,8.368492784e-01,7.018984239e-01,-3.772569712e-05,8.259010338e-01
+51,2.715000000e+01,DOWN_FORCE_DETACH,1792650085359930560,1.786351180e-04,-4.617995027e-05,-4.027411741e-03,1.792142821e-04,-4.087369917e-05,-4.020721671e-03,1.715945525e-04,-4.032274115e-05,-4.008540164e-03,7.017165066e-01,-4.462898895e-05,8.367135294e-01,7.017170858e-01,-3.932273785e-05,8.367202195e-01,7.018971314e-01,-3.849451045e-05,8.257721918e-01
+52,2.743333333e+01,DOWN_FORCE_DETACH,1792650085780407090,1.783350569e-04,-5.113806606e-05,-4.173066510e-03,1.751766510e-04,-4.881846103e-05,-4.153908712e-03,1.671197278e-04,-4.811299947e-05,-4.141700507e-03,7.017162065e-01,-4.958710474e-05,8.365678747e-01,7.017130481e-01,-4.726749971e-05,8.365870325e-01,7.018926566e-01,-4.628476877e-05,8.256390315e-01
+53,2.771666667e+01,DOWN_FORCE_DETACH,1792650086210273425,1.848679720e-04,-5.220773269e-05,-4.323673207e-03,1.844892028e-04,-5.247506449e-05,-4.323652199e-03,1.759804425e-04,-5.173288800e-05,-4.310832328e-03,7.017227395e-01,-5.065677137e-05,8.364172680e-01,7.017223607e-01,-5.092410316e-05,8.364172890e-01,7.019015173e-01,-4.990465730e-05,8.254698996e-01
+54,2.798333333e+01,DOWN_FORCE_DETACH,1792650086609863345,1.823106372e-04,-5.974666260e-05,-4.474529809e-03,1.820508874e-04,-5.977202357e-05,-4.474603050e-03,1.729054321e-04,-5.895959014e-05,-4.461411003e-03,7.017201821e-01,-5.819570128e-05,8.362664114e-01,7.017199224e-01,-5.822106225e-05,8.362663381e-01,7.018984423e-01,-5.713135944e-05,8.253193210e-01
+55,2.825000000e+01,DOWN_FORCE_DETACH,1792650087009766036,1.749602441e-04,-6.177811777e-05,-4.630667752e-03,1.748592239e-04,-6.180025004e-05,-4.630406259e-03,1.650011370e-04,-6.101163956e-05,-4.616842099e-03,7.017128317e-01,-6.022715645e-05,8.361102734e-01,7.017127307e-01,-6.024928872e-05,8.361105349e-01,7.018905380e-01,-5.918340886e-05,8.251638899e-01
+56,2.848333333e+01,DOWN_FORCE_DETACH,1792650087360192209,1.701874812e-04,-6.724044880e-05,-4.774908476e-03,1.685651184e-04,-6.552871219e-05,-4.758592869e-03,1.581501638e-04,-6.474316905e-05,-4.744915279e-03,7.017080590e-01,-6.568948748e-05,8.359660327e-01,7.017064366e-01,-6.397775087e-05,8.359823483e-01,7.018836870e-01,-6.291493835e-05,8.250358167e-01
+57,2.868333333e+01,DOWN_FORCE_DETACH,1792650087660204131,1.969243268e-04,-6.905493200e-05,-4.884148567e-03,1.943679353e-04,-6.549312659e-05,-4.872918839e-03,1.838516846e-04,-6.467817627e-05,-4.859096757e-03,7.017347958e-01,-6.750397068e-05,8.358567926e-01,7.017322394e-01,-6.394216527e-05,8.358680223e-01,7.019093886e-01,-6.284994558e-05,8.249216352e-01
+58,2.891666667e+01,DOWN_SETTLE,1792650088011318456,1.926873363e-04,-7.910813814e-05,-5.033337283e-03,1.925276680e-04,-7.892836800e-05,-5.033109431e-03,1.814681517e-04,-7.792244945e-05,-5.018767503e-03,7.017305588e-01,-7.755717682e-05,8.357076039e-01,7.017303991e-01,-7.737740667e-05,8.357078318e-01,7.019070050e-01,-7.609421875e-05,8.247619645e-01
+59,2.946666667e+01,DOWN_PEAK_HOLD,1792650088840159254,1.814646445e-04,-6.189132082e-05,-5.103766360e-03,1.879395304e-04,-6.286426320e-05,-5.086265753e-03,1.766464134e-04,-6.200775962e-05,-5.075206237e-03,7.017193361e-01,-6.034035950e-05,8.356371748e-01,7.017258110e-01,-6.131330188e-05,8.356546754e-01,7.019021833e-01,-6.017952892e-05,8.247055257e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6be8675174b5f534198ae5c372ea7f854df12101
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-7.8616e-03,1.0834e-03,2.4575e+00,-3.6846e-02,3.6274e-02,-1.0202e-05,3.3328e-05,4.5765e-05,-5.2452e-06,-2.9542e-06,2.0340e-06,-1.0947e-07,5.6857e-05,3.5883e-06
+1,7.3333e-01,DOWN_FORCE_DETACH,1.5997e-04,-2.0979e-03,2.4640e-03,2.4590e+00,-3.6939e-02,3.6642e-02,-1.4241e-05,5.7970e-03,1.4264e-03,1.4868e-03,-9.5762e-05,3.6981e-04,-4.1483e-06,6.1523e-03,3.8203e-04
+2,1.4333e+00,DOWN_FORCE_DETACH,3.2167e-04,2.2053e-02,3.7834e-03,2.4678e+00,-3.7051e-02,3.8213e-02,-2.2241e-05,2.9948e-02,2.7458e-03,1.0241e-02,-2.0844e-04,1.9403e-03,-1.2149e-05,3.1770e-02,1.9515e-03
+3,2.1833e+00,DOWN_FORCE_DETACH,4.7908e-04,2.8895e-02,5.5670e-03,2.4713e+00,-3.7258e-02,3.8838e-02,-3.7930e-05,3.6790e-02,4.5294e-03,1.3753e-02,-4.1468e-04,2.5654e-03,-2.7838e-05,3.9537e-02,2.5988e-03
+4,2.5333e+00,DOWN_FORCE_DETACH,6.4547e-04,2.8146e-02,4.6734e-03,2.4710e+00,-3.7200e-02,3.8786e-02,-3.8239e-05,3.6041e-02,3.6358e-03,1.3447e-02,-3.5693e-04,2.5135e-03,-2.8146e-05,3.8639e-02,2.5388e-03
+5,3.2000e+00,DOWN_FORCE_DETACH,7.9928e-04,2.9973e-03,-1.9733e-03,2.4667e+00,-3.6769e-02,3.7133e-02,-3.9910e-05,1.0892e-02,-3.0109e-03,9.1469e-03,7.3537e-05,8.6027e-04,-2.9817e-05,1.4539e-02,8.6393e-04
+6,3.8333e+00,DOWN_FORCE_DETACH,9.5790e-04,1.7405e-02,-5.7705e-04,2.4956e+00,-3.6858e-02,3.8008e-02,-3.7599e-05,2.5300e-02,-1.6147e-03,3.8025e-02,-1.5326e-05,1.7360e-03,-2.7507e-05,4.5701e-02,1.7363e-03
+7,4.6000e+00,DOWN_FORCE_DETACH,1.1193e-03,2.1854e-02,-3.8534e-04,2.5048e+00,-3.6871e-02,3.8287e-02,-3.5964e-05,2.9748e-02,-1.4230e-03,4.7223e-02,-2.8495e-05,2.0150e-03,-2.5872e-05,5.5830e-02,2.0154e-03
+8,5.2833e+00,DOWN_FORCE_DETACH,1.2784e-03,2.7829e-02,5.1265e-04,2.5097e+00,-3.6930e-02,3.8670e-02,-3.3795e-05,3.5724e-02,-5.2497e-04,5.2137e-02,-8.7127e-05,2.3981e-03,-2.3702e-05,6.3204e-02,2.3998e-03
+9,5.9833e+00,DOWN_FORCE_DETACH,1.4397e-03,4.3672e-02,2.5297e-03,2.5046e+00,-3.7062e-02,3.9879e-02,1.4396e-05,5.1567e-02,1.4921e-03,4.7047e-02,-2.1920e-04,3.6064e-03,2.4488e-05,6.9820e-02,3.6132e-03
+10,6.5500e+00,DOWN_FORCE_DETACH,1.6004e-03,4.3913e-02,-2.9275e-06,2.5101e+00,-3.6895e-02,3.9883e-02,1.5520e-05,5.1808e-02,-1.0405e-03,5.2549e-02,-5.2344e-05,3.6110e-03,2.5612e-05,7.3801e-02,3.6115e-03
+11,7.2000e+00,DOWN_FORCE_DETACH,1.7593e-03,4.4906e-02,-1.3114e-03,2.5176e+00,-3.6802e-02,3.9935e-02,1.7122e-05,5.2801e-02,-2.3490e-03,6.0094e-02,4.1138e-05,3.6628e-03,2.7214e-05,8.0030e-02,3.6632e-03
+12,7.7500e+00,DOWN_FORCE_DETACH,1.9179e-03,4.2343e-02,-9.3698e-04,2.5216e+00,-3.6813e-02,3.9759e-02,1.8706e-05,5.0238e-02,-1.9746e-03,6.4073e-02,2.9344e-05,3.4864e-03,2.8799e-05,8.1444e-02,3.4866e-03
+13,8.4667e+00,DOWN_FORCE_DETACH,2.0767e-03,4.2524e-02,4.5409e-04,2.5253e+00,-3.6881e-02,3.9757e-02,2.1156e-05,5.0419e-02,-5.8353e-04,6.7764e-02,-3.8542e-05,3.4851e-03,3.1249e-05,8.4465e-02,3.4855e-03
+14,9.1667e+00,DOWN_FORCE_DETACH,2.2351e-03,4.5090e-02,1.2617e-03,2.5269e+00,-3.6904e-02,3.9913e-02,2.3733e-05,5.2985e-02,2.2403e-04,6.9340e-02,-6.1430e-05,3.6410e-03,3.3825e-05,8.7267e-02,3.6417e-03
+15,9.8667e+00,DOWN_FORCE_DETACH,2.3991e-03,4.8792e-02,1.6529e-03,2.5275e+00,-3.6894e-02,4.0148e-02,2.6132e-05,5.6687e-02,6.1532e-04,6.9979e-02,-5.1081e-05,3.8753e-03,3.6224e-05,9.0060e-02,3.8758e-03
+16,1.0517e+01,DOWN_FORCE_DETACH,2.5578e-03,5.2484e-02,3.5650e-03,2.5296e+00,-3.6980e-02,4.0386e-02,2.8335e-05,6.0379e-02,2.5274e-03,7.2017e-02,-1.3680e-04,4.1133e-03,3.8428e-05,9.4013e-02,4.1158e-03
+17,1.1167e+01,DOWN_FORCE_DETACH,2.7186e-03,5.5248e-02,4.8085e-03,2.5322e+00,-3.7020e-02,4.0567e-02,3.0089e-05,6.3143e-02,3.7708e-03,7.4601e-02,-1.7735e-04,4.2950e-03,4.0181e-05,9.7809e-02,4.2988e-03
+18,1.1883e+01,DOWN_FORCE_DETACH,2.8795e-03,5.7040e-02,6.7208e-03,2.5348e+00,-3.7101e-02,4.0689e-02,3.1465e-05,6.4935e-02,5.6832e-03,7.7206e-02,-2.5781e-04,4.4169e-03,4.1558e-05,1.0104e-01,4.4246e-03
+19,1.2350e+01,DOWN_FORCE_DETACH,3.0401e-03,5.8050e-02,7.2171e-03,2.5372e+00,-3.7107e-02,4.0759e-02,3.1900e-05,6.5945e-02,6.1795e-03,7.9607e-02,-2.6395e-04,4.4868e-03,4.1992e-05,1.0356e-01,4.4948e-03
+20,1.2950e+01,DOWN_FORCE_DETACH,3.1982e-03,5.8593e-02,4.2517e-03,2.5414e+00,-3.6887e-02,4.0800e-02,3.1485e-05,6.6488e-02,3.2141e-03,8.3878e-02,-4.4174e-05,4.5279e-03,4.1578e-05,1.0708e-01,4.5283e-03
+21,1.3817e+01,DOWN_FORCE_DETACH,3.3585e-03,6.0673e-02,3.1924e-03,2.5508e+00,-3.6791e-02,4.0942e-02,3.0298e-05,6.8568e-02,2.1547e-03,9.3283e-02,5.2050e-05,4.6699e-03,4.0391e-05,1.1579e-01,4.6704e-03
+22,1.4600e+01,DOWN_FORCE_DETACH,3.5203e-03,6.2828e-02,3.4032e-03,2.5555e+00,-3.6802e-02,4.1088e-02,2.8890e-05,7.0723e-02,2.3655e-03,9.7916e-02,4.1302e-05,4.8161e-03,3.8983e-05,1.2081e-01,4.8164e-03
+23,1.5233e+01,DOWN_FORCE_DETACH,3.6783e-03,6.3763e-02,3.0396e-03,2.5564e+00,-3.6792e-02,4.1155e-02,2.7534e-05,7.1658e-02,2.0020e-03,9.8856e-02,5.1230e-05,4.8824e-03,3.7626e-05,1.2211e-01,4.8828e-03
+24,1.5883e+01,DOWN_FORCE_DETACH,3.8395e-03,6.3454e-02,4.3337e-04,2.5570e+00,-3.6648e-02,4.1139e-02,2.5889e-05,7.1349e-02,-6.0425e-04,9.9467e-02,1.9450e-04,4.8671e-03,3.5981e-05,1.2241e-01,4.8711e-03
+25,1.6467e+01,DOWN_FORCE_DETACH,3.9988e-03,6.3025e-02,-1.0234e-03,2.5602e+00,-3.6583e-02,4.1114e-02,2.4595e-05,7.0920e-02,-2.0610e-03,1.0270e-01,2.5997e-04,4.8414e-03,3.4688e-05,1.2482e-01,4.8484e-03
+26,1.7100e+01,DOWN_FORCE_DETACH,4.1578e-03,6.3193e-02,-1.6683e-03,2.5678e+00,-3.6575e-02,4.1123e-02,2.3468e-05,7.1088e-02,-2.7059e-03,1.1029e-01,2.6761e-04,4.8508e-03,3.3561e-05,1.3124e-01,4.8583e-03
+27,1.7717e+01,DOWN_FORCE_DETACH,4.3205e-03,6.3618e-02,-1.4866e-03,2.5808e+00,-3.6620e-02,4.1145e-02,2.2497e-05,7.1513e-02,-2.5242e-03,1.2328e-01,2.2293e-04,4.8726e-03,3.2589e-05,1.4255e-01,4.8779e-03
+28,1.8350e+01,DOWN_FORCE_DETACH,4.4781e-03,6.3643e-02,-2.9493e-04,2.5981e+00,-3.6729e-02,4.1137e-02,2.1285e-05,7.1538e-02,-1.3325e-03,1.4054e-01,1.1425e-04,4.8643e-03,3.1378e-05,1.5771e-01,4.8658e-03
+29,1.8833e+01,DOWN_FORCE_DETACH,4.6387e-03,6.4429e-02,5.4944e-04,2.6153e+00,-3.6806e-02,4.1176e-02,1.9775e-05,7.2324e-02,-4.8818e-04,1.5774e-01,3.7286e-05,4.9035e-03,2.9867e-05,1.7353e-01,4.9038e-03
+30,1.9367e+01,DOWN_FORCE_DETACH,4.7971e-03,6.5201e-02,1.3507e-03,2.6337e+00,-3.6877e-02,4.1210e-02,1.7335e-05,7.3096e-02,3.1311e-04,1.7617e-01,-3.4064e-05,4.9380e-03,2.7427e-05,1.9073e-01,4.9382e-03
+31,1.9900e+01,DOWN_FORCE_DETACH,4.9580e-03,6.5718e-02,2.5105e-03,2.6514e+00,-3.6964e-02,4.1226e-02,1.3877e-05,7.3613e-02,1.4729e-03,1.9388e-01,-1.2107e-04,4.9536e-03,2.3970e-05,2.0739e-01,4.9551e-03
+32,2.0317e+01,DOWN_FORCE_DETACH,5.1167e-03,6.6226e-02,3.9689e-03,2.6658e+00,-3.7063e-02,4.1243e-02,1.0627e-05,7.4121e-02,2.9313e-03,2.0826e-01,-2.1999e-04,4.9704e-03,2.0719e-05,2.2108e-01,4.9754e-03
+33,2.0783e+01,DOWN_FORCE_DETACH,5.2798e-03,6.6226e-02,6.1926e-03,2.6801e+00,-3.7210e-02,4.1226e-02,7.0494e-06,7.4121e-02,5.1550e-03,2.2250e-01,-3.6724e-04,4.9533e-03,1.7142e-05,2.3458e-01,4.9669e-03
+34,2.1250e+01,DOWN_FORCE_DETACH,5.4405e-03,6.4931e-02,8.0844e-03,2.6944e+00,-3.7336e-02,4.1127e-02,3.6723e-06,7.2826e-02,7.0468e-03,2.3687e-01,-4.9339e-04,4.8542e-03,1.3765e-05,2.4791e-01,4.8792e-03
+35,2.1683e+01,DOWN_FORCE_DETACH,5.5999e-03,6.3115e-02,9.6707e-03,2.7097e+00,-3.7439e-02,4.0996e-02,1.1016e-06,7.1010e-02,8.6331e-03,2.5210e-01,-5.9614e-04,4.7239e-03,1.1194e-05,2.6205e-01,4.7614e-03
+36,2.2067e+01,DOWN_FORCE_DETACH,5.7565e-03,6.1451e-02,1.0670e-02,2.7246e+00,-3.7501e-02,4.0876e-02,-5.9884e-07,6.9346e-02,9.6320e-03,2.6700e-01,-6.5815e-04,4.6038e-03,9.4938e-06,2.7603e-01,4.6506e-03
+37,2.2450e+01,DOWN_FORCE_DETACH,5.9218e-03,6.0254e-02,1.2382e-02,2.7405e+00,-3.7606e-02,4.0785e-02,-1.3437e-06,6.8149e-02,1.1344e-02,2.8299e-01,-7.6324e-04,4.5125e-03,8.7489e-06,2.9130e-01,4.5766e-03
+38,2.2867e+01,DOWN_FORCE_DETACH,6.0748e-03,5.9464e-02,1.5009e-02,2.7580e+00,-3.7765e-02,4.0717e-02,-9.1782e-07,6.7359e-02,1.3971e-02,3.0041e-01,-9.2244e-04,4.4443e-03,9.1748e-06,3.0818e-01,4.5390e-03
+39,2.3217e+01,DOWN_FORCE_DETACH,6.2341e-03,5.8223e-02,1.8172e-02,2.7718e+00,-3.7956e-02,4.0621e-02,4.0059e-07,6.6118e-02,1.7135e-02,3.1427e-01,-1.1130e-03,4.3487e-03,1.0493e-05,3.2161e-01,4.4889e-03
+40,2.3617e+01,DOWN_FORCE_DETACH,6.3967e-03,5.6626e-02,2.2222e-02,2.7885e+00,-3.8199e-02,4.0500e-02,2.8452e-06,6.4520e-02,2.1184e-02,3.3091e-01,-1.3564e-03,4.2273e-03,1.2938e-05,3.3781e-01,4.4396e-03
+41,2.3983e+01,DOWN_FORCE_DETACH,6.5585e-03,5.5718e-02,2.5474e-02,2.8035e+00,-3.8395e-02,4.0423e-02,5.6623e-06,6.3613e-02,2.4436e-02,3.4593e-01,-1.5527e-03,4.1506e-03,1.5755e-05,3.5258e-01,4.4316e-03
+42,2.4317e+01,DOWN_FORCE_DETACH,6.7137e-03,5.4534e-02,2.7283e-02,2.8180e+00,-3.8506e-02,4.0328e-02,8.4208e-06,6.2429e-02,2.6245e-02,3.6042e-01,-1.6632e-03,4.0555e-03,1.8513e-05,3.6673e-01,4.3834e-03
+43,2.4667e+01,DOWN_FORCE_DETACH,6.8738e-03,5.3679e-02,2.7412e-02,2.8329e+00,-3.8515e-02,4.0252e-02,1.1052e-05,6.1574e-02,2.6374e-02,3.7538e-01,-1.6721e-03,3.9795e-03,2.1144e-05,3.8131e-01,4.3165e-03
+44,2.5000e+01,DOWN_FORCE_DETACH,7.0350e-03,5.3833e-02,2.6369e-02,2.8481e+00,-3.8451e-02,4.0241e-02,1.2992e-05,6.1728e-02,2.5332e-02,3.9052e-01,-1.6083e-03,3.9685e-03,2.3084e-05,3.9618e-01,4.2821e-03
+45,2.5333e+01,DOWN_FORCE_DETACH,7.1953e-03,5.4361e-02,2.5268e-02,2.8617e+00,-3.8383e-02,4.0254e-02,1.4342e-05,6.2256e-02,2.4231e-02,4.0417e-01,-1.5401e-03,3.9819e-03,2.4435e-05,4.0965e-01,4.2694e-03
+46,2.5650e+01,DOWN_FORCE_DETACH,7.3525e-03,5.5299e-02,2.5017e-02,2.8740e+00,-3.8367e-02,4.0295e-02,1.5379e-05,6.3194e-02,2.3979e-02,4.1646e-01,-1.5239e-03,4.0224e-03,2.5472e-05,4.2191e-01,4.3015e-03
+47,2.5967e+01,DOWN_FORCE_DETACH,7.5203e-03,5.6129e-02,2.5912e-02,2.8855e+00,-3.8424e-02,4.0328e-02,1.6442e-05,6.4024e-02,2.4874e-02,4.2799e-01,-1.5815e-03,4.0557e-03,2.6534e-05,4.3346e-01,4.3532e-03
+48,2.6283e+01,DOWN_FORCE_DETACH,7.6808e-03,5.6942e-02,2.7048e-02,2.8975e+00,-3.8500e-02,4.0361e-02,1.7626e-05,6.4837e-02,2.6011e-02,4.3990e-01,-1.6570e-03,4.0887e-03,2.7718e-05,4.4541e-01,4.4118e-03
+49,2.6567e+01,DOWN_FORCE_DETACH,7.8333e-03,5.8027e-02,2.7454e-02,2.9084e+00,-3.8527e-02,4.0416e-02,1.8698e-05,6.5922e-02,2.6416e-02,4.5085e-01,-1.6843e-03,4.1432e-03,2.8790e-05,4.5641e-01,4.4725e-03
+50,2.6883e+01,DOWN_FORCE_DETACH,8.0020e-03,5.9627e-02,2.8202e-02,2.9203e+00,-3.8570e-02,4.0502e-02,1.9846e-05,6.7522e-02,2.7164e-02,4.6280e-01,-1.7276e-03,4.2297e-03,2.9939e-05,4.6848e-01,4.5690e-03
+51,2.7150e+01,DOWN_FORCE_DETACH,8.1597e-03,6.1385e-02,2.9611e-02,2.9307e+00,-3.8652e-02,4.0601e-02,2.0717e-05,6.9280e-02,2.8573e-02,4.7317e-01,-1.8095e-03,4.3286e-03,3.0810e-05,4.7907e-01,4.6917e-03
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/fem_node.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3b1cb5aec78ba240be72b5eedec78c3ebd682784
--- /dev/null
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/franka_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9517774264579d0a93967d87d9e073d68cb41825
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d0e5102b0547d0d9cef1bf0bec3707d4b4d6aaf3
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b4c2418665153b8c82b603e291171aee036602ff
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,1.100000000e+00,WAIT_W2,1792650024083773315,-1.483961198e-08,-2.122572111e-06,-3.572047524e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,5.633761098e-07,5.554317679e-08,2.015048022e-07,7.015378566e-01,-5.716107899e-07,8.407373691e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261003e-01,1.883773873e-06,8.297809335e-01
+7,1.316666667e+00,WAIT_W2,1792650024403775968,8.900928015e-07,-3.949269255e-06,7.164193668e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.463437210e-07,6.280243047e-08,2.328329538e-07,7.015387616e-01,-2.398307934e-06,8.407416576e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017261832e-01,1.891033126e-06,8.297809648e-01
+8,1.500000000e+00,WAIT_W2,1792650024683094030,1.668590471e-06,-9.376490795e-06,-5.287118887e-08,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.112059707e-07,6.841210150e-08,2.576681699e-07,7.015395401e-01,-7.825529474e-06,8.407408883e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017262481e-01,1.896642797e-06,8.297809896e-01
+9,1.716666667e+00,WAIT_W2,1792650025003135537,1.828573403e-06,-1.356160051e-05,1.825898472e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,7.820583882e-07,7.448873128e-08,2.851551435e-07,7.015397001e-01,-1.201063919e-05,8.407427671e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263189e-01,1.902719427e-06,8.297810171e-01
+10,1.966666667e+00,WAIT_W2,1792650025382447002,5.161312190e-06,-1.136474925e-05,4.319352278e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,8.566575735e-07,8.082987515e-08,3.145111471e-07,7.015430328e-01,-9.813787927e-06,8.407452605e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017263935e-01,1.909060571e-06,8.297810465e-01
+11,2.150000000e+00,WAIT_W2,1792650025663413914,4.355921850e-06,-1.615881099e-05,1.876625459e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.068887884e-07,8.508284118e-08,3.345668238e-07,7.015422274e-01,-1.460784967e-05,8.407428178e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017264438e-01,1.913313537e-06,8.297810665e-01
+12,2.316666667e+00,WAIT_W2,1792650025905050649,5.493186784e-06,-1.529942876e-05,3.498658953e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.495061394e-07,8.868703120e-08,3.517897964e-07,7.015433647e-01,-1.374846744e-05,8.407444398e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017264864e-01,1.916917727e-06,8.297810838e-01
+13,2.483333333e+00,UP_FORCE_RAMP,1792650026163405218,6.185513253e-06,-8.887829364e-06,4.730467194e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,9.894349182e-07,9.203203227e-08,3.680930616e-07,7.015440570e-01,-7.336868043e-06,8.407456717e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017265263e-01,1.920262728e-06,8.297811001e-01
+14,2.716666667e+00,UP_FORCE_RAMP,1792650026516888378,7.139835685e-06,-9.822737028e-06,5.267608036e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.041085909e-06,9.637537272e-08,3.894447674e-07,7.015450113e-01,-8.271775707e-06,8.407462088e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017265780e-01,1.924606069e-06,8.297811214e-01
+15,2.983333333e+00,UP_FORCE_RAMP,1792650026933738360,8.027028487e-06,-8.344396553e-06,7.586835620e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.094534835e-06,1.008789960e-07,4.118036989e-07,7.015458985e-01,-6.793435232e-06,8.407485280e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017266314e-01,1.929109692e-06,8.297811438e-01
+16,3.200000000e+00,UP_FORCE_RAMP,1792650027252782721,7.266310822e-06,-3.834552753e-06,9.070496174e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.133967974e-06,1.042101409e-07,4.284877080e-07,7.015451378e-01,-2.283591432e-06,8.407500117e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017266708e-01,1.932440837e-06,8.297811605e-01
+17,3.350000000e+00,UP_FORCE_RAMP,1792650027471355911,5.976194907e-06,-7.755913170e-06,8.313166073e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.159338735e-06,1.063837885e-07,4.393139235e-07,7.015438477e-01,-6.204951849e-06,8.407492544e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017266962e-01,1.934614484e-06,8.297811713e-01
+18,3.516666667e+00,UP_FORCE_RAMP,1792650027731304614,6.289671246e-06,-3.806417360e-06,1.632644097e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.185814078e-06,1.086649637e-07,4.506889630e-07,7.015441612e-01,-2.255456039e-06,8.407572676e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017267227e-01,1.936895660e-06,8.297811827e-01
+19,3.666666667e+00,UP_FORCE_RAMP,1792650027950945752,6.013557543e-06,-2.362902474e-06,2.222622723e-05,6.970421953e-06,-6.033488174e-07,2.007206485e-05,8.266339092e-06,-4.724069811e-07,2.024634804e-05,7.015438850e-01,-8.119411533e-07,8.407631674e-01,7.015448419e-01,9.476125037e-07,8.407610133e-01,7.017338032e-01,1.355823715e-06,8.298009783e-01
+20,3.816666667e+00,UP_FORCE_RAMP,1792650028170728606,5.864480048e-06,-3.017272416e-06,2.890860903e-05,6.970421953e-06,-6.033488174e-07,2.007206485e-05,8.296575954e-06,-4.709127110e-07,2.027805395e-05,7.015437360e-01,-1.466311095e-06,8.407698498e-01,7.015448419e-01,9.476125037e-07,8.407610133e-01,7.017338335e-01,1.357317985e-06,8.298010100e-01
+21,3.966666667e+00,UP_FORCE_RAMP,1792650028401315943,6.241909511e-06,2.622120940e-06,4.083922596e-05,8.410413636e-06,-2.209226820e-07,4.184838280e-05,9.933528487e-06,-9.453891314e-08,4.175719924e-05,7.015441134e-01,4.173082261e-06,8.407817804e-01,7.015462819e-01,1.330038639e-06,8.407827896e-01,7.017354704e-01,1.733691783e-06,8.298224892e-01
+22,4.100000000e+00,UP_FORCE_RAMP,1792650028602281119,9.787092331e-06,4.040005332e-06,6.530380247e-05,1.003115289e-05,4.017097112e-06,6.517549679e-05,1.165056011e-05,4.094217925e-06,6.468507372e-05,7.015476586e-01,5.590966653e-06,8.408062450e-01,7.015479026e-01,5.568058433e-06,8.408061167e-01,7.017371874e-01,5.922448621e-06,8.298454170e-01
+23,4.233333333e+00,UP_FORCE_RAMP,1792650028802140346,1.288786857e-05,8.511996682e-06,8.735852561e-05,1.299824204e-05,8.372950826e-06,8.737586496e-05,1.469800595e-05,8.408880446e-06,8.665453061e-05,7.015507594e-01,1.006295800e-05,8.408282997e-01,7.015508697e-01,9.923912147e-06,8.408283171e-01,7.017402349e-01,1.023711114e-05,8.298673865e-01
+24,4.366666667e+00,UP_FORCE_RAMP,1792650029001589034,1.939387415e-05,8.756067883e-06,1.251468124e-04,1.685707709e-05,5.894543086e-06,1.107138284e-04,1.878901587e-05,5.934947876e-06,1.097324852e-04,7.015572654e-01,1.030702920e-05,8.408660880e-01,7.015547286e-01,7.445504407e-06,8.408516550e-01,7.017443259e-01,7.763178572e-06,8.298904645e-01
+25,4.550000000e+00,UP_FORCE_RAMP,1792650029272013297,8.131452416e-06,1.298645835e-05,1.442733812e-04,1.946011287e-05,1.223705941e-05,1.302884587e-04,2.154706054e-05,1.223162315e-05,1.291776255e-04,7.015460029e-01,1.453741967e-05,8.408852146e-01,7.015573316e-01,1.378802073e-05,8.408712296e-01,7.017470839e-01,1.405985384e-05,8.299099096e-01
+26,4.700000000e+00,UP_FORCE_RAMP,1792650029501893802,5.604639518e-06,1.638422527e-05,1.592817044e-04,3.874763975e-06,1.079578763e-05,1.463762004e-04,5.803418555e-06,1.081525080e-05,1.451482007e-04,7.015434761e-01,1.793518660e-05,8.409002229e-01,7.015417462e-01,1.234674895e-05,8.408873174e-01,7.017313403e-01,1.264348149e-05,8.299258802e-01
+27,4.850000000e+00,UP_FORCE_RAMP,1792650029731213716,3.730298706e-06,1.760638843e-05,1.635899073e-04,7.172343280e-06,1.617660847e-05,1.672668714e-04,9.233005067e-06,1.611067238e-05,1.658179533e-04,7.015416018e-01,1.915734975e-05,8.409045311e-01,7.015450438e-01,1.772756979e-05,8.409082081e-01,7.017347699e-01,1.793890308e-05,8.299465499e-01
+28,5.066666667e+00,UP_FORCE_RAMP,1792650030051740415,4.568314250e-06,1.494930085e-05,1.800614902e-04,7.172343280e-06,1.617660847e-05,1.672668714e-04,9.261152769e-06,1.611728629e-05,1.660199816e-04,7.015424398e-01,1.650026217e-05,8.409210027e-01,7.015450438e-01,1.772756979e-05,8.409082081e-01,7.017347980e-01,1.794551699e-05,8.299467520e-01
+29,5.283333333e+00,UP_FORCE_RAMP,1792650030371491751,7.781825795e-06,1.779042616e-05,1.911794576e-04,4.572562481e-06,1.754887700e-05,1.874126098e-04,6.718414441e-06,1.747046816e-05,1.860170307e-04,7.015456533e-01,1.934138748e-05,8.409321206e-01,7.015424440e-01,1.909983832e-05,8.409283538e-01,7.017322553e-01,1.929869885e-05,8.299667490e-01
+30,5.450000000e+00,UP_FORCE_RAMP,1792650030632152353,7.498365111e-06,1.644101023e-05,2.000671785e-04,4.572562481e-06,1.754887700e-05,1.874126098e-04,6.732177821e-06,1.747126468e-05,1.861716461e-04,7.015453698e-01,1.799197155e-05,8.409410084e-01,7.015424440e-01,1.909983832e-05,8.409283538e-01,7.017322691e-01,1.929949538e-05,8.299669036e-01
+31,5.616666667e+00,UP_FORCE_RAMP,1792650030902419559,4.430729443e-06,2.035143693e-05,2.077879914e-04,4.493820755e-06,2.022051916e-05,2.074517568e-04,6.768435236e-06,2.010774432e-05,2.060348525e-04,7.015423022e-01,2.190239825e-05,8.409487292e-01,7.015423653e-01,2.177148048e-05,8.409483929e-01,7.017323053e-01,2.193597501e-05,8.299867668e-01
+32,5.800000000e+00,UP_FORCE_RAMP,1792650031205376854,7.975679823e-07,1.891935040e-05,2.145151513e-04,4.493820755e-06,2.022051916e-05,2.074517568e-04,6.786160037e-06,2.011252663e-05,2.062164091e-04,7.015386690e-01,2.047031172e-05,8.409554563e-01,7.015423653e-01,2.177148048e-05,8.409483929e-01,7.017323230e-01,2.194075732e-05,8.299869484e-01
+33,5.950000000e+00,UP_FORCE_RAMP,1792650031431919366,1.351427107e-06,1.964559100e-05,2.243848373e-04,2.633567927e-06,2.316428475e-05,2.276605993e-04,5.045503201e-06,2.302661491e-05,2.261937271e-04,7.015392229e-01,2.119655232e-05,8.409653260e-01,7.015405050e-01,2.471524607e-05,8.409686018e-01,7.017305824e-01,2.485484561e-05,8.300069257e-01
+34,6.116666667e+00,UP_FORCE_RAMP,1792650031699646919,8.743537490e-07,2.322509104e-05,2.376340070e-04,2.633567927e-06,2.316428475e-05,2.276605993e-04,5.056959103e-06,2.302988997e-05,2.263503394e-04,7.015387458e-01,2.477605237e-05,8.409785752e-01,7.015405050e-01,2.471524607e-05,8.409686018e-01,7.017305938e-01,2.485812066e-05,8.300070823e-01
+35,6.283333333e+00,UP_FORCE_RAMP,1792650031939061045,-2.565886265e-06,2.314152111e-05,2.476668420e-04,-2.335683209e-06,2.318960629e-05,2.477356999e-04,5.503102096e-08,2.305804750e-05,2.462017800e-04,7.015353056e-01,2.469248243e-05,8.409886080e-01,7.015355358e-01,2.474056761e-05,8.409886769e-01,7.017255919e-01,2.488627819e-05,8.300269338e-01
+36,6.450000000e+00,UP_FORCE_RAMP,1792650032199896030,-5.987526612e-07,2.217232541e-05,2.616687420e-04,-2.335683209e-06,2.318960629e-05,2.477356999e-04,5.496509226e-08,2.305672218e-05,2.463696241e-04,7.015372727e-01,2.372328673e-05,8.410026099e-01,7.015355358e-01,2.474056761e-05,8.409886769e-01,7.017255918e-01,2.488495288e-05,8.300271016e-01
+37,6.616666667e+00,UP_FORCE_RAMP,1792650032440072577,-2.265966139e-06,2.781851044e-05,2.719084010e-04,-2.340214718e-06,2.007052410e-05,2.698622765e-04,1.535592642e-07,2.000358387e-05,2.683307242e-04,7.015356055e-01,2.936947176e-05,8.410128496e-01,7.015355313e-01,2.162148542e-05,8.410108035e-01,7.017256904e-01,2.183181457e-05,8.300490627e-01
+38,6.783333333e+00,UP_FORCE_RAMP,1792650032699436015,-5.437832392e-06,2.358049217e-05,2.790719329e-04,-2.340214718e-06,2.007052410e-05,2.698622765e-04,1.598591959e-07,1.999987948e-05,2.684885130e-04,7.015324336e-01,2.513145350e-05,8.410200131e-01,7.015355313e-01,2.162148542e-05,8.410108035e-01,7.017256967e-01,2.182811017e-05,8.300492205e-01
+39,6.966666667e+00,UP_FORCE_RAMP,1792650032969553059,-7.190201378e-06,2.936742440e-05,2.897693672e-04,-5.443909824e-06,2.519068875e-05,2.909602041e-04,-2.890315657e-06,2.505368813e-05,2.893435403e-04,7.015306813e-01,3.091838572e-05,8.410307106e-01,7.015324276e-01,2.674165007e-05,8.410319014e-01,7.017226466e-01,2.688191882e-05,8.300700755e-01
+40,7.100000000e+00,UP_FORCE_RAMP,1792650033169222990,-2.724904927e-05,2.871195262e-05,2.884058569e-04,-2.694520046e-05,2.880134812e-05,2.881737914e-04,-2.467692598e-05,2.862655402e-05,2.868007873e-04,7.015106224e-01,3.026291394e-05,8.410293470e-01,7.015109263e-01,3.035230944e-05,8.410291150e-01,7.017008599e-01,3.045478471e-05,8.300675328e-01
+41,7.150000000e+00,UP_FORCE_RAMP,1792650033239766043,-3.084391615e-05,2.102972255e-05,2.903437866e-04,-4.270886169e-05,2.158146771e-05,2.752159767e-04,-4.071329679e-05,2.151107803e-05,2.740029338e-04,7.015070276e-01,2.258068388e-05,8.410312850e-01,7.014951626e-01,2.313242903e-05,8.410161572e-01,7.016848236e-01,2.333930873e-05,8.300547349e-01
+42,7.333333333e+00,UP_FORCE_RAMP,1792650033519362313,-3.742250251e-05,2.507444642e-05,2.956930065e-04,-3.094250619e-05,2.521264817e-05,2.957291960e-04,-2.869374134e-05,2.509922023e-05,2.943293789e-04,7.015004490e-01,2.662540774e-05,8.410366342e-01,7.015069290e-01,2.676360950e-05,8.410366704e-01,7.016968431e-01,2.692745092e-05,8.300750614e-01
+43,7.533333333e+00,UP_FORCE_RAMP,1792650033819757050,-3.827964126e-05,1.935962231e-05,3.139875369e-04,-3.803866094e-05,1.950506011e-05,3.138850489e-04,-3.589438476e-05,1.948273650e-05,3.123363380e-04,7.014995918e-01,2.091058363e-05,8.410549287e-01,7.014998328e-01,2.105602143e-05,8.410548262e-01,7.016896425e-01,2.131096720e-05,8.300930683e-01
+44,7.666666667e+00,UP_FORCE_RAMP,1792650034019755636,-3.733649874e-05,2.728509546e-05,3.259930997e-04,-3.803866094e-05,1.950506011e-05,3.138850489e-04,-3.592904713e-05,1.946941502e-05,3.124587477e-04,7.015005350e-01,2.883605678e-05,8.410669343e-01,7.014998328e-01,2.105602143e-05,8.410548262e-01,7.016896078e-01,2.129764572e-05,8.300931907e-01
+45,7.883333333e+00,UP_FORCE_RAMP,1792650034340135286,-3.596753829e-05,2.893646181e-05,3.476015016e-04,-3.853035101e-05,3.059858751e-05,3.341020260e-04,-3.635887493e-05,3.042934165e-05,3.325299903e-04,7.015019039e-01,3.048742313e-05,8.410885427e-01,7.014993411e-01,3.214954883e-05,8.410750432e-01,7.016891780e-01,3.225757234e-05,8.301132620e-01
+46,8.000000000e+00,UP_FORCE_RAMP,1792650034519646603,-3.872185098e-05,3.109111468e-05,3.548763032e-04,-3.862729388e-05,3.097597669e-05,3.547964610e-04,-3.639818720e-05,3.081786301e-05,3.529654680e-04,7.014991496e-01,3.264207600e-05,8.410958175e-01,7.014992442e-01,3.252693802e-05,8.410957376e-01,7.016891387e-01,3.264609371e-05,8.301336974e-01
+47,8.166666667e+00,UP_FORCE_RAMP,1792650034769987675,-4.400776043e-05,2.588501586e-05,3.669947385e-04,-3.862729388e-05,3.097597669e-05,3.547964610e-04,-3.642483339e-05,3.082035093e-05,3.531265976e-04,7.014938637e-01,2.743597718e-05,8.411079359e-01,7.014992442e-01,3.252693802e-05,8.410957376e-01,7.016891120e-01,3.264858162e-05,8.301338586e-01
+48,8.300000000e+00,UP_FORCE_RAMP,1792650034969902781,-4.372463979e-05,3.119782232e-05,3.803873290e-04,-4.542783270e-05,3.247473540e-05,3.739080037e-04,-4.326821867e-05,3.231141529e-05,3.720503832e-04,7.014941468e-01,3.274878364e-05,8.411213285e-01,7.014924436e-01,3.402569672e-05,8.411148492e-01,7.016822687e-01,3.413964598e-05,8.301527824e-01
+49,8.483333333e+00,UP_FORCE_RAMP,1792650035238856648,-4.747498920e-05,3.368654531e-05,3.876524841e-04,-4.542783270e-05,3.247473540e-05,3.739080037e-04,-4.330848265e-05,3.231324675e-05,3.722071567e-04,7.014903965e-01,3.523750663e-05,8.411285937e-01,7.014924436e-01,3.402569672e-05,8.411148492e-01,7.016822284e-01,3.414147745e-05,8.301529391e-01
+50,8.616666667e+00,UP_FORCE_RAMP,1792650035440976427,-4.585847154e-05,3.039041141e-05,3.982723524e-04,-4.427750773e-05,3.066138296e-05,3.948479260e-04,-4.213031141e-05,3.050371412e-05,3.929530335e-04,7.014920130e-01,3.194137273e-05,8.411392135e-01,7.014935940e-01,3.221234428e-05,8.411357891e-01,7.016834066e-01,3.233194482e-05,8.301736850e-01
+51,8.800000000e+00,UP_FORCE_RAMP,1792650035718903427,-4.606532026e-05,3.788368862e-05,4.091326963e-04,-4.427750773e-05,3.066138296e-05,3.948479260e-04,-4.216083531e-05,3.050292235e-05,3.931024979e-04,7.014918062e-01,3.943464994e-05,8.411500739e-01,7.014935940e-01,3.221234428e-05,8.411357891e-01,7.016833760e-01,3.233115305e-05,8.301738345e-01
+52,8.916666667e+00,UP_FORCE_RAMP,1792650035899733790,-5.004861518e-05,2.718483548e-05,4.086658545e-04,-4.427750773e-05,3.066138296e-05,3.948479260e-04,-4.217899104e-05,3.050290751e-05,3.931866002e-04,7.014878229e-01,2.873579681e-05,8.411496070e-01,7.014935940e-01,3.221234428e-05,8.411357891e-01,7.016833579e-01,3.233113821e-05,8.301739186e-01
+53,9.083333333e+00,UP_FORCE_RAMP,1792650036140122267,-4.774004816e-05,3.168398525e-05,4.204582467e-04,-4.743030361e-05,3.151599049e-05,4.153489676e-04,-4.529179049e-05,3.135417547e-05,4.134663850e-04,7.014901314e-01,3.323494657e-05,8.411613994e-01,7.014904412e-01,3.306695181e-05,8.411562902e-01,7.016802451e-01,3.318240616e-05,8.301941984e-01
+54,9.283333333e+00,UP_FORCE_RAMP,1792650036439804072,-4.749986613e-05,3.452294941e-05,4.299209385e-04,-4.743030361e-05,3.151599049e-05,4.153489676e-04,-4.532633311e-05,3.135455208e-05,4.136139288e-04,7.014903716e-01,3.607391073e-05,8.411708621e-01,7.014904412e-01,3.306695181e-05,8.411562902e-01,7.016802105e-01,3.318278278e-05,8.301943459e-01
+55,9.466666667e+00,UP_FORCE_RAMP,1792650036720129672,-4.537131076e-05,3.124370509e-05,4.520610604e-04,-4.679765064e-05,3.175002554e-05,4.356305067e-04,-4.465183654e-05,3.157348759e-05,4.337356653e-04,7.014925002e-01,3.279466641e-05,8.411930022e-01,7.014910738e-01,3.330098686e-05,8.411765717e-01,7.016808850e-01,3.340171829e-05,8.302144676e-01
+56,9.516666667e+00,UP_FORCE_HOLD,1792650036799992885,-3.934685149e-05,3.522787100e-05,4.774312667e-04,-4.076267591e-05,3.343654578e-05,4.645840388e-04,-3.844740747e-05,3.324700312e-05,4.622499558e-04,7.014985246e-01,3.677883232e-05,8.412183725e-01,7.014971088e-01,3.498750710e-05,8.412055252e-01,7.016870895e-01,3.507523381e-05,8.302429819e-01
+57,9.650000000e+00,UP_FORCE_HOLD,1792650036999529068,-3.526487420e-05,3.459818735e-05,4.971827715e-04,-3.362823272e-05,2.851347904e-05,4.900255116e-04,-3.112659634e-05,2.836168235e-05,4.874939831e-04,7.015026066e-01,3.614914867e-05,8.412381240e-01,7.015042432e-01,3.006444036e-05,8.412309667e-01,7.016944103e-01,3.018991304e-05,8.302682260e-01
+58,9.833333333e+00,UP_FORCE_HOLD,1792650037269688986,-3.835547821e-05,2.989670795e-05,4.982991732e-04,-3.362823272e-05,2.851347904e-05,4.900255116e-04,-3.113504737e-05,2.836176862e-05,4.876764201e-04,7.014995160e-01,3.144766928e-05,8.412392404e-01,7.015042432e-01,3.006444036e-05,8.412309667e-01,7.016944018e-01,3.018999932e-05,8.302684084e-01
+59,1.000000000e+01,UP_SETTLE,1792650037519817206,-4.094490129e-05,3.399627438e-05,4.984463267e-04,-3.362823272e-05,2.851347904e-05,4.900255116e-04,-3.114526975e-05,2.836251915e-05,4.878208712e-04,7.014969266e-01,3.554723570e-05,8.412393875e-01,7.015042432e-01,3.006444036e-05,8.412309667e-01,7.016943916e-01,3.019074984e-05,8.302685528e-01
diff --git a/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/simulation_data.csv b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9750b8ad96fbf91e8d7455c1f61219c1ff56c093
--- /dev/null
+++ b/Part2/Fixed/s1/cylinder_PLA_20/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-7.8616e-03,1.0834e-03,2.4575e+00,-3.6846e-02,3.6274e-02,-1.0202e-05,3.3328e-05,4.5765e-05,-5.2452e-06,-2.9542e-06,2.0340e-06,-1.0949e-07,5.6857e-05,3.5883e-06
+1,1.1667e-01,XJC_ZERO_HOLD_BEFORE_UP,3.9198e-05,-7.4681e-03,1.3844e-03,2.4576e+00,-3.6865e-02,3.6299e-02,-1.0949e-05,4.2683e-04,3.4681e-04,1.9073e-05,-2.2534e-05,2.6602e-05,-8.5644e-07,5.5029e-04,3.4874e-05
+2,2.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,8.0864e-05,-6.6039e-03,1.7217e-03,2.4577e+00,-3.6888e-02,3.6354e-02,-1.1856e-05,1.2910e-03,6.8407e-04,1.9073e-04,-4.4752e-05,8.1304e-05,-1.7636e-06,1.4735e-03,9.2824e-05
+3,4.6667e-01,XJC_ZERO_HOLD_BEFORE_UP,1.2267e-04,-4.9543e-03,2.0893e-03,2.4582e+00,-3.6912e-02,3.6459e-02,-1.2952e-05,2.9406e-03,1.0517e-03,6.2323e-04,-6.9506e-05,1.8654e-04,-2.8591e-06,3.1846e-03,1.9909e-04
+4,6.6667e-01,WAIT_W2,1.6443e-04,-2.8662e-03,2.3818e-03,2.4588e+00,-3.6933e-02,3.6593e-02,-1.3937e-05,5.0287e-03,1.3442e-03,1.2450e-03,-8.9865e-05,3.2041e-04,-3.8442e-06,5.3521e-03,3.3280e-04
+5,8.5000e-01,WAIT_W2,1.9950e-04,-6.8699e-04,2.5907e-03,2.4595e+00,-3.6948e-02,3.6733e-02,-1.4744e-05,7.2080e-03,1.5530e-03,1.9445e-03,-1.0508e-04,4.6067e-04,-4.6515e-06,7.6255e-03,4.7252e-04
+6,1.1000e+00,WAIT_W2,2.4112e-04,2.5569e-03,2.8000e-03,2.4606e+00,-3.6964e-02,3.6943e-02,-1.5710e-05,1.0452e-02,1.7624e-03,3.0489e-03,-1.2145e-04,6.7024e-04,-5.6175e-06,1.1029e-02,6.8117e-04
+7,1.3167e+00,WAIT_W2,2.8359e-04,2.2457e-02,3.7942e-03,2.4678e+00,-3.7051e-02,3.8236e-02,-2.1881e-05,3.0352e-02,2.7566e-03,1.0284e-02,-2.0788e-04,1.9632e-03,-1.1789e-05,3.2165e-02,1.9742e-03
+8,1.5000e+00,WAIT_W2,3.2552e-04,2.1927e-02,3.7760e-03,2.4678e+00,-3.7052e-02,3.8206e-02,-2.2430e-05,2.9822e-02,2.7383e-03,1.0247e-02,-2.0871e-04,1.9339e-03,-1.2337e-05,3.1652e-02,1.9451e-03
+9,1.7167e+00,WAIT_W2,3.6491e-04,2.1953e-02,3.7488e-03,2.4680e+00,-3.7052e-02,3.8213e-02,-2.2964e-05,2.9848e-02,2.7112e-03,1.0408e-02,-2.0958e-04,1.9409e-03,-1.2872e-05,3.1727e-02,1.9522e-03
+10,1.9667e+00,WAIT_W2,4.0809e-04,2.8351e-02,5.6268e-03,2.4714e+00,-3.7261e-02,3.8803e-02,-3.7711e-05,3.6246e-02,4.5892e-03,1.3798e-02,-4.1860e-04,2.5311e-03,-2.7618e-05,3.9054e-02,2.5656e-03
+11,2.1500e+00,WAIT_W2,4.4606e-04,2.8789e-02,5.5769e-03,2.4713e+00,-3.7258e-02,3.8831e-02,-3.7903e-05,3.6684e-02,4.5393e-03,1.3749e-02,-4.1531e-04,2.5587e-03,-2.7811e-05,3.9438e-02,2.5923e-03
+12,2.3167e+00,WAIT_W2,4.8705e-04,2.9385e-02,5.5254e-03,2.4714e+00,-3.7255e-02,3.8869e-02,-3.8015e-05,3.7280e-02,4.4878e-03,1.3811e-02,-4.1211e-04,2.5966e-03,-2.7923e-05,4.0008e-02,2.6292e-03
+13,2.4833e+00,UP_FORCE_RAMP,5.2995e-04,3.0130e-02,5.4695e-03,2.4715e+00,-3.7252e-02,3.8917e-02,-3.8075e-05,3.8025e-02,4.4319e-03,1.3959e-02,-4.0876e-04,2.6442e-03,-2.7983e-05,4.0748e-02,2.6757e-03
+14,2.7167e+00,UP_FORCE_RAMP,5.6800e-04,3.1360e-02,5.3864e-03,2.4718e+00,-3.7247e-02,3.8996e-02,-3.8075e-05,3.9255e-02,4.3488e-03,1.4285e-02,-4.0400e-04,2.7232e-03,-2.7982e-05,4.1999e-02,2.7531e-03
+15,2.9833e+00,UP_FORCE_RAMP,6.0843e-04,3.9497e-02,4.9028e-03,2.4745e+00,-3.7221e-02,3.9521e-02,-3.7388e-05,4.7392e-02,3.8652e-03,1.6963e-02,-3.7857e-04,3.2485e-03,-2.7295e-05,5.0484e-02,3.2706e-03
+16,3.2000e+00,UP_FORCE_RAMP,6.4975e-04,3.9513e-02,4.9213e-03,2.4746e+00,-3.7223e-02,3.9524e-02,-3.7268e-05,4.7408e-02,3.8837e-03,1.7055e-02,-3.8045e-04,3.2516e-03,-2.7175e-05,5.0532e-02,3.2739e-03
+17,3.3500e+00,UP_FORCE_RAMP,6.8916e-04,3.9694e-02,4.9241e-03,2.4747e+00,-3.7224e-02,3.9537e-02,-3.7141e-05,4.7589e-02,3.8865e-03,1.7179e-02,-3.8122e-04,3.2646e-03,-2.7049e-05,5.0744e-02,3.2869e-03
+18,3.5167e+00,UP_FORCE_RAMP,7.2888e-04,4.3126e-02,5.6340e-03,2.4771e+00,-3.7303e-02,3.9837e-02,-2.8333e-05,5.1021e-02,4.5964e-03,1.9568e-02,-4.5994e-04,3.5644e-03,-1.8241e-05,5.4838e-02,3.5940e-03
+19,3.6667e+00,UP_FORCE_RAMP,7.7051e-04,3.8968e-02,5.8962e-03,2.4628e+00,-3.7319e-02,3.9567e-02,-2.7170e-05,4.6863e-02,4.8586e-03,5.2543e-03,-4.7617e-04,3.2951e-03,-1.7077e-05,4.7406e-02,3.3293e-03
+20,3.8167e+00,UP_FORCE_RAMP,8.1073e-04,3.9259e-02,5.8746e-03,2.4631e+00,-3.7318e-02,3.9585e-02,-2.6997e-05,4.7154e-02,4.8369e-03,5.5099e-03,-4.7489e-04,3.3131e-03,-1.6904e-05,4.7720e-02,3.3470e-03
+21,3.9667e+00,UP_FORCE_RAMP,8.4962e-04,3.9695e-02,5.8328e-03,2.4634e+00,-3.7315e-02,3.9613e-02,-2.6776e-05,4.7590e-02,4.7952e-03,5.8582e-03,-4.7242e-04,3.3405e-03,-1.6684e-05,4.8189e-02,3.3738e-03
+22,4.1000e+00,UP_FORCE_RAMP,8.9439e-04,3.9967e-02,5.7626e-03,2.4623e+00,-3.7311e-02,3.9630e-02,-2.6564e-05,4.7862e-02,4.7250e-03,4.7083e-03,-4.6815e-04,3.3578e-03,-1.6471e-05,4.8325e-02,3.3904e-03
+23,4.2333e+00,UP_FORCE_RAMP,9.3228e-04,4.1034e-02,2.2266e-03,2.4388e+00,-3.7084e-02,3.9702e-02,-2.4733e-05,4.8929e-02,1.1890e-03,-1.8735e-02,-2.4157e-04,3.4296e-03,-1.4641e-05,5.2407e-02,3.4381e-03
+24,4.3667e+00,UP_FORCE_RAMP,9.7260e-04,4.0772e-02,2.0348e-03,2.4369e+00,-3.7072e-02,3.9686e-02,-2.4501e-05,4.8667e-02,9.9716e-04,-2.0658e-02,-2.2874e-04,3.4134e-03,-1.4409e-05,5.2879e-02,3.4211e-03
+25,4.5500e+00,UP_FORCE_RAMP,1.0157e-03,4.0199e-02,1.4143e-03,2.4328e+00,-3.7031e-02,3.9650e-02,-2.4244e-05,4.8094e-02,3.7669e-04,-2.4777e-02,-1.8803e-04,3.3781e-03,-1.4151e-05,5.4103e-02,3.3834e-03
+26,4.7000e+00,UP_FORCE_RAMP,1.0542e-03,4.1012e-02,9.8070e-04,2.4289e+00,-3.7003e-02,3.9706e-02,-2.3954e-05,4.8907e-02,-5.6923e-05,-2.8616e-02,-1.5986e-04,3.4334e-03,-1.3861e-05,5.6664e-02,3.4371e-03
+27,4.8500e+00,UP_FORCE_RAMP,1.0937e-03,4.2125e-02,4.8459e-04,2.4260e+00,-3.6970e-02,3.9779e-02,-2.3631e-05,5.0020e-02,-5.5303e-04,-3.1529e-02,-1.2737e-04,3.5070e-03,-1.3538e-05,5.9130e-02,3.5094e-03
+28,5.0667e+00,UP_FORCE_RAMP,1.1359e-03,4.3039e-02,-5.3052e-04,2.4216e+00,-3.6904e-02,3.9841e-02,-2.3232e-05,5.0934e-02,-1.5681e-03,-3.5905e-02,-6.1642e-05,3.5690e-03,-1.3139e-05,6.2337e-02,3.5696e-03
+29,5.2833e+00,UP_FORCE_RAMP,1.1761e-03,4.4049e-02,-1.4329e-03,2.4192e+00,-3.6846e-02,3.9910e-02,-2.2770e-05,5.1944e-02,-2.4706e-03,-3.8318e-02,-3.1851e-06,3.6375e-03,-1.2677e-05,6.4596e-02,3.6375e-03
+30,5.4500e+00,UP_FORCE_RAMP,1.2158e-03,4.4995e-02,-2.1025e-03,2.4169e+00,-3.6803e-02,3.9974e-02,-2.2396e-05,5.2890e-02,-3.1401e-03,-4.0653e-02,4.0084e-05,3.7015e-03,-1.2303e-05,6.6782e-02,3.7017e-03
+31,5.6167e+00,UP_FORCE_RAMP,1.2579e-03,4.5914e-02,-2.7001e-03,2.4157e+00,-3.6764e-02,4.0036e-02,-2.1993e-05,5.3809e-02,-3.7377e-03,-4.1903e-02,7.8578e-05,3.7636e-03,-1.1900e-05,6.8302e-02,3.7644e-03
+32,5.8000e+00,UP_FORCE_RAMP,1.2975e-03,4.6911e-02,-3.6149e-03,2.4135e+00,-3.6705e-02,4.0104e-02,-2.1499e-05,5.4806e-02,-4.6525e-03,-4.4067e-02,1.3759e-04,3.8316e-03,-1.1406e-05,7.0478e-02,3.8341e-03
+33,5.9500e+00,UP_FORCE_RAMP,1.3384e-03,4.7719e-02,-4.3234e-03,2.4125e+00,-3.6660e-02,4.0159e-02,-2.1066e-05,5.5614e-02,-5.3610e-03,-4.5021e-02,1.8322e-04,3.8869e-03,-1.0973e-05,7.1753e-02,3.8912e-03
+34,6.1167e+00,UP_FORCE_RAMP,1.3808e-03,4.8650e-02,-5.1618e-03,2.4107e+00,-3.6606e-02,4.0223e-02,-2.0597e-05,5.6545e-02,-6.1994e-03,-4.6853e-02,2.3704e-04,3.9506e-03,-1.0504e-05,7.3695e-02,3.9578e-03
+35,6.2833e+00,UP_FORCE_RAMP,1.4196e-03,4.9529e-02,-5.8780e-03,2.4099e+00,-3.6560e-02,4.0283e-02,-2.0107e-05,5.7424e-02,-6.9156e-03,-4.7616e-02,2.8288e-04,4.0107e-03,-1.0015e-05,7.4917e-02,4.0207e-03
+36,6.4500e+00,UP_FORCE_RAMP,1.4584e-03,5.0823e-02,-6.5658e-03,2.4084e+00,-3.6516e-02,4.0371e-02,-1.9525e-05,5.8717e-02,-7.6034e-03,-4.9158e-02,3.2676e-04,4.0985e-03,-9.4328e-06,7.6955e-02,4.1115e-03
+37,6.6167e+00,UP_FORCE_RAMP,1.5029e-03,5.2033e-02,-7.1039e-03,2.4077e+00,-3.6482e-02,4.0453e-02,-1.8904e-05,5.9928e-02,-8.1415e-03,-4.9881e-02,3.6062e-04,4.1806e-03,-8.8119e-06,7.8395e-02,4.1962e-03
+38,6.7833e+00,UP_FORCE_RAMP,1.5406e-03,5.2998e-02,-7.3521e-03,2.4060e+00,-3.6467e-02,4.0519e-02,-1.8269e-05,6.0893e-02,-8.3897e-03,-5.1560e-02,3.7587e-04,4.2471e-03,-8.1767e-06,8.0229e-02,4.2637e-03
+39,6.9667e+00,UP_FORCE_RAMP,1.5825e-03,5.4067e-02,-7.7966e-03,2.4050e+00,-3.6439e-02,4.0593e-02,-1.7503e-05,6.1962e-02,-8.8342e-03,-5.2520e-02,4.0361e-04,4.3210e-03,-7.4101e-06,8.1705e-02,4.3398e-03
+40,7.1000e+00,UP_FORCE_RAMP,1.6237e-03,5.4913e-02,-8.3123e-03,2.4037e+00,-3.6407e-02,4.0652e-02,-1.6971e-05,6.2808e-02,-9.3499e-03,-5.3824e-02,4.3594e-04,4.3792e-03,-6.8782e-06,8.3242e-02,4.4009e-03
+41,7.1500e+00,UP_FORCE_RAMP,1.6648e-03,5.5698e-02,-8.5504e-03,2.4034e+00,-3.6392e-02,4.0705e-02,-1.6707e-05,6.3593e-02,-9.5880e-03,-5.4154e-02,4.5068e-04,4.4326e-03,-6.6146e-06,8.4075e-02,4.4554e-03
+42,7.3333e+00,UP_FORCE_RAMP,1.7056e-03,9.6936e-02,-1.0465e-02,2.4082e+00,-3.6281e-02,4.3425e-02,-7.4336e-06,1.0483e-01,-1.1503e-02,-4.9343e-02,5.6187e-04,7.1523e-03,2.6590e-06,1.1643e-01,7.1744e-03
+43,7.5333e+00,UP_FORCE_RAMP,1.7491e-03,9.2758e-02,-1.0704e-02,2.4073e+00,-3.6266e-02,4.3169e-02,-6.7300e-06,1.0065e-01,-1.1742e-02,-5.0235e-02,5.7650e-04,6.8963e-03,3.3626e-06,1.1310e-01,6.9203e-03
+44,7.6667e+00,UP_FORCE_RAMP,1.7833e-03,9.0682e-02,-1.0386e-02,2.4062e+00,-3.6288e-02,4.3044e-02,-6.1234e-06,9.8577e-02,-1.1424e-02,-5.1399e-02,5.5501e-04,6.7716e-03,3.9691e-06,1.1176e-01,6.7943e-03
+45,7.8833e+00,UP_FORCE_RAMP,1.8259e-03,8.8035e-02,-1.1015e-02,2.4039e+00,-3.6248e-02,4.2886e-02,-5.2301e-06,9.5930e-02,-1.2052e-02,-5.3619e-02,5.9489e-04,6.6133e-03,4.8625e-06,1.1056e-01,6.6400e-03
+46,8.0000e+00,UP_FORCE_RAMP,1.8677e-03,8.6877e-02,-1.1413e-02,2.4031e+00,-3.6223e-02,4.2816e-02,-4.7819e-06,9.4772e-02,-1.2451e-02,-5.4502e-02,6.2000e-04,6.5441e-03,5.3107e-06,1.1003e-01,6.5734e-03
+47,8.1667e+00,UP_FORCE_RAMP,1.9088e-03,8.5208e-02,-1.1976e-02,2.4009e+00,-3.6187e-02,4.2717e-02,-4.0506e-06,9.3103e-02,-1.3014e-02,-5.6653e-02,6.5554e-04,6.4447e-03,6.0420e-06,1.0976e-01,6.4779e-03
+48,8.3000e+00,UP_FORCE_RAMP,1.9474e-03,8.4018e-02,-1.2408e-02,2.3995e+00,-3.6160e-02,4.2647e-02,-3.4161e-06,9.1913e-02,-1.3446e-02,-5.8013e-02,6.8287e-04,6.3743e-03,6.6765e-06,1.0952e-01,6.4108e-03
+49,8.4833e+00,UP_FORCE_RAMP,1.9884e-03,8.3175e-02,-1.2932e-02,2.3973e+00,-3.6127e-02,4.2600e-02,-2.5546e-06,9.1070e-02,-1.3969e-02,-6.0223e-02,7.1606e-04,6.3277e-03,7.5380e-06,1.1007e-01,6.3681e-03
+50,8.6167e+00,UP_FORCE_RAMP,2.0291e-03,8.2422e-02,-1.3182e-02,2.3956e+00,-3.6111e-02,4.2557e-02,-1.8305e-06,9.0317e-02,-1.4220e-02,-6.1922e-02,7.3173e-04,6.2847e-03,8.2621e-06,1.1043e-01,6.3272e-03
+51,8.8000e+00,UP_FORCE_RAMP,2.0711e-03,8.1413e-02,-1.3398e-02,2.3936e+00,-3.6098e-02,4.2499e-02,-8.7591e-07,8.9308e-02,-1.4436e-02,-6.3962e-02,7.4526e-04,6.2264e-03,9.2167e-06,1.1079e-01,6.2709e-03
+52,8.9167e+00,UP_FORCE_RAMP,2.1062e-03,8.0797e-02,-1.3513e-02,2.3929e+00,-3.6090e-02,4.2463e-02,-2.4773e-07,8.8692e-02,-1.4551e-02,-6.4675e-02,7.5242e-04,6.1906e-03,9.8449e-06,1.1073e-01,6.2362e-03
+53,9.0833e+00,UP_FORCE_RAMP,2.1502e-03,7.9987e-02,-1.3716e-02,2.3915e+00,-3.6078e-02,4.2417e-02,7.7998e-07,8.7882e-02,-1.4753e-02,-6.6009e-02,7.6518e-04,6.1445e-03,1.0873e-05,1.1090e-01,6.1920e-03
+54,9.2833e+00,UP_FORCE_RAMP,2.1927e-03,7.9219e-02,-1.3906e-02,2.3902e+00,-3.6066e-02,4.2374e-02,1.9725e-06,8.7114e-02,-1.4943e-02,-6.7381e-02,7.7721e-04,6.1012e-03,1.2065e-05,1.1114e-01,6.1505e-03
+55,9.4667e+00,UP_FORCE_RAMP,2.2333e-03,7.8356e-02,-1.4069e-02,2.3889e+00,-3.6055e-02,4.2324e-02,3.2370e-06,8.6251e-02,-1.5106e-02,-6.8681e-02,7.8759e-04,6.0514e-03,1.3330e-05,1.1129e-01,6.1025e-03
+56,9.5167e+00,UP_FORCE_HOLD,2.2663e-03,7.8062e-02,-1.4151e-02,2.3883e+00,-3.6050e-02,4.2307e-02,3.6345e-06,8.5957e-02,-1.5189e-02,-6.9268e-02,7.9301e-04,6.0342e-03,1.3727e-05,1.1143e-01,6.0861e-03
+57,9.6500e+00,UP_FORCE_HOLD,2.3101e-03,7.6265e-02,-1.4022e-02,2.3836e+00,-3.6058e-02,4.2195e-02,4.6873e-06,8.4160e-02,-1.5060e-02,-7.3923e-02,7.8463e-04,5.9229e-03,1.4780e-05,1.1302e-01,5.9746e-03
+58,9.8333e+00,UP_FORCE_HOLD,2.3532e-03,7.4328e-02,-1.3849e-02,2.3795e+00,-3.6069e-02,4.2076e-02,5.9169e-06,8.2223e-02,-1.4886e-02,-7.8102e-02,7.7363e-04,5.8033e-03,1.6010e-05,1.1438e-01,5.8547e-03
+59,1.0000e+01,UP_SETTLE,2.3935e-03,7.2859e-02,-1.3706e-02,2.3771e+00,-3.6078e-02,4.1985e-02,7.0543e-06,8.0754e-02,-1.4743e-02,-8.0457e-02,7.6457e-04,5.7126e-03,1.7147e-05,1.1494e-01,5.7635e-03