diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1e745e366528a9f2c574558ed66026b100f2864a
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_05/up/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_UP,1793080299672627610,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.249968762e-08,-1.541271499e-09,-1.332699506e-10,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027458892e-01,-1.137427210e-04,8.303258052e-01
+1,1.833333333e-01,XJC_ZERO_HOLD_BEFORE_UP,1793080299853556376,-1.807821293e-06,-1.367952216e-06,-3.720367330e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.331134821e-07,-1.178415237e-08,-2.444056402e-09,7.019538618e-01,-2.345586362e-05,8.601397255e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027460098e-01,-1.137529639e-04,8.303258029e-01
+2,3.833333333e-01,WAIT_W2,1793080300049969086,-1.078235232e-06,7.445332939e-07,-3.229216555e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.427588847e-07,-2.169211712e-08,-5.704902217e-09,7.019545914e-01,-2.134337811e-05,8.601402166e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027461194e-01,-1.137628719e-04,8.303257996e-01
+3,6.000000000e-01,WAIT_W2,1793080300262250718,-1.525533123e-06,8.612192156e-07,7.193264161e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.413751115e-07,-3.064670661e-08,-9.551314073e-09,7.019541441e-01,-2.122669219e-05,8.601441652e-01,7.019556696e-01,-2.208791141e-05,8.601434458e-01,7.027462180e-01,-1.137718264e-04,8.303257958e-01
+4,7.833333333e-01,WAIT_W2,1793080300475458244,6.730890523e-08,-2.046861129e-05,6.592305435e-08,-8.881964775e-08,-2.035945834e-05,3.588352520e-07,3.291257172e-07,-1.866585481e-05,3.278027719e-07,7.019557369e-01,-4.255652269e-05,8.601435118e-01,7.019555808e-01,-4.244736975e-05,8.601438047e-01,7.027462058e-01,-1.324070346e-04,8.303261331e-01
+5,8.000000000e-01,WAIT_W2,1793080300493730962,-2.369498070e-07,-8.353377770e-05,5.944091475e-06,-2.810529303e-07,-8.355234613e-05,5.907812429e-06,2.131178888e-07,-7.662524853e-05,5.530775514e-06,7.019554327e-01,-1.056216891e-04,8.601493899e-01,7.019553886e-01,-1.056402575e-04,8.601493537e-01,7.027460898e-01,-1.903664283e-04,8.303313361e-01
+6,8.000000000e-01,WAIT_W2,1793080300493730962,-2.369498070e-07,-8.353377770e-05,5.944091475e-06,-2.810529303e-07,-8.355234613e-05,5.907812429e-06,2.131178888e-07,-7.662524853e-05,5.530775514e-06,7.019554327e-01,-1.056216891e-04,8.601493899e-01,7.019553886e-01,-1.056402575e-04,8.601493537e-01,7.027460898e-01,-1.903664283e-04,8.303313361e-01
+7,8.166666667e-01,WAIT_W2,1793080300508054497,2.414949773e-06,-1.666834509e-04,1.152019988e-05,2.521899885e-06,-1.666558511e-04,1.201636171e-05,3.244439436e-06,-1.528503752e-04,1.138327630e-05,7.019580846e-01,-1.887713623e-04,8.601549660e-01,7.019581915e-01,-1.887437625e-04,8.601554622e-01,7.027491211e-01,-2.665915549e-04,8.303371886e-01
+8,8.166666667e-01,WAIT_W2,1793080300508054497,2.414949773e-06,-1.666834509e-04,1.152019988e-05,2.521899885e-06,-1.666558511e-04,1.201636171e-05,3.244439436e-06,-1.528503752e-04,1.138327630e-05,7.019580846e-01,-1.887713623e-04,8.601549660e-01,7.019581915e-01,-1.887437625e-04,8.601554622e-01,7.027491211e-01,-2.665915549e-04,8.303371886e-01
+9,8.333333333e-01,WAIT_W2,1793080300524982908,4.952893079e-06,-3.168353775e-04,1.893454704e-05,4.687911635e-06,-3.168363036e-04,1.818403930e-05,5.647939070e-06,-2.908033406e-04,1.723211560e-05,7.019606225e-01,-3.389232889e-04,8.601623804e-01,7.019603575e-01,-3.389242150e-04,8.601616299e-01,7.027515246e-01,-4.045445203e-04,8.303430374e-01
+10,8.333333333e-01,WAIT_W2,1793080300524982908,4.952893079e-06,-3.168353775e-04,1.893454704e-05,4.687911635e-06,-3.168363036e-04,1.818403930e-05,5.647939070e-06,-2.908033406e-04,1.723211560e-05,7.019606225e-01,-3.389232889e-04,8.601623804e-01,7.019603575e-01,-3.389242150e-04,8.601616299e-01,7.027515246e-01,-4.045445203e-04,8.303430374e-01
+11,8.500000000e-01,WAIT_W2,1793080300541087427,5.336452666e-06,-4.120175517e-04,2.387588527e-05,5.300469721e-06,-4.119244638e-04,2.433786058e-05,6.453157886e-06,-3.782944643e-04,2.320752119e-05,7.019610061e-01,-4.341054631e-04,8.601673217e-01,7.019609701e-01,-4.340123752e-04,8.601677837e-01,7.027523298e-01,-4.920356440e-04,8.303490129e-01
+12,8.500000000e-01,WAIT_W2,1793080300541087427,5.336452666e-06,-4.120175517e-04,2.387588527e-05,5.300469721e-06,-4.119244638e-04,2.433786058e-05,6.453157886e-06,-3.782944643e-04,2.320752119e-05,7.019610061e-01,-4.341054631e-04,8.601673217e-01,7.019609701e-01,-4.340123752e-04,8.601677837e-01,7.027523298e-01,-4.920356440e-04,8.303490129e-01
+13,8.500000000e-01,WAIT_W2,1793080300541087427,5.336452666e-06,-4.120175517e-04,2.387588527e-05,5.300469721e-06,-4.119244638e-04,2.433786058e-05,6.453157886e-06,-3.782944643e-04,2.320752119e-05,7.019610061e-01,-4.341054631e-04,8.601673217e-01,7.019609701e-01,-4.340123752e-04,8.601677837e-01,7.027523298e-01,-4.920356440e-04,8.303490129e-01
+14,8.666666667e-01,WAIT_W2,1793080300557412615,4.584672918e-06,-5.332359425e-04,2.924906404e-05,4.616952525e-06,-5.330745236e-04,2.934975516e-05,5.795386273e-06,-4.899258736e-04,2.798083826e-05,7.019602543e-01,-5.553238539e-04,8.601726949e-01,7.019602866e-01,-5.551624350e-04,8.601727956e-01,7.027516720e-01,-6.036670533e-04,8.303537862e-01
+15,8.833333333e-01,WAIT_W2,1793080300574353699,1.138526643e-05,-5.363871559e-04,3.749327450e-05,4.616952525e-06,-5.330745236e-04,2.934975516e-05,5.577700685e-06,-4.901296301e-04,2.833360687e-05,7.019670549e-01,-5.584750673e-04,8.601809391e-01,7.019602866e-01,-5.551624350e-04,8.601727956e-01,7.027514544e-01,-6.038708098e-04,8.303541389e-01
+16,9.000000000e-01,WAIT_W2,1793080300591287210,1.688935866e-05,-4.778014084e-04,4.679781110e-05,1.680319913e-05,-4.780146512e-04,4.710048032e-05,1.839882846e-05,-4.395940494e-04,4.548970419e-05,7.019725590e-01,-4.998893198e-04,8.601902437e-01,7.019724728e-01,-5.001025626e-04,8.601905463e-01,7.027642755e-01,-5.533352291e-04,8.303712950e-01
+17,9.333333333e-01,WAIT_W2,1793080300626431910,3.030775621e-05,-4.621350011e-04,7.403961320e-05,3.036805519e-05,-4.619819538e-04,7.399156604e-05,3.268352970e-05,-4.246718437e-04,7.130979148e-05,7.019859774e-01,-4.842229125e-04,8.602174855e-01,7.019860377e-01,-4.840698652e-04,8.602174374e-01,7.027785602e-01,-5.384130235e-04,8.303971151e-01
+18,9.666666667e-01,WAIT_W2,1793080300671913404,4.710569746e-05,-4.553038097e-04,1.096057664e-04,4.718248145e-05,-4.550104280e-04,1.098596244e-04,5.057357640e-05,-4.183593612e-04,1.059959039e-04,7.020027753e-01,-4.773917211e-04,8.602530516e-01,7.020028521e-01,-4.770983394e-04,8.602533055e-01,7.027964502e-01,-5.321005409e-04,8.304318012e-01
+19,1.016666667e+00,WAIT_W2,1793080300721004025,5.731219736e-05,-4.562229735e-04,1.435161388e-04,5.459041463e-05,-4.626393747e-04,1.315166713e-04,5.881148032e-05,-4.253611959e-04,1.271515851e-04,7.020129818e-01,-4.783108849e-04,8.602869620e-01,7.020102600e-01,-4.847272861e-04,8.602749625e-01,7.028046881e-01,-5.391023756e-04,8.304529569e-01
+20,1.083333333e+00,WAIT_W2,1793080300786519292,7.132635618e-05,-4.537185068e-04,1.725918557e-04,7.158264153e-05,-4.538549206e-04,1.725175525e-04,7.696706358e-05,-4.172282875e-04,1.668819752e-04,7.020269960e-01,-4.758064182e-04,8.603160377e-01,7.020272523e-01,-4.759428320e-04,8.603159634e-01,7.028228437e-01,-5.309694673e-04,8.304926873e-01
+21,1.233333333e+00,WAIT_W2,1793080300950971623,8.210911323e-05,-4.334091791e-04,1.979613850e-04,7.669919778e-05,-4.380349113e-04,1.872949115e-04,8.311616986e-05,-4.027713188e-04,1.821041256e-04,7.020377787e-01,-4.554970905e-04,8.603414072e-01,7.020323688e-01,-4.601228227e-04,8.603307408e-01,7.028289928e-01,-5.165124985e-04,8.305079095e-01
+22,1.400000000e+00,UP_FORCE_RAMP,1793080301114194363,8.542963625e-05,-4.397139044e-04,2.068116990e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.176617234e-05,-3.990638760e-04,2.010788979e-04,7.020410993e-01,-4.618018158e-04,8.603502575e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028376428e-01,-5.128050557e-04,8.305268842e-01
+23,1.583333333e+00,UP_FORCE_RAMP,1793080301295259696,8.595033942e-05,-4.316729316e-04,2.108769936e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.222490361e-05,-3.991409107e-04,2.016797315e-04,7.020416200e-01,-4.537608430e-04,8.603543228e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028381016e-01,-5.128820905e-04,8.305274851e-01
+24,1.833333333e+00,UP_FORCE_RAMP,1793080301540879746,8.591425000e-05,-4.354896596e-04,2.119022374e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.267966552e-05,-3.992286657e-04,2.022027163e-04,7.020415839e-01,-4.575775710e-04,8.603553481e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028385563e-01,-5.129698454e-04,8.305280080e-01
+25,2.000000000e+00,UP_FORCE_RAMP,1793080301710923789,8.715435340e-05,-4.325796927e-04,2.163466202e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.293356800e-05,-3.992789074e-04,2.024802569e-04,7.020428240e-01,-4.546676041e-04,8.603597925e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028388102e-01,-5.130200871e-04,8.305282856e-01
+26,2.283333333e+00,UP_FORCE_RAMP,1793080302016927754,8.596874219e-05,-4.261672062e-04,2.160983066e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.331553997e-05,-3.993578060e-04,2.028783890e-04,7.020416384e-01,-4.482551176e-04,8.603595442e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028391922e-01,-5.130989857e-04,8.305286837e-01
+27,2.450000000e+00,UP_FORCE_RAMP,1793080302195445078,8.753456763e-05,-4.338563107e-04,2.227461592e-04,8.446032704e-05,-4.339364548e-04,2.064467726e-04,9.351045933e-05,-3.993955498e-04,2.030796082e-04,7.020432042e-01,-4.559442221e-04,8.603661920e-01,7.020401300e-01,-4.560243662e-04,8.603498926e-01,7.028393871e-01,-5.131367296e-04,8.305288849e-01
+28,2.666666667e+00,UP_FORCE_RAMP,1793080302408250019,8.574908827e-05,-4.310617635e-04,2.284414061e-04,8.526540936e-05,-4.322845638e-04,2.264438132e-04,9.479103964e-05,-3.979046389e-04,2.225583965e-04,7.020414187e-01,-4.531496749e-04,8.603718873e-01,7.020409350e-01,-4.543724752e-04,8.603698897e-01,7.028406677e-01,-5.116458186e-04,8.305483637e-01
+29,2.850000000e+00,UP_FORCE_RAMP,1793080302589803586,8.210331689e-05,-4.284215102e-04,2.332336001e-04,8.526540936e-05,-4.322845638e-04,2.264438132e-04,9.499205067e-05,-3.979370207e-04,2.229288295e-04,7.020377729e-01,-4.505094216e-04,8.603766794e-01,7.020409350e-01,-4.543724752e-04,8.603698897e-01,7.028408687e-01,-5.116782004e-04,8.305487342e-01
+30,3.100000000e+00,UP_FORCE_RAMP,1793080302850976368,7.976448479e-05,-4.267154062e-04,2.418119967e-04,8.526540936e-05,-4.322845638e-04,2.264438132e-04,9.522750033e-05,-3.979832058e-04,2.232442679e-04,7.020354341e-01,-4.488033176e-04,8.603852578e-01,7.020409350e-01,-4.543724752e-04,8.603698897e-01,7.028411042e-01,-5.117243856e-04,8.305490496e-01
+31,3.200000000e+00,UP_FORCE_RAMP,1793080302948537804,7.618793087e-05,-4.299620049e-04,2.459364565e-04,7.528576315e-05,-4.402249471e-04,2.463614445e-04,8.525723403e-05,-4.052724226e-04,2.425610719e-04,7.020318576e-01,-4.520499164e-04,8.603893823e-01,7.020309554e-01,-4.623128585e-04,8.603898073e-01,7.028311339e-01,-5.190136023e-04,8.305683664e-01
+32,3.416666667e+00,UP_FORCE_RAMP,1793080303194418515,7.329548432e-05,-4.319220269e-04,2.539974741e-04,7.528576315e-05,-4.402249471e-04,2.463614445e-04,8.534007004e-05,-4.053066211e-04,2.429259894e-04,7.020289651e-01,-4.540099383e-04,8.603974433e-01,7.020309554e-01,-4.623128585e-04,8.603898073e-01,7.028312167e-01,-5.190478008e-04,8.305687313e-01
+33,3.616666667e+00,UP_FORCE_RAMP,1793080303394128617,6.975624164e-05,-4.234389379e-04,2.606312350e-04,7.263657058e-05,-4.205425012e-04,2.539798964e-04,8.275066449e-05,-3.871761659e-04,2.505551156e-04,7.020254259e-01,-4.455268493e-04,8.604040771e-01,7.020283062e-01,-4.426304127e-04,8.603974257e-01,7.028286273e-01,-5.009173456e-04,8.305763604e-01
+34,3.816666667e+00,UP_FORCE_RAMP,1793080303604667234,6.179436661e-05,-4.261628873e-04,2.680081950e-04,7.263657058e-05,-4.205425012e-04,2.539798964e-04,8.284130984e-05,-3.871908203e-04,2.508028225e-04,7.020174640e-01,-4.482507988e-04,8.604114540e-01,7.020283062e-01,-4.426304127e-04,8.603974257e-01,7.028287180e-01,-5.009320000e-04,8.305766082e-01
+35,4.016666667e+00,UP_FORCE_RAMP,1793080303802012997,5.896007978e-05,-4.234812080e-04,2.807733840e-04,6.145620885e-05,-4.256815935e-04,2.697105854e-04,7.152164723e-05,-3.919145534e-04,2.661893009e-04,7.020146297e-01,-4.455691195e-04,8.604242192e-01,7.020171258e-01,-4.477695049e-04,8.604131564e-01,7.028173983e-01,-5.056557331e-04,8.305919946e-01
+36,4.266666667e+00,UP_FORCE_RAMP,1793080304046520345,4.935313271e-05,-4.194449599e-04,2.907292289e-04,5.410940616e-05,-4.199896430e-04,2.879767215e-04,6.413602795e-05,-3.866810164e-04,2.842013374e-04,7.020050228e-01,-4.415328713e-04,8.604341751e-01,7.020097790e-01,-4.420775544e-04,8.604314226e-01,7.028100127e-01,-5.004221962e-04,8.306100067e-01
+37,4.483333333e+00,UP_FORCE_RAMP,1793080304259644739,4.443241091e-05,-4.221752920e-04,3.092490187e-04,4.732472811e-05,-4.190825812e-04,3.068429563e-04,5.730361828e-05,-3.857767727e-04,3.026593300e-04,7.020001020e-01,-4.442632034e-04,8.604526949e-01,7.020029944e-01,-4.411704926e-04,8.604502888e-01,7.028031803e-01,-4.995179525e-04,8.306284647e-01
+38,4.683333333e+00,UP_FORCE_RAMP,1793080304472727564,3.644127312e-05,-4.184856320e-04,3.241600488e-04,3.673890618e-05,-4.184536053e-04,3.240699812e-04,4.671180746e-05,-3.851598696e-04,3.194723358e-04,7.019921109e-01,-4.405735434e-04,8.604676059e-01,7.019924085e-01,-4.405415167e-04,8.604675158e-01,7.027925885e-01,-4.989010493e-04,8.306452777e-01
+39,4.866666667e+00,UP_FORCE_RAMP,1793080304652396307,3.260220368e-05,-4.170158474e-04,3.376695001e-04,3.673890618e-05,-4.184536053e-04,3.240699812e-04,4.649904427e-05,-3.851514051e-04,3.200061267e-04,7.019882718e-01,-4.391037588e-04,8.604811153e-01,7.019924085e-01,-4.405415167e-04,8.604675158e-01,7.027923757e-01,-4.988925849e-04,8.306458115e-01
+40,5.050000000e+00,UP_FORCE_RAMP,1793080304832954566,2.122533540e-05,-4.133805749e-04,3.459335816e-04,2.700698934e-05,-4.141540199e-04,3.408254206e-04,3.650645113e-05,-3.811719823e-04,3.364277104e-04,7.019768950e-01,-4.354684863e-04,8.604893794e-01,7.019826766e-01,-4.362419313e-04,8.604842713e-01,7.027823831e-01,-4.949131621e-04,8.306622330e-01
+41,5.250000000e+00,UP_FORCE_RAMP,1793080305028965710,1.737889374e-05,-4.124909442e-04,3.712690006e-04,2.106633698e-05,-4.119767138e-04,3.610707845e-04,3.047905318e-05,-3.791319248e-04,3.563523795e-04,7.019730485e-01,-4.345788556e-04,8.605147148e-01,7.019767360e-01,-4.340646252e-04,8.605045166e-01,7.027763557e-01,-4.928731045e-04,8.306821577e-01
+42,5.533333333e+00,UP_FORCE_RAMP,1793080305307260855,6.858224434e-06,-4.140282344e-04,3.899436362e-04,1.289006491e-05,-4.162422978e-04,3.789122977e-04,2.203771318e-05,-3.830199263e-04,3.741963795e-04,7.019625278e-01,-4.361161458e-04,8.605333895e-01,7.019685597e-01,-4.383302092e-04,8.605223581e-01,7.027679144e-01,-4.967611060e-04,8.307000017e-01
+43,5.700000000e+00,UP_FORCE_RAMP,1793080305585754606,-4.048429277e-06,-4.125451237e-04,4.085606928e-04,1.916395477e-06,-4.133498951e-04,4.016269894e-04,1.091286815e-05,-3.802839390e-04,3.964351894e-04,7.019516212e-01,-4.346330351e-04,8.605520065e-01,7.019575860e-01,-4.354378065e-04,8.605450728e-01,7.027567895e-01,-4.940251188e-04,8.307222405e-01
+44,5.816666667e+00,UP_FORCE_RAMP,1793080305703821016,-4.450558698e-05,-4.117031984e-04,3.966587123e-04,-4.400651293e-05,-4.119529824e-04,3.964560531e-04,-3.622531943e-05,-3.789872068e-04,3.917344576e-04,7.019111640e-01,-4.337911098e-04,8.605401046e-01,7.019116631e-01,-4.340408938e-04,8.605399019e-01,7.027096513e-01,-4.927283865e-04,8.307175398e-01
+45,5.866666667e+00,UP_FORCE_RAMP,1793080305755393607,-2.924714081e-05,-4.061631782e-04,4.211810155e-04,-2.928382565e-05,-4.063174333e-04,4.212682621e-04,-2.146074857e-05,-3.738268504e-04,4.155136425e-04,7.019264225e-01,-4.282510896e-04,8.605646269e-01,7.019263858e-01,-4.284053447e-04,8.605647141e-01,7.027244159e-01,-4.875680302e-04,8.307413190e-01
+46,5.966666667e+00,UP_FORCE_RAMP,1793080305865117093,-3.670509934e-05,-4.066796334e-04,4.243303201e-04,-2.928382565e-05,-4.063174333e-04,4.212682621e-04,-2.167805633e-05,-3.737798252e-04,4.159850880e-04,7.019189645e-01,-4.287675448e-04,8.605677762e-01,7.019263858e-01,-4.284053447e-04,8.605647141e-01,7.027241986e-01,-4.875210049e-04,8.307417904e-01
+47,6.183333333e+00,UP_FORCE_HOLD,1793080306094148339,-4.621331265e-05,-4.038868728e-04,4.325850600e-04,-4.445187632e-05,-4.086704420e-04,4.345240552e-04,-3.735874660e-05,-3.758577420e-04,4.292072621e-04,7.019094563e-01,-4.259747842e-04,8.605760309e-01,7.019112177e-01,-4.307583534e-04,8.605779699e-01,7.027085179e-01,-4.895989217e-04,8.307550126e-01
+48,6.366666667e+00,UP_FORCE_HOLD,1793080306274501567,-5.393590231e-05,-4.013713368e-04,4.418563221e-04,-4.445187632e-05,-4.086704420e-04,4.345240552e-04,-3.775737131e-05,-3.758335679e-04,4.297029931e-04,7.019017337e-01,-4.234592482e-04,8.605853022e-01,7.019112177e-01,-4.307583534e-04,8.605779699e-01,7.027081193e-01,-4.895747477e-04,8.307555083e-01
+49,6.566666667e+00,UP_SETTLE,1793080306487593387,-5.796714797e-05,-3.976880560e-04,4.532499148e-04,-5.297189184e-05,-4.046708387e-04,4.536160029e-04,-4.659811593e-05,-3.721358031e-04,4.484605720e-04,7.018977025e-01,-4.197759674e-04,8.605966958e-01,7.019026977e-01,-4.267587501e-04,8.605970618e-01,7.026992785e-01,-4.858769828e-04,8.307742659e-01
+50,6.766666667e+00,UP_SETTLE,1793080306700818720,-5.847763487e-05,-4.028494239e-04,4.683260941e-04,-5.297189184e-05,-4.046708387e-04,4.536160029e-04,-4.688202130e-05,-3.721176147e-04,4.489602125e-04,7.018971920e-01,-4.249373353e-04,8.606117719e-01,7.019026977e-01,-4.267587501e-04,8.605970618e-01,7.026989946e-01,-4.858587945e-04,8.307747655e-01
+51,6.950000000e+00,UP_SETTLE,1793080306879964320,-6.550128296e-05,-4.019644613e-04,4.702473459e-04,-6.274933219e-05,-3.977802283e-04,4.704928549e-04,-5.692578925e-05,-3.657215696e-04,4.654660797e-04,7.018901683e-01,-4.240523727e-04,8.606136932e-01,7.018929203e-01,-4.198681397e-04,8.606139387e-01,7.026889509e-01,-4.794627494e-04,8.307912714e-01
+52,7.166666667e+00,UP_SETTLE,1793080307094179527,-6.936697709e-05,-4.031628916e-04,4.826057049e-04,-6.274933219e-05,-3.977802283e-04,4.704928549e-04,-5.725157203e-05,-3.656985333e-04,4.660063351e-04,7.018863026e-01,-4.252508030e-04,8.606260516e-01,7.018929203e-01,-4.198681397e-04,8.606139387e-01,7.026886251e-01,-4.794397130e-04,8.307918117e-01
+53,7.333333333e+00,UP_SETTLE,1793080307257642918,-9.125114952e-05,-3.997233492e-04,4.797195845e-04,-8.196904210e-05,-4.001479726e-04,4.774526201e-04,-7.728238563e-05,-3.678273029e-04,4.729627622e-04,7.018644185e-01,-4.218112606e-04,8.606231654e-01,7.018737006e-01,-4.222358840e-04,8.606208985e-01,7.026685943e-01,-4.815684827e-04,8.307987681e-01
+54,7.550000000e+00,UP_SETTLE,1793080307470440108,-9.428026358e-05,-4.013656020e-04,4.899132660e-04,-8.196904210e-05,-4.001479726e-04,4.774526201e-04,-7.769724171e-05,-3.678112150e-04,4.733658385e-04,7.018613894e-01,-4.234535134e-04,8.606333591e-01,7.018737006e-01,-4.222358840e-04,8.606208985e-01,7.026681794e-01,-4.815523947e-04,8.307991712e-01
+55,7.783333333e+00,UP_SETTLE,1793080307705149850,-9.621719514e-05,-3.984909719e-04,4.999663092e-04,-9.243970655e-05,-3.965010367e-04,4.943239909e-04,-8.860702109e-05,-3.644583930e-04,4.900223084e-04,7.018594524e-01,-4.205788834e-04,8.606434122e-01,7.018632299e-01,-4.185889481e-04,8.606377698e-01,7.026572696e-01,-4.781995727e-04,8.308158276e-01
+56,7.950000000e+00,UP_SETTLE,1793080307862786011,-1.007735030e-04,-3.974516201e-04,4.975894179e-04,-9.243970655e-05,-3.965010367e-04,4.943239909e-04,-8.883850004e-05,-3.644465843e-04,4.903377822e-04,7.018548961e-01,-4.195395315e-04,8.606410353e-01,7.018632299e-01,-4.185889481e-04,8.606377698e-01,7.026570382e-01,-4.781877640e-04,8.308161431e-01
+57,8.133333333e+00,UP_SETTLE,1793080308043620770,-9.856404823e-05,-3.983731829e-04,5.076189569e-04,-9.243970655e-05,-3.965010367e-04,4.943239909e-04,-8.903643393e-05,-3.644339478e-04,4.906234514e-04,7.018571056e-01,-4.204610943e-04,8.606510648e-01,7.018632299e-01,-4.185889481e-04,8.606377698e-01,7.026568402e-01,-4.781751275e-04,8.308164288e-01
+58,8.333333333e+00,UP_SETTLE,1793080308248659251,-1.025873151e-04,-3.934259879e-04,5.035001862e-04,-9.243970655e-05,-3.965010367e-04,4.943239909e-04,-8.921671599e-05,-3.644236181e-04,4.908951128e-04,7.018530823e-01,-4.155138993e-04,8.606469460e-01,7.018632299e-01,-4.185889481e-04,8.606377698e-01,7.026566599e-01,-4.781647979e-04,8.308167004e-01
+59,8.583333333e+00,UP_SETTLE,1793080308501865682,-1.010824590e-04,-3.957599702e-04,5.123712018e-04,-1.007502327e-04,-3.957415277e-04,5.125825757e-04,-9.765851428e-05,-3.636606734e-04,5.085752595e-04,7.018545872e-01,-4.178478816e-04,8.606558170e-01,7.018549194e-01,-4.178294391e-04,8.606560284e-01,7.026482181e-01,-4.774018531e-04,8.308343806e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_05/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..223dd30c3531e5a13b1e514edf91467e5feb8928
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,2.3448e-01,9.1167e-01,2.4679e+00,-1.0301e-01,5.3666e-02,1.9838e-03,3.0100e-05,7.8082e-06,-1.4305e-06,-7.8231e-07,1.8775e-06,-7.8231e-08,3.1129e-05,2.0355e-06
+1,1.8333e-01,XJC_ZERO_HOLD_BEFORE_UP,4.8889e-05,2.5757e-01,9.1086e-01,2.4677e+00,-1.0298e-01,5.5262e-02,1.6901e-03,2.3128e-02,-8.0198e-04,-1.3351e-04,2.6062e-05,1.5974e-03,-2.9372e-04,2.3142e-02,1.6244e-03
+2,3.8333e-01,WAIT_W2,9.9005e-05,2.7512e-01,9.1328e-01,2.4669e+00,-1.0326e-01,5.6554e-02,1.5371e-03,4.0672e-02,1.6236e-03,-9.7179e-04,-2.5586e-04,2.8898e-03,-4.4671e-04,4.0716e-02,2.9353e-03
+3,6.0000e-01,WAIT_W2,1.4875e-04,2.9231e-01,9.0880e-01,2.4666e+00,-1.0283e-01,5.7794e-02,1.3824e-03,5.7860e-02,-2.8618e-03,-1.2779e-03,1.7853e-04,4.1298e-03,-6.0143e-04,5.7945e-02,4.1772e-03
+4,7.8333e-01,WAIT_W2,2.0005e-04,3.0690e-01,9.0806e-01,2.4663e+00,-1.0278e-01,5.8801e-02,1.2143e-03,7.2455e-02,-3.5951e-03,-1.5926e-03,2.2942e-04,5.1367e-03,-7.6950e-04,7.2562e-02,5.1991e-03
+5,8.0000e-01,WAIT_W2,2.6339e-04,3.1277e-01,1.2832e+00,2.4617e+00,-1.2989e-01,5.9251e-02,1.6050e-03,7.8323e-02,3.7149e-01,-6.1853e-03,-2.6886e-02,5.5864e-03,-3.7887e-04,3.7971e-01,2.7463e-02
+6,8.0000e-01,WAIT_W2,2.6339e-04,3.1277e-01,1.2832e+00,2.4617e+00,-1.2989e-01,5.9251e-02,1.6050e-03,7.8323e-02,3.7149e-01,-6.1853e-03,-2.6886e-02,5.5864e-03,-3.7887e-04,3.7971e-01,2.7463e-02
+7,8.1667e-01,WAIT_W2,3.4677e-04,3.3491e-01,2.4291e+00,2.3880e+00,-2.1285e-01,6.0840e-02,1.9342e-03,1.0046e-01,1.5174e+00,-7.9806e-02,-1.0984e-01,7.1762e-03,-4.9606e-05,1.5228e+00,1.1008e-01
+8,8.1667e-01,WAIT_W2,3.4677e-04,3.3491e-01,2.4291e+00,2.3880e+00,-2.1285e-01,6.0840e-02,1.9342e-03,1.0046e-01,1.5174e+00,-7.9806e-02,-1.0984e-01,7.1762e-03,-4.9606e-05,1.5228e+00,1.1008e-01
+9,8.3333e-01,WAIT_W2,4.9712e-04,3.2082e-01,3.9272e+00,2.3535e+00,-3.2160e-01,5.9964e-02,2.6168e-03,8.6371e-02,3.0155e+00,-1.1435e-01,-2.1859e-01,6.3002e-03,6.3293e-04,3.0189e+00,2.1868e-01
+10,8.3333e-01,WAIT_W2,4.9712e-04,3.2082e-01,3.9272e+00,2.3535e+00,-3.2160e-01,5.9964e-02,2.6168e-03,8.6371e-02,3.0155e+00,-1.1435e-01,-2.1859e-01,6.3002e-03,6.3293e-04,3.0189e+00,2.1868e-01
+11,8.5000e-01,WAIT_W2,5.9243e-04,3.6006e-01,6.6019e+00,2.2952e+00,-5.1559e-01,6.2808e-02,3.9108e-03,1.2561e-01,5.6903e+00,-1.7269e-01,-4.1258e-01,9.1437e-03,1.9270e-03,5.6943e+00,4.1269e-01
+12,8.5000e-01,WAIT_W2,5.9243e-04,3.6006e-01,6.6019e+00,2.2952e+00,-5.1559e-01,6.2808e-02,3.9108e-03,1.2561e-01,5.6903e+00,-1.7269e-01,-4.1258e-01,9.1437e-03,1.9270e-03,5.6943e+00,4.1269e-01
+13,8.5000e-01,WAIT_W2,5.9243e-04,3.6006e-01,6.6019e+00,2.2952e+00,-5.1559e-01,6.2808e-02,3.9108e-03,1.2561e-01,5.6903e+00,-1.7269e-01,-4.1258e-01,9.1437e-03,1.9270e-03,5.6943e+00,4.1269e-01
+14,8.6667e-01,WAIT_W2,7.1377e-04,3.7282e-01,8.2784e+00,2.2922e+00,-6.3843e-01,6.3933e-02,5.4067e-03,1.3838e-01,7.3667e+00,-1.7569e-01,-5.3542e-01,1.0268e-02,3.4229e-03,7.3701e+00,5.3553e-01
+15,8.8333e-01,WAIT_W2,7.2492e-04,4.3338e-01,1.0371e+01,2.2639e+00,-7.9032e-01,6.8439e-02,6.9546e-03,1.9893e-01,9.4591e+00,-2.0394e-01,-6.8731e-01,1.4775e-02,4.9707e-03,9.4633e+00,6.8749e-01
+16,9.0000e-01,WAIT_W2,7.8449e-04,4.3375e-01,1.0371e+01,2.2628e+00,-7.9032e-01,6.8464e-02,6.9568e-03,1.9931e-01,9.4592e+00,-2.0510e-01,-6.8731e-01,1.4800e-02,4.9730e-03,9.4635e+00,6.8749e-01
+17,9.3333e-01,WAIT_W2,8.4788e-04,2.0428e-01,8.6748e+00,2.0910e+00,-6.7044e-01,5.2020e-02,1.0579e-02,-3.0169e-02,7.7631e+00,-3.7685e-01,-5.6743e-01,-1.6438e-03,8.5951e-03,7.7723e+00,5.6750e-01
+18,9.6667e-01,WAIT_W2,8.9973e-04,1.1218e-01,9.1900e+00,1.8286e+00,-7.1281e-01,4.5461e-02,1.2143e-02,-1.2226e-01,8.2783e+00,-6.3924e-01,-6.0980e-01,-8.2029e-03,1.0159e-02,8.3039e+00,6.0994e-01
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d12cb106dbb7541c5c62dd68b63b75f37ecf7966
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:ab2f9d50996117ecefdf51f279ada2a8840d33f3478508dcfa1205de5cb55d12
+size 624640
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6f8614f2bc12e0ac4e19349761d564f56dd92e2
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/fem_node.csv
@@ -0,0 +1,31741 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fcd2e11eb32981d7552da0c17d72381e4feeec7d
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
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+51603,1793080408026200020,16959098999999,1793080408018447177,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.676061358848331,-0.0048370531070316,0.09987779795204384,0.9999999821225897,-8.972490769186424e-05,-4.534034433612529e-05,0.00013073400119820847,0.6761,-0.0046,0.09982354156987923,1.0,0.0,0.0,0.0,-0.18683860444994557,0.10200843281151306,0.13174719326756312,0.008597804476997595,0.009846482945065713,0.0013472404500026783,-0.013428592021349394,0.7464133151146142,2.277807685284745,0.04848285394513578,0.0025958362319274146,0.000829151181455921,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.075728007797735,0.8825632389108503,-0.7069361663722593,-0.06686436691027435,0.6276465874222305,0.4858725702672204,1.6318748266239418,-0.13174719326756312,2.3388109929962013,2.3388109929962013,2.2622072945261618,0,0,-2.3836688807484012e-05,9.999999025923074e-05
+51780,1793080409501251109,16960574000000,1793080409498447069,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6760715175702509,-0.004837959241777733,0.09987484042769838,0.9999999823436801,-8.763700449612861e-05,-3.549806414888257e-05,0.00013347339322376402,0.6761,-0.0046,0.09981493952007872,1.0,0.0,0.0,0.0,-0.2193932041773865,0.12074401548597569,0.18431055197247437,0.011379423477044882,0.011807082938987874,0.001363690566327264,-0.045983191748790314,0.7651488977890768,2.3303710439896563,0.05126447294518307,0.004556436225849574,0.0008456012977805066,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.1134034628700649,0.89427037712806,-0.7853060956721494,-0.07482776981126284,0.6871431734895049,0.4933113540065407,1.6318748266239418,-0.18431055197247437,2.417180922296091,2.417180922296091,2.409707294526473,0,0,-6.393825001367642e-06,4.6084826259235003e-05
+51939,1793080410826253574,16961899000000,1793080410818456728,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6760794656354533,-0.0048444046147851525,0.09986559255735548,0.999999981826836,-9.15975385525528e-05,-2.165073044590767e-05,0.0001375875316215849,0.6761,-0.0046,0.09978427020153204,1.0,0.0,0.0,0.0,-0.26459134441846444,0.1494007152997081,0.284115169619533,0.01353476866737123,0.014556202437350299,0.0020491089045518874,-0.09118133198986822,0.7938055976028092,2.430175661636715,0.05341981813550942,0.007305555724211999,0.00153101963600513,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.1824742344832706,0.947580511356897,-0.9668705442417321,-0.0890594164098853,0.8079270278253109,0.5280694230572022,1.6318748266239418,-0.284115169619533,2.598745370865674,2.598745370865674,2.5422072945267526,0,0,-3.5383502895698686e-05,9.999806124672545e-05
+52134,1793080412451277684,16963524000000,1793080412450447222,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6760890213705286,-0.004843393635752386,0.0998447987773214,0.9999999819103904,-9.023851168832773e-05,-7.644848841360193e-06,0.0001393579939004141,0.6761,-0.0046,0.09974595413104356,1.0,0.0,0.0,0.0,-0.3155897652737142,0.19781194939582414,0.4761360274414619,0.01646122872181803,0.01832406493038651,0.0023100645783743147,-0.14217975284511802,0.8422168316989253,2.622196519458644,0.05634627818995622,0.011073418217248209,0.0017919753098275574,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.2174057365911883,0.9472234544250361,-1.0780144077310025,-0.09441794042980178,0.8790604661494134,0.526249339592774,1.6318748266239418,-0.4761360274414619,2.7098892343549443,2.7098892343549443,2.7047072945270956,0,0,-7.760119856399567e-06,6.235402058430423e-05
+52315,1793080413959250272,16965032000000,1793080413958447202,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6760961329256573,-0.004840259054775618,0.09983159754659984,0.9999999819299441,-8.681678494284766e-05,5.429254737385565e-06,0.00014147913291277754,0.6761,-0.0046,0.09971320462786422,1.0,0.0,0.0,0.0,-0.3586481076174003,0.22569044250958492,0.5768812537792845,0.018818185782458155,0.0206909728848105,0.0022863655688987496,-0.18523809518880413,0.870095324812686,2.7229417457964664,0.05870323525059634,0.013440326171672203,0.001768276300351992,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.2787468441589553,0.836312190658481,-1.193030330362469,-0.06961345176812327,0.9614244718722463,0.44891171282479536,1.6318748266239418,-0.5768812537792845,2.8249051569864108,2.8249051569864108,2.855507294527414,0,0,-3.653192578505867e-05,-1.925649132777647e-06
+52468,1793080415234253267,16966307000000,1793080415226457233,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761068114186165,-0.004839883484541835,0.09981990853973274,0.9999999814816456,-8.519731728898589e-05,2.3862273325719676e-05,0.00014370658269798522,0.6761,-0.0046,0.09967904241879838,1.0,0.0,0.0,0.0,-0.4107118560173613,0.2501207503433962,0.7588488879302262,0.021351969279417106,0.0236366478326867,0.003240438791826048,-0.23730184358876513,0.8945256326464973,2.904909379947408,0.06123701874755529,0.016386001119548403,0.0027223495232792903,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.3451718123080227,0.9170373695252741,-1.3387568687027096,-0.09083430635583366,1.0676538961874764,0.5020404472915792,1.6318748266239418,-0.7588488879302262,2.9706316953266514,2.9706316953266514,2.983007294527683,0,0,-9.76670504732669e-06,-5.135367670617261e-05
+52635,1793080416626307311,16967699000000,1793080416622447291,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761073637909094,-0.004843842122735878,0.09980610685418702,0.9999999809199861,-8.600232835494426e-05,2.4383693542746667e-05,0.00014700995510976997,0.6761,-0.0046,0.09966490833840146,1.0,0.0,0.0,0.0,-0.4212767236683792,0.25541263666950753,0.8291479271706068,0.02185192784916426,0.02461830188289784,0.003203203881667295,-0.247866711239783,0.8998175189726086,2.9752084191877888,0.06173697731730245,0.017367655169759542,0.0026851146131205376,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.3740566761403898,0.8256434276983864,-1.383595809107107,-0.06528529727292454,1.1009513907924975,0.44128099497525575,1.6318748266239418,-0.8291479271706068,3.015470635731049,3.015470635731049,3.1222072945279766,0,0,-1.9920577697145288e-05,-9.999999025923074e-05
+52800,1793080418001249440,16969074000000,1793080417994456997,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761202776611834,-0.004842510480460642,0.09979591234277477,0.9999999800077201,-8.333885505549514e-05,4.482622999615735e-05,0.00014990886610126355,0.6761,-0.0046,0.09962568412811597,1.0,0.0,0.0,0.0,-0.46083091101336593,0.2914698203190128,0.992674415579609,0.024865233065350698,0.02757260299155057,0.003152315887733818,-0.2874208985847697,0.9358747026221139,3.138734907596791,0.06475028253348888,0.02032195627841227,0.0026342266191870605,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.4751272242766167,0.8887639732281115,-1.6363049783619341,-0.08041664062527568,1.2801250396038195,0.4872692796215091,1.6318748266239418,-0.992674415579609,3.268179804985876,3.268179804985876,3.259707294528267,0,0,-2.8173795828230534e-05,7.570479940011694e-05
+52961,1793080419343262155,16970416000000,1793080419338456625,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761262557820524,-0.004841748327058738,0.09977904766678321,0.9999999795184762,-8.368735475135123e-05,5.528955341821422e-05,0.00014948379028852538,0.6761,-0.0046,0.09959907844744517,1.0,0.0,0.0,0.0,-0.49095034695201123,0.3195524403076897,1.1120022462757175,0.02724528476199757,0.029523189899263984,0.0033316719957848925,-0.317540334523415,0.9639573226107908,3.2580627382928995,0.06713033423013576,0.022272543186125687,0.002813582727238135,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.5080108220040922,0.8818477172027369,-1.6399554049855938,-0.07760649404311246,1.2840068062608918,0.47669373560455197,1.6318748266239418,-1.1120022462757175,3.2718302316095356,3.2718302316095356,3.39390729452855,0,0,-1.855819261739467e-05,-9.999810288008887e-05
+53097,1793080420476304587,16971549000000,1793080420470456803,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.676135657534005,-0.004827359689985669,0.09976518928405796,0.9999999727300392,-0.00019083618360636023,7.89166410033252e-05,5.776244424309168e-05,0.6761,-0.0046,0.09956634510700565,1.0,0.0,0.0,0.0,-0.41651915836045916,0.5136202647649427,1.240195056103314,0.03888607694282471,0.024552445175920194,0.0040930678813131255,-0.243109145931863,1.1580251470680438,3.386255548120496,0.0787711264109629,0.017301798462781896,0.0035749786127663684,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7152174523955974,0.8878131276085475,-1.893130890534541,-0.10483956486254901,1.5129661207204272,0.5365064278015835,1.6318748266239418,-1.240195056103314,3.525005717158483,3.525005717158483,3.507207294528789,0,0,-3.7264715220504445e-05,9.99134344966734e-05
+53280,1793080422001317509,16973074000000,1793080421994456266,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761433617241849,-0.004833901789571145,0.0997521855733928,0.9999999717478034,-0.0001881132557318311,9.188639115810891e-05,6.416814375638401e-05,0.6761,-0.0046,0.09953652012278928,1.0,0.0,0.0,0.0,-0.46057792326083047,0.5247438685687874,1.3831915929759675,0.04051511832828557,0.027168286440087328,0.005059772373509244,-0.2871679108322343,1.1691487508718885,3.5292520849931495,0.08040016779642375,0.01991763972694903,0.004541683104962487,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7017726962229227,0.8728233434279212,-1.9001703459224237,-0.10113670527257582,1.5065047590032385,0.5204650008246112,1.6318748266239418,-1.3831915929759675,3.5320451725463657,3.5320451725463657,3.659707294529111,0,0,-1.148594427488459e-05,-9.97770435980982e-05
+53453,1793080423443321956,16974516000000,1793080423442457450,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761508841018299,-0.004834183262799477,0.09973482404931575,0.9999999710665517,-0.00018279728218117164,0.00010470844953294131,7.022146523275974e-05,0.6761,-0.0046,0.09949647199805506,1.0,0.0,0.0,0.0,-0.4996314836319491,0.5523579361895216,1.5102053883476505,0.04245257747008456,0.03014269295357164,0.005026136204286883,-0.3262214712033529,1.1967628184926227,3.6562658803648325,0.08233762693822275,0.022892046240433343,0.004508046935740126,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7569928671033086,0.8749549856628888,-2.126472207688973,-0.08675254115824206,1.6556657736674125,0.5109592831966558,1.6318748266239418,-1.5102053883476505,3.758347034312915,3.758347034312915,3.8039072945294152,0,0,-3.872041631355761e-05,-9.579044088348638e-05
+53626,1793080424884347540,16975956999999,1793080424878446726,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761605611618915,-0.004836983670163012,0.09971638092032173,0.9999999695449117,-0.00017974309151824576,0.00011984760594182205,7.537912359273473e-05,0.6761,-0.0046,0.09945890553026425,1.0,0.0,0.0,0.0,-0.5480508191796429,0.5668184240349344,1.682496122094859,0.044378519467272476,0.033108116046762635,0.004951179023587552,-0.3746408067510468,1.2112233063380355,3.828556614112041,0.08426356893541066,0.025857469333624334,0.004433089755040795,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.805972490828324,0.888627564000906,-2.2430276487995298,-0.07164101279270674,1.7319310832305417,0.5173521763769052,1.6318748266239418,-1.682496122094859,3.8749024754234718,3.8749024754234718,3.9480072945297193,0,0,-1.2890917884560099e-05,-9.999990699250389e-05
+53816,1793080426468285623,16977541000000,1793080426462456615,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761638876043066,-0.004836676267657528,0.09969657511855115,0.9999999692520479,-0.0001744130188577133,0.00012567690618285718,8.200110690487389e-05,0.6761,-0.0046,0.09942726201328302,1.0,0.0,0.0,0.0,-0.5778509438228211,0.5819271340857478,1.7818224069667106,0.04531030194287454,0.03569998869397148,0.0049198041187125206,-0.40444093139422493,1.226332016388849,3.9278828989838925,0.08519535141101273,0.02844934198083318,0.0044017148501657635,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7879148675950656,0.8337579351685837,-2.3994795810292393,-0.04341842933527151,1.8180396777607002,0.4747259585553638,1.6318748266239418,-1.7818224069667106,4.031354407653181,4.031354407653181,4.106407294529581,0,0,-3.7486243924271474e-05,-9.999999025923074e-05
+53976,1793080427801367293,16978874000000,1793080427794456756,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761749899631457,-0.0048411602216533525,0.09967806469537666,0.999999966247023,-0.0001751819531447852,0.00014303305543149353,8.832692371796856e-05,0.6761,-0.0046,0.09938800089332497,1.0,0.0,0.0,0.0,-0.6353770158899349,0.6163211161383902,1.9431874685638215,0.048113112074764056,0.039057254719099405,0.00486884572942225,-0.46196700346133873,1.2607259984414914,4.0892479605810035,0.08799816154290224,0.03180660800596111,0.004350756460875493,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.9055564822976256,0.8577565880202788,-2.5780398996863476,-0.030125754110366314,1.9533072449967481,0.48301110204236053,1.6318748266239418,-1.9431874685638215,4.20991472631029,4.20991472631029,4.23970729452927,0,0,-2.0232753468489524e-05,-9.988380541970372e-05
+54164,1793080429368374000,16980440999999,1793080429366456359,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761829114160055,-0.004837437047854287,0.09966296097313196,0.9999999654578646,-0.000165839229041449,0.00015575098037173162,9.362753986208096e-05,0.6761,-0.0046,0.09935777062489581,1.0,0.0,0.0,0.0,-0.662027531462798,0.6124858520280613,2.042090816451614,0.048175050303270225,0.04106037110104692,0.004836209212212371,-0.48861751903420186,1.2568907343311624,4.188151308468796,0.08806009977140841,0.03380972438790862,0.004318119943665614,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.9153569588632307,0.9204520627003746,-2.6909711736429363,-0.041606045759835016,2.0237466644605777,0.5188130146978522,1.6318748266239418,-2.042090816451614,4.322846000266878,4.322846000266878,4.396407294528905,0,0,-3.1763434628377614e-05,-9.999999025923074e-05
+54335,1793080430793426334,16981866000000,1793080430786447158,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6761935194129328,-0.0048427640190629225,0.09963852208201747,0.9999999613822809,-0.00016738749938964822,0.00017426232040469286,0.00010145131683504883,0.6761,-0.0046,0.09931009288412038,1.0,0.0,0.0,0.0,-0.7220913409191544,0.6550111760163312,2.215222705550132,0.051087997348163244,0.04499528384843941,0.005796563518606119,-0.5486813284905582,1.2994160583194323,4.361283197567314,0.09097304681630143,0.037744637135301115,0.005278474250059362,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.0212537329103197,0.8207169410245106,-2.8959179593774516,-0.010952667890086304,2.17491401972337,0.44650712528186476,1.6318748266239418,-2.215222705550132,4.527792786001394,4.527792786001394,4.538907294528573,0,0,-2.3755213245076117e-05,9.715636214847052e-05
+54502,1793080432184424047,16983257000000,1793080432178447099,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6761994827171678,-0.004841967889143258,0.09962117669666692,0.999999960056645,-0.00016309694283829805,0.00018345831703800244,0.00010522359922704,0.6761,-0.0046,0.09927866520147055,1.0,0.0,0.0,0.0,-0.7322207844522425,0.6546974233357034,2.3155042245885813,0.051106300359682375,0.04600364482376434,0.005730431005135237,-0.5588107720236463,1.2991023056388045,4.461564716605763,0.09099134982782056,0.03875299811062604,0.00521234173658848,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.0088964381385472,0.8737371538995139,-3.0137383662511263,-0.0294272181900754,2.2470576897421917,0.47873958486322954,1.6318748266239418,-2.3155042245885813,4.645613192875068,4.645613192875068,4.678007294528249,0,0,-2.9914025558046238e-05,-7.077471528139085e-05
+54684,1793080433701386760,16984774000000,1793080433698447104,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6762152810360745,-0.004844225700773268,0.09960048454003347,0.9999999549466976,-0.00015902851612601348,0.0002087501850755765,0.00011261775413256634,0.6761,-0.0046,0.09923217677926263,1.0,0.0,0.0,0.0,-0.7889189885654353,0.6703287309250966,2.4765344078382867,0.05297061468707619,0.04897265404712547,0.005662827712530255,-0.6155089761368391,1.3147336132281977,4.622594899855469,0.09285566415521437,0.04172200733398717,0.005144738443983498,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.9832177941366504,0.9396427561684131,-3.163709938502114,-0.049329536887883316,2.3292470596203265,0.5192604999684949,1.6318748266239418,-2.4765344078382867,4.795584765126056,4.795584765126056,4.829707294527895,0,0,-2.9109958078780924e-05,-9.998514102627638e-05
+54856,1793080435134401556,16986206999999,1793080435126447213,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6762243740356725,-0.004847331133170298,0.09957574612426903,0.9999999505747352,-0.00016194704038751984,0.00022380667833711543,0.00011822486257283592,0.6761,-0.0046,0.0991843707867872,1.0,0.0,0.0,0.0,-0.8245613154238685,0.6896144438032282,2.6135094127267253,0.05431220451418563,0.051292249036518155,0.005608995470985887,-0.6511513029952722,1.3340193261063293,4.759569904743907,0.09419725398232381,0.04404160232337986,0.00509090620243913,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.072600772474686,0.7902925688485284,-3.2407396146827634,-0.003316177694832603,2.396455457696616,0.42240639335163643,1.6318748266239418,-2.6135094127267253,4.872614441306705,4.872614441306705,4.973007294527561,0,0,-3.339106912777912e-05,-9.687576715678432e-05
+55045,1793080436709481759,16987782000000,1793080436706447013,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6762346990289975,-0.004852413034549629,0.0995452252596738,0.9999999459588075,-0.00016156934535117412,0.00023969887088417694,0.00012635285571556043,0.6761,-0.0046,0.0991329703853314,1.0,0.0,0.0,0.0,-0.848013494930997,0.7021139352591644,2.747849748206601,0.05482597350675461,0.05392349363313566,0.00553788992480107,-0.6746034825024008,1.3465188175622655,4.893910240223783,0.0947110229748928,0.04667284691999736,0.005019800656254313,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.0943546227154424,0.8942742631056252,-3.3902761687793928,-0.042913347517283984,2.492671175447856,0.4863440105343384,1.6318748266239418,-2.747849748206601,5.022150995403335,5.022150995403335,5.130507294527194,0,0,-3.74154302360249e-05,-9.999961555895993e-05
+55234,1793080438284431264,16989357000000,1793080438278447042,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6762450153439614,-0.004854109258389105,0.09950867773946348,0.9999999412094038,-0.00015803288632755715,0.00025690055867379723,0.00013435684870333702,0.6761,-0.0046,0.09907478191821047,1.0,0.0,0.0,0.0,-0.8863076662398544,0.7077353639267688,2.8976986632151718,0.05568077801684486,0.05591909098367299,0.0054543841126838775,-0.7128976538112581,1.35214024622987,5.043759155232354,0.09556582748498305,0.04866844427053469,0.00493629484413712,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1748570403219403,0.8971182911105856,-3.548180947022434,-0.05563659007292315,2.6174341879704404,0.4853159306105528,1.6318748266239418,-2.8976986632151718,5.180055773646376,5.180055773646376,5.288007294526827,0,0,-3.88971610157648e-05,-9.99335017778435e-05
+55409,1793080439743481654,16990815999999,1793080439738447200,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6762561400664145,-0.00485440562814383,0.09947052819029939,0.9999999358441264,-0.00015529654398963272,0.00027448595597744406,0.00014246069884509032,0.6761,-0.0046,0.09901242030486604,1.0,0.0,0.0,0.0,-0.9156494041838624,0.7104726484467113,3.0388208167187756,0.05567532604046427,0.0581360890610603,0.005372448790418829,-0.7422393917552662,1.3548775307498124,5.1848813087359575,0.09556037550860245,0.050885442347922,0.0048543595218720715,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1793342247117438,0.9222152332411336,-3.822923684949005,-0.07340666897207354,2.786352840574415,0.5000326192921052,1.6318748266239418,-3.0388208167187756,5.454798511572947,5.454798511572947,5.433907294526487,0,0,-4.511125588771569e-05,9.911791806616605e-05
+55578,1793080441151520581,16992223999999,1793080441146446974,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6762704350755843,-0.004858388640361817,0.09943689817711951,0.9999999287794618,-0.00015237123047421035,0.0002957764773342494,0.00015226036713488164,0.6761,-0.0046,0.09895447311243968,1.0,0.0,0.0,0.0,-0.9428493512060463,0.7018866935469003,3.1740325708033543,0.054589356829875924,0.059937458941681176,0.004251429372506522,-0.7694393387774501,1.3462915758500014,5.320093062820536,0.09447440629801411,0.05268681222854288,0.003733340103959765,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1917891362900974,0.9083024945220235,-3.8359136132597493,-0.07493890219617515,2.800123831558755,0.48994718671596427,1.6318748266239418,-3.1740325708033543,5.467788439883691,5.467788439883691,5.574707294526159,0,0,-4.002124053967127e-05,-9.998192137950496e-05
+55745,1793080442543530775,16993616000000,1793080442542447014,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.67628399288943,-0.004858779519368688,0.09939370304106437,0.9999999208459036,-0.0001504051537978129,0.0003179325469244895,0.00016139465919547233,0.6761,-0.0046,0.09888330816592265,1.0,0.0,0.0,0.0,-0.9743063497318333,0.7069710061090059,3.3079376004898675,0.05449699414376878,0.062342896508885644,0.004173292692655725,-0.8008963373032371,1.351375888412107,5.4539980925070495,0.09438204361190697,0.055092249795747346,0.0036552034241089677,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.2642432456702335,0.9228982031135692,-4.022588839170166,-0.08225579902667722,2.939624217359581,0.4985272433505724,1.6318748266239418,-3.3079376004898675,5.654463665794108,5.654463665794108,5.713907294525835,0,0,-5.643683342468198e-05,-9.995116820172285e-05
+55869,1793080443576543747,16994649000000,1793080443574446967,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6762928972469948,-0.0048460809124917115,0.09934877673904152,0.9999998867808486,-0.0003135882035125788,0.0003444709105338282,2.9721779463986346e-05,0.6761,-0.0046,0.09883214797857752,1.0,0.0,0.0,0.0,-0.7766252726599338,0.973009660626096,3.4199205417550997,0.0705726681780762,0.05086106620745828,0.005144663372950615,-0.6032152602313375,1.617414542929197,5.565981033772282,0.11045771764621438,0.043610419494319985,0.004626574104403858,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.3853844700055853,0.9005548064630132,-4.095938240019718,-0.05365640665341824,3.033650545855472,0.5343343246202344,1.6318748266239418,-3.4199205417550997,5.72781306664366,5.72781306664366,5.817207294525594,0,0,-4.3240828885597555e-05,-8.72978870011309e-05
+56000,1793080444668483575,16995741000000,1793080444662447125,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.676304143037283,-0.004851485782226278,0.09931687135342054,0.9999998791081864,-0.0003163877530003373,0.00036256481215986156,4.089037741997799e-05,0.6761,-0.0046,0.09877793639054876,1.0,0.0,0.0,0.0,-0.7934679100026611,0.9048225996262261,3.4946200742516513,0.06594655509788594,0.053533478002631064,0.004039110514857835,-0.6200578975740649,1.5492274819293272,5.640680566268833,0.10583160456602413,0.04628283128949277,0.003521021246311077,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.4169487103342178,0.9586491507748837,-4.2522147109021695,-0.06068002279993628,3.145176791590531,0.5763265806851177,1.6318748266239418,-3.4946200742516513,5.884089537526111,5.884089537526111,5.926407294525339,0,0,-5.5285016554969306e-05,9.740769260256025e-12
+56189,1793080446243468541,16997315999999,1793080446242447227,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6763179199328242,-0.00485358365940259,0.09925444424221487,0.9999998739616858,-0.00030643572399725405,0.0003825470899809179,5.722191180926065e-05,0.6761,-0.0046,0.09869063671567455,1.0,0.0,0.0,0.0,-0.8083558431865663,0.8576824546476635,3.6437221694433024,0.06281352631452031,0.05460422681404024,0.003900019127960562,-0.6349458307579701,1.5020873369507646,5.789782661460484,0.1026985757826585,0.04735358010090194,0.0033819298594138045,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.4100061173784475,0.8558261322898445,-4.396639557529271,0.00534851488175432,3.2333282622307977,0.4910456327972986,1.6318748266239418,-3.6437221694433024,6.028514384153213,6.028514384153213,6.083907294524972,0,0,-5.236202508670929e-05,-8.21967591476735e-05
+56356,1793080447634571896,16998706999999,1793080447634446850,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6763317330797175,-0.004855678935061156,0.09920372633894443,0.9999998659153574,-0.00030159771703814996,0.00040430980770100135,7.200366328750316e-05,0.6761,-0.0046,0.09861655231308278,1.0,0.0,0.0,0.0,-0.8250734433543877,0.8143635574767755,3.7319539382911,0.058724973541785894,0.055682757217145544,0.002769042431887103,-0.6516634309257915,1.4587684397798766,5.878014430308282,0.09861002300992408,0.048432110504007246,0.0022509531633403456,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.3492326188605017,0.8484961716730541,-4.56784328667685,0.027702543935834937,3.317983784935743,0.4691334099078367,1.6318748266239418,-3.7319539382911,6.199718113300792,6.199718113300792,6.223007294524648,0,0,-5.803699113374338e-05,5.0899808005883076e-05
+56525,1793080449043553449,17000116000000,1793080449038447200,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6763498930934189,-0.0048630815190564315,0.09914713982888429,0.9999998529664793,-0.0003000081487743147,0.0004338110003568637,8.551614009450543e-05,0.6761,-0.0046,0.09852695380066988,1.0,0.0,0.0,0.0,-0.8434425988273827,0.7935215312055485,3.8515876864600704,0.05718511378560369,0.05771211752282512,0.0026810346298055897,-0.6700325863987865,1.4379264135086496,5.997648178477252,0.09707016325374188,0.05046147080968682,0.002162945361258832,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.376584866309601,0.8694070521599735,-4.680989872885981,0.04077669550472719,3.398942223568811,0.47618499668753567,1.6318748266239418,-3.8515876864600704,6.312864699509922,6.312864699509922,6.36390729452432,0,0,-6.68570122160411e-05,5.662523433094978e-05
+56694,1793080450451595573,17001524000000,1793080450450446899,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6763624943697297,-0.004862474416000769,0.09907613883818399,0.9999998426133475,-0.00030259603430531675,0.000454169784430777,9.155102856428598e-05,0.6761,-0.0046,0.09843444786284138,1.0,0.0,0.0,0.0,-0.8445350096127777,0.7484614729396176,3.9809692780786046,0.05450635056717816,0.05773599282627147,0.0025507522394062326,-0.6711249971841815,1.3928663552427187,6.1270297700957865,0.09439140003531635,0.05048534611313317,0.002032662970859475,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.379131228175329,0.9483248120380322,-4.795598187494645,0.01324271349283007,3.474797361003288,0.5242892584060321,1.6318748266239418,-3.9809692780786046,6.427473014118586,6.427473014118586,6.504707294523992,0,0,-6.0795088598102016e-05,-9.95417457058167e-05
+56863,1793080451859519035,17002932000000,1793080451858447436,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6763772247691855,-0.0048599632640045284,0.0990006127080072,0.9999998247509135,-0.00032384232250166575,0.000479138393063955,8.656532964378507e-05,0.6761,-0.0046,0.09833413701817888,1.0,0.0,0.0,0.0,-0.831523815204196,0.7422563847447615,4.087216931262737,0.05335702828282596,0.05672081107827856,0.0024358283966083518,-0.6581138027755998,1.3866612670478626,6.233277423279919,0.09324207775096414,0.04947016436514026,0.0019177391280615942,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.32464993220232,0.8926885634702495,-4.936011538698272,0.02535666463000305,3.5523356944707887,0.48256727218708895,1.6318748266239418,-4.087216931262737,6.567886365322214,6.567886365322214,6.6455072945236635,0,0,-8.065585272862131e-05,-6.559634366099516e-05
+57036,1793080453301571898,17004374000000,1793080453294447397,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6763967197028182,-0.00486632954022205,0.0989174817584184,0.9999998017287391,-0.0003476998229789418,0.0005098214141163057,8.468945952749528e-05,0.6761,-0.0046,0.09821729072459354,1.0,0.0,0.0,0.0,-0.8226851500521063,0.7068932290128783,4.2202961543968724,0.05143108777936617,0.05673458472134196,0.001498805642288653,-0.6492751376235101,1.3512981113159794,6.366356646414054,0.09131613724750436,0.049483938008203665,0.0009807163737418955,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.3347284842429037,0.9054240664064749,-5.098513646617537,0.013979273948660768,3.664579572256197,0.4870855683832567,1.6318748266239418,-4.2202961543968724,6.7303884732414785,6.7303884732414785,6.789707294523327,0,0,-7.883671038076454e-05,7.73143923489475e-05
+57217,1793080454809636867,17005882000000,1793080454806447819,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6764113365372969,-0.004868894001509538,0.09882443666049236,0.9999997837451702,-0.0003586307131684349,0.0005361742185479507,8.862107588774232e-05,0.6761,-0.0046,0.09809936907053536,1.0,0.0,0.0,0.0,-0.791820030153076,0.643098208699744,4.336667570671623,0.046358545930175354,0.05478144861774224,0.0011036913377817223,-0.6184100177244798,1.287503091002845,6.482728062688805,0.08624359539831354,0.047530801904603945,0.0005856020692349649,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.278957068424239,0.9616996686879815,-5.1902371721337754,-0.007406532158556081,3.7158582621624396,0.5194849382969422,1.6318748266239418,-4.336667570671623,6.822111998757717,6.822111998757717,6.940507294522976,0,0,-8.456953760479913e-05,-9.999997638144293e-05
+57366,1793080456051614204,17007124000000,1793080456046446929,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6764253830208149,-0.004874033282068314,0.09873998151291165,0.999999764936309,-0.0003754580717209075,0.0005587825559225904,9.145207323930048e-05,0.6761,-0.0046,0.09799037540919991,1.0,0.0,0.0,0.0,-0.7718560804564787,0.5995798098293298,4.435814645511197,0.043300635749869254,0.05380569832924121,0.0009752429047761751,-0.5984460680278825,1.243984692132431,6.581875137528379,0.08318568521800744,0.04655505161610291,0.00045715363622941764,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.26714785092594,0.8512734981931966,-5.3916786865450375,0.01048537772130437,3.8514919214500614,0.4394287318032361,1.6318748266239418,-4.435814645511197,7.023553513168979,7.023553513168979,7.0647072945226865,0,0,-9.160255439314013e-05,9.97427654622129e-05
+57541,1793080457509648984,17008581999999,1793080457502447407,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.676443142985814,-0.004875555109572043,0.09862662679990152,0.9999997388709607,-0.0003994430972812831,0.0005881538952331247,9.067017699211455e-05,0.6761,-0.0046,0.09785134069302547,1.0,0.0,0.0,0.0,-0.7611880981126055,0.5461615126715992,4.557305533826337,0.040612887635831485,0.05281923593534099,0.0008323180601858167,-0.5877780856840092,1.1905663949747003,6.703366025843519,0.08049793710396967,0.04556858922220269,0.0003142287916390593,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.2772393483943913,1.0103075474448036,-5.494840963257583,-0.036845016252811086,3.9257098117502767,0.545806654178606,1.6318748266239418,-4.557305533826337,7.1267157898815245,7.1267157898815245,7.210507294522347,0,0,-9.484997604673509e-05,-5.757403557829819e-05
+57689,1793080458743802640,17009815999999,1793080458742447475,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6764582620759713,-0.004875057301097025,0.09852936561198206,0.9999997197228614,-0.00040925000518509535,0.0006140148612173951,8.658663352130645e-05,0.6761,-0.0046,0.09772723898455964,1.0,0.0,0.0,0.0,-0.7232794178972278,0.5339599717701878,4.633427507239039,0.03903310098044058,0.05080620289360232,0.0007245441481357279,-0.5498694054686316,1.178364854073289,6.779487999256221,0.07891815044857876,0.04355555618046402,0.00020645487958897044,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.2769153281924255,0.9531320437127431,-5.67445226075082,-0.009994367148875208,4.044005412489432,0.5091359737455993,1.6318748266239418,-4.633427507239039,7.306327087374761,7.306327087374761,7.333907294522059,0,0,-0.00010784982281267374,9.995195923562789e-05
+57836,1793080459968698228,17011041000000,1793080459962447222,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6764783570525554,-0.004870277001340487,0.09841846546030178,0.9999997806469438,-1.3742924662363294e-05,0.0006496249804061283,8.914844557548182e-05,0.6761,-0.0046,0.09758090378824154,1.0,0.0,0.0,0.0,-0.6600155935696449,0.5481833789956904,4.747607141775572,0.040292779260425085,0.04679268036803529,-0.00048156548546235596,-0.48660558114104874,1.1925882612987915,6.893667633792754,0.08017782872856327,0.039542033654896995,-0.0009996547540091134,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.2851325186586764,1.16199199384076,-5.713356176423533,-0.13177454883617784,4.086311831356786,0.5658351032454955,1.6318748266239418,-4.747607141775572,7.345231003047474,7.345231003047474,7.456407294521774,0,0,-0.00012270012541701204,-9.98262403558769e-05
+58003,1793080461359698814,17012432000000,1793080461358446744,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6765005541050959,-0.004863442349911672,0.09828199345926336,0.9999997574900505,-3.4806961143643975e-05,0.0006824466420860965,9.755901165596523e-05,0.6761,-0.0046,0.09741224229886726,1.0,0.0,0.0,0.0,-0.5572119398404572,0.5687766765811048,4.867755741265847,0.04156773201168763,0.03956764611617403,-0.0006185370038900279,-0.3838019274118611,1.2131815588842059,7.013816233283029,0.08145278147982582,0.03231699940303573,-0.0011366262724367853,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.295489000271847,1.0925051976103666,-5.875748360859976,-0.04501633814116767,4.199931000743354,0.5665726367325767,1.6318748266239418,-4.867755741265847,7.507623187483918,7.507623187483918,7.5955072945214495,0,0,-0.00011981474607317277,4.885851031944384e-05
+58162,1793080462684636222,17013757000000,1793080462682446857,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6765168803680445,-0.004865584131102431,0.09814393042727787,0.999999736518,-6.443947852544293e-05,0.0007106938358447308,9.575291245682715e-05,0.6761,-0.0046,0.09724549822695118,1.0,0.0,0.0,0.0,-0.4973961845009872,0.4995945147676829,4.938295242953994,0.037467030592633385,0.0346158775093006,-0.0007922913023553248,-0.32398617207239105,1.143999397070784,7.084355734971176,0.07735208006077157,0.0273652307961623,-0.0013103805709020822,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.2179546721589096,1.1169713360701654,-6.047064665973447,-0.021116608574202066,4.299290689092724,0.6093087334817828,1.6318748266239418,-4.938295242953994,7.678939492597388,7.678939492597388,7.728007294521141,0,0,-0.00013395788732853552,9.999999025923074e-05
+58310,1793080463918618947,17014991000000,1793080463914447798,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6765342430295561,-0.004869265298083902,0.09800569087631948,0.9999997123208336,-9.005910267466859e-05,0.0007414890325056384,9.425755738987556e-05,0.6761,-0.0046,0.09707934170172382,1.0,0.0,0.0,0.0,-0.45130468303560867,0.4293441832357291,5.0267873847531614,0.03256171939797066,0.03160331115343739,-0.0009626351480387848,-0.27789467060701245,1.0737490655388302,7.172847876770343,0.07244676886610885,0.02435266444029909,-0.0014807244165855422,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1950927489585306,1.1172792980476964,-6.151100629679324,-0.01568071853147286,4.379664883930938,0.6089938801236126,1.6318748266239418,-5.0267873847531614,7.782975456303266,7.782975456303266,7.851407294520853,0,0,-0.00013715990409138434,9.990464985699105e-05
+58479,1793080465326692268,17016399000000,1793080465326447395,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6765563967891529,-0.0048676291997139885,0.09783808201426855,0.999999683061417,-0.00011990256818072529,0.0007758581620280101,9.480198698213136e-05,0.6761,-0.0046,0.09687707905370246,1.0,0.0,0.0,0.0,-0.407779272427215,0.3482607115147214,5.127907164411464,0.027508425374642417,0.028636217438578665,-0.00011814869776302216,-0.23436925999861882,0.9926655938178225,7.273967656428646,0.0673934748427806,0.021385570725440367,-0.0006362379663097796,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.144493817457899,1.1000180418279981,-6.20167883440468,0.009871613990431122,4.411608883219281,0.5991077715896795,1.6318748266239418,-5.127907164411464,7.833553661028621,7.833553661028621,7.992207294520525,0,0,-0.0001525483711115313,-9.93803192780362e-05
+58624,1793080466534729808,17017607000000,1793080466530447379,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6765708416558132,-0.0048639153386621685,0.0976678429211956,0.9999996609784737,-0.00013426550025678947,0.0008009126384205394,9.998761367317348e-05,0.6761,-0.0046,0.09668704054021812,1.0,0.0,0.0,0.0,-0.3740640485796415,0.2800814023992505,5.2220028006244,0.02348318163271093,0.025656912765417286,-0.0002817651921753539,-0.20065403615104527,0.9244862847023516,7.368063292641582,0.06336823110084912,0.018406266052278988,-0.0007998544607221113,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1554546213915717,0.926224299089229,-6.381678842083615,0.06803665753595982,4.549961631019619,0.48105442064711723,1.6318748266239418,-5.2220028006244,8.013553668707557,8.013553668707557,8.113007294520244,0,0,-0.0001535516860231859,9.999475833322719e-05
+58760,1793080467668705677,17018741000000,1793080467666447301,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6765863921766474,-0.004866628986800693,0.09750504538539838,0.9999996321182424,-0.00016440257193717556,0.000830958190464156,9.842014092968513e-05,0.6761,-0.0046,0.09649863159197757,1.0,0.0,0.0,0.0,-0.3092500100960538,0.19850464480552377,5.293218714093655,0.01846998598588355,0.021685566491422316,-0.0004521843063040671,-0.13583999766745758,0.8429095271086249,7.439279206110837,0.058355035454021736,0.014434919778284018,-0.0009702735748508245,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1163837765309284,0.9766894167109552,-6.426798485144445,0.07629511797387925,4.5873428715097,0.5160417165231359,1.6318748266239418,-5.293218714093655,8.058673311768388,8.058673311768388,8.22640729451998,0,0,-0.00017848183384991246,-9.993816471454692e-05
+58909,1793080468909758765,17019982000000,1793080468906446834,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6766125532082565,-0.004867862206132428,0.0973123410253298,0.9999995971906073,-0.00018531305386097126,0.000867666169289512,9.937795630380224e-05,0.6761,-0.0046,0.09626728461270924,1.0,0.0,0.0,0.0,-0.2995628469141517,0.1694093832179745,5.392265198899906,0.017446062032979694,0.020666471793711727,0.0004186095173032641,-0.1261528344855555,0.8138142655210756,7.538325690917088,0.05733111150111788,0.013415825080573427,-9.947975124349333e-05,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.1000754062088234,1.0208263105900126,-6.4459155562904025,0.0718766206679057,4.600414604323052,0.5468854566460305,1.6318748266239418,-5.392265198899906,8.077790382914344,8.077790382914344,8.35050729451969,0,0,-0.00019844383420816592,-9.99423835620405e-05
+59031,1793080469926722237,17020999000000,1793080469926446896,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6766283206445045,-0.004871971302097525,0.09713452991725054,0.9999995881208447,-2.822519824427842e-05,0.0008957905019136226,0.00010937879267431118,0.6761,-0.0046,0.09605888703823762,1.0,0.0,0.0,0.0,-0.2507277148847796,0.09193409823211063,5.481340475449348,0.011392605779138781,0.01772962257656809,-0.0007405812151081486,-0.0773177024561834,0.7363389805352117,7.62740096746653,0.05127765524727697,0.01047897586342979,-0.001258670483654906,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.0393377246447097,1.074783194848365,-6.564813137089107,0.029403639403254564,4.69067107014482,0.5203731032855705,1.6318748266239418,-5.481340475449348,8.19668796371305,8.19668796371305,8.452207294519454,0,0,-0.0002137294258755792,-9.997105507165144e-05
+59155,1793080470959772204,17022032000000,1793080470958447025,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6766484563751946,-0.004869473431903988,0.09693605339160019,0.9999995531577236,-0.00010080149471366715,0.0009317973292020446,8.197568911168202e-05,0.6761,-0.0046,0.09583619767774264,1.0,0.0,0.0,0.0,-0.16811792966943384,0.0678667071159208,5.542104302644793,0.010508458562504111,0.011782664580570144,0.00013898321134332361,0.0052920827591623615,0.7122715894190219,7.688164794661975,0.0503935080306423,0.004532017867431845,-0.0003791060572034338,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.0311927517728283,0.9952601727003915,-6.724302420487908,0.12426960413972808,4.800458890677244,0.5273876423278242,1.6318748266239418,-5.542104302644793,8.35617724711185,8.35617724711185,8.555507294519213,0,0,-0.00022160132910206543,-7.292425971273104e-05
+59281,1793080472009744802,17023081999999,1793080472006447269,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6766633006080595,-0.004877480558102817,0.09671018797686208,0.9999995251802927,-0.00011186109618507097,0.0009572516083006263,0.0001106277869779699,0.6761,-0.0046,0.09559100171428125,1.0,0.0,0.0,0.0,-0.1600356427091215,-0.052288600606272495,5.629498527681087,0.0033702189448337333,0.010758555942364096,-2.4248932956621072e-05,0.013374369719474704,0.5921162816968286,7.775559019698269,0.04325526841297192,0.003507909229225797,-0.0005423382015033785,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,2.024327580887181,0.9262428459966133,-6.8275707964346894,0.1472626042527627,4.887656327051382,0.4970610653259167,1.6318748266239418,-5.629498527681087,8.459445623058631,8.459445623058631,8.660507294518968,0,0,-0.00024378446886414045,2.5358213249856044e-05
+59401,1793080473009720922,17024081999999,1793080473006447253,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6766799178306215,-0.004875451725597954,0.09648117449308459,0.9999994980433795,-0.00011595290801678807,0.0009822575004981584,0.00013069422044912374,0.6761,-0.0046,0.09533897229687406,1.0,0.0,0.0,0.0,-0.1320746555875811,-0.137183321370539,5.691658600852183,-0.002716385205642914,0.008836132545623033,-0.00017613804520162852,0.04133535684101509,0.5072215609325621,7.8377190928693645,0.03716866426249527,0.001585485832484734,-0.000694227313748386,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.9329633153302472,0.9171437153334827,-6.896272071663743,0.15366310443284265,4.928446572552069,0.48534573679448767,1.6318748266239418,-5.691658600852183,8.528146898287686,8.528146898287686,8.760507294518735,0,0,-0.0002600165529373629,-9.999695102370083e-05
+59515,1793080473959749176,17025032000000,1793080473958446930,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.6766949933483511,-0.004875470164095471,0.09625035299597763,0.9999994807778019,-6.256533583393573e-05,0.0010080977057162468,9.854737689687812e-05,0.6761,-0.0046,0.09508163312377155,1.0,0.0,0.0,0.0,-0.024389109951394317,-0.1964499737842999,5.706381307309163,-0.006529925693697522,0.003761881391738628,-0.00029512955423358165,0.14902090247720187,0.4479549085188012,7.852441799326345,0.033355123774440665,-0.0034887653213996708,-0.0008132188227803391,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.90189999951829,0.8198198641223926,-6.856487993876838,0.1846513915475013,4.924904263021449,0.40063897059599085,1.6318748266239418,-5.706381307309163,8.48836282050078,8.48836282050078,8.855507294518514,0,0,-0.0002885955416684612,-9.999999025923074e-05
+59625,1793080474876772628,17025949000000,1793080474874446855,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6767114972025912,-0.004882357062882196,0.09599171088739814,0.9999994475172016,-7.87621982732674e-05,0.0010359062992687353,0.0001307777169509513,0.6761,-0.0046,0.09479840909781688,1.0,0.0,0.0,0.0,-0.03080013032001841,-0.2890579245657436,5.8046018370780565,-0.011771136147351632,0.0029247680110478375,-0.0004481962088646273,0.14260988210857778,0.3553469577373575,7.9506623290952385,0.028113913320786554,-0.004325878702090461,-0.0009662854774113847,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.8930084604860746,0.8036301057007966,-7.084665863811805,0.19710789823195246,5.083999152454018,0.409831535741345,1.6318748266239418,-5.8046018370780565,8.716540690435748,8.716540690435748,8.9472072945183,0,0,-0.00032608742523279757,9.773600958962731e-05
+59719,1793080475659769516,17026732000000,1793080475658446972,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6767239556351694,-0.0048814984191359306,0.0957454756837988,0.9999994147465118,-0.0001592457118168371,0.0010618940257125357,9.471736633680678e-05,0.6761,-0.0046,0.09453290402963105,1.0,0.0,0.0,0.0,0.08887541717253064,-0.2592611525730575,5.869269857701803,-0.010840303393695017,-0.003368663386332518,0.0004507918794440962,0.26228542960112683,0.3851437297300436,8.015330349718985,0.02904474607444317,-0.010619310099470817,-6.729738910266123e-05,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.901466606765319,0.7633873980812822,-7.035334593691405,0.25409009476597283,5.07455001207144,0.4008859201481149,1.6318748266239418,-5.869269857701803,8.667209420315347,8.667209420315347,9.025507294518118,0,0,-0.00035079441487314975,-9.999999025923074e-05
+59812,1793080476434815485,17027507000000,1793080476434446757,DOWN_FORCE_DETACH,6,0.075,0.07500249892473221,0.676740165746203,-0.004889071233240967,0.09548153344408405,0.9999993936777924,-0.00014774036606306562,0.0010787977069071132,0.00013584993026385616,0.6761,-0.0046,0.09425085699936711,1.0,0.0,0.0,0.0,0.04207954053470678,-0.44779319539122914,5.952762926808396,-0.020822237797952628,-0.0018818007221837333,0.00029092229309350394,0.21548955296330297,0.19661168691187197,8.098823418825578,0.01906281167018556,-0.009132447435322032,-0.0002271669754532535,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.8373997073167907,0.7370474808067148,-7.111705366386926,0.22773811417702575,5.131075940107134,0.3737256697623432,1.6318748266239418,-5.952762926808396,8.743580193010867,8.743580193010867,9.103007294517937,0,0,-0.0003770515225557088,-9.999416158835146e-05
+59894,1793080477119757582,17028190999999,1793080477114457527,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6767517387675567,-0.004880258403416535,0.09522573064671545,0.99999936193728,-0.00022848093730475744,0.0010996348465489184,7.853382918080343e-05,0.6761,-0.0046,0.09398506620846526,1.0,0.0,0.0,0.0,0.10581555336374618,-0.4631850733890628,5.978234145241861,-0.024909028906241158,-0.00396706904361348,0.000185105255617693,0.27922556579234237,0.18121980891403833,8.124294637259043,0.01497602056189703,-0.011217715756751779,-0.00033298401292906443,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7354695272097214,0.7656291678160949,-7.182186340232114,0.27160369161242315,5.161170005772645,0.385121096469474,1.6318748266239418,-5.978234145241861,8.814061166856057,8.814061166856057,9.171407294517778,0,0,-0.00040076643592209935,-9.999999025923074e-05
+59977,1793080477809830834,17028882000000,1793080477806447608,DOWN_FORCE_DETACH,6,0.075,0.07500184327363968,0.6767696763235858,-0.004890975907922949,0.09495315728699966,0.9999993329593324,-0.00022225980906583818,0.001123031704843735,0.00012216432180564687,0.6761,-0.0046,0.09369799143543997,1.0,0.0,0.0,0.0,0.1165197827390149,-0.5319326985134772,5.974379101246179,-0.025481569253194385,-0.006978799554831847,0.0011723493325325163,0.2899297951676111,0.11247218378962384,8.120439593263361,0.014403480214943804,-0.014229446267970146,0.0006542600639857588,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,1.7344920527867826,0.7536799530903806,-7.072345020510947,0.21685261496915859,5.110850329328434,0.3803335429357286,1.6318748266239418,-5.974379101246179,8.704219847134889,8.704219847134889,9.240507294517617,0,0,-0.00043240942753794274,-9.999999025923074e-05
+60097,1793080478807733132,17029880000000,1793080478806447278,DOWN_PEAK_HOLD,6,0.075,0.07500184327363968,0.6767312130198899,-0.0048887204078261704,0.09473294393712671,0.9999994345229728,3.288267060370044e-05,0.00105014411479997,0.00013606126259842004,0.6761,-0.0046,0.09359655461860238,1.0,0.0,0.0,0.0,0.4396419132953965,-0.870632482844352,4.94972486802299,-0.047504556649628445,-0.028607935115724993,-0.001643219083962459,0.6130519257239927,-0.22622760054125093,7.095785360040172,-0.0076195071814902605,-0.03585858182886329,-0.0021613083525092165,0.1734100124285962,0.6444048823031011,2.146060492017182,0.03988504946813819,-0.007250646713138299,-0.0005180892685467574,1,0.9895904645214729,0.6659924739813254,-6.0256585179243976,0.2725909743731594,4.316242910456913,0.3496780302001235,1.6318748266239418,-4.94972486802299,7.657533344548339,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f79380e65343abfebea9fc18211adbb83d4755ac
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..31044c2dfcbc02ec5a2cfae446d9c7c9c6554e02
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,7.150000000e+00,DOWN_FORCE_DETACH,1793080409502419682,3.773972405e-05,-1.560244426e-06,-3.659300268e-05,2.506904837e-05,7.769438888e-08,-2.863964734e-05,2.755012496e-05,-5.405728768e-08,-2.838515178e-05,7.019934093e-01,-2.364815583e-05,8.601068528e-01,7.019807387e-01,-2.201021702e-05,8.601148062e-01,7.027735331e-01,-1.134441456e-04,8.302973533e-01
+6,8.483333333e+00,DOWN_FORCE_DETACH,1793080410828434204,4.426725430e-05,-1.121110803e-06,-4.833941567e-05,3.993214802e-05,-2.273240401e-06,-4.177632968e-05,4.301179418e-05,-2.249981799e-06,-4.129093799e-05,7.019999369e-01,-2.320902221e-05,8.600951064e-01,7.019956018e-01,-2.436115181e-05,8.601016695e-01,7.027889948e-01,-1.156400702e-04,8.302844475e-01
+7,9.866666667e+00,DOWN_FORCE_DETACH,1793080412451149472,5.674081067e-05,-4.249039942e-06,-6.404447155e-05,4.953756835e-05,1.808766808e-06,-5.853400865e-05,5.337619235e-05,1.461501183e-06,-5.805315706e-05,7.020124104e-01,-2.633695135e-05,8.600794014e-01,7.020052072e-01,-2.027914460e-05,8.600849118e-01,7.027993592e-01,-1.119285872e-04,8.302676853e-01
+8,1.135000000e+01,DOWN_FORCE_DETACH,1793080413959396970,6.407181063e-05,2.665739184e-06,-7.530751437e-05,5.919616416e-05,-4.156488889e-06,-7.529161291e-05,6.348492776e-05,-4.075430206e-06,-7.450015697e-05,7.020197414e-01,-1.942217222e-05,8.600681383e-01,7.020148658e-01,-2.624440029e-05,8.600681542e-01,7.028094679e-01,-1.174655186e-04,8.302512383e-01
+9,1.263333333e+01,DOWN_FORCE_DETACH,1793080415235098688,7.311546888e-05,-9.458075571e-07,-9.033962896e-05,6.998932323e-05,-2.617452645e-06,-9.203817626e-05,7.486945570e-05,-2.645807463e-06,-9.121703695e-05,7.020287851e-01,-2.303371896e-05,8.600531062e-01,7.020256589e-01,-2.470536405e-05,8.600514077e-01,7.028208524e-01,-1.160358958e-04,8.302345214e-01
+10,1.401666667e+01,DOWN_FORCE_DETACH,1793080416628150202,7.366784118e-05,-4.904445751e-06,-1.041413145e-04,6.998932323e-05,-2.617452645e-06,-9.203817626e-05,7.530647533e-05,-2.661733693e-06,-9.178360321e-05,7.020293375e-01,-2.699235716e-05,8.600393045e-01,7.020256589e-01,-2.470536405e-05,8.600514077e-01,7.028212895e-01,-1.160518221e-04,8.302339548e-01
+11,1.541666667e+01,DOWN_FORCE_DETACH,1793080418003344588,8.655108946e-05,1.089785301e-06,-1.169335365e-04,8.055384442e-05,-5.372739066e-06,-1.099827870e-04,8.628771801e-05,-5.193456594e-06,-1.094461982e-04,7.020422207e-01,-2.099812610e-05,8.600265123e-01,7.020362235e-01,-2.746065047e-05,8.600334631e-01,7.028322707e-01,-1.185835450e-04,8.302162922e-01
+12,1.676666667e+01,DOWN_FORCE_DETACH,1793080419346216681,9.293076779e-05,-1.369251011e-07,-1.311666223e-04,8.986355342e-05,-2.319050567e-06,-1.273394477e-04,9.610841742e-05,-2.445405506e-06,-1.267503389e-04,7.020486004e-01,-2.222483651e-05,8.600122792e-01,7.020455332e-01,-2.440696197e-05,8.600161064e-01,7.028420914e-01,-1.158354939e-04,8.301989881e-01
+13,1.790000000e+01,DOWN_FORCE_DETACH,1793080420476349612,1.019615843e-04,1.157798700e-05,-1.450588846e-04,9.680752914e-05,1.338034215e-05,-1.389237247e-04,1.035956526e-04,1.192320827e-05,-1.384602430e-04,7.020576312e-01,-1.050992441e-05,8.599983870e-01,7.020524772e-01,-8.707569254e-06,8.600045221e-01,7.028495786e-01,-1.014668801e-04,8.301872782e-01
+14,1.940000000e+01,DOWN_FORCE_DETACH,1793080422000529787,1.095420129e-04,5.524576001e-06,-1.582123266e-04,1.058866177e-04,1.325580711e-05,-1.571773097e-04,1.132023066e-04,1.174782879e-05,-1.567293483e-04,7.020652116e-01,-1.656333540e-05,8.599852335e-01,7.020615562e-01,-8.832104292e-06,8.599862685e-01,7.028591853e-01,-1.016422596e-04,8.301690091e-01
+15,2.085000000e+01,DOWN_FORCE_DETACH,1793080423442171648,1.181324675e-04,2.122044354e-06,-1.743623262e-04,1.152533059e-04,4.269476659e-06,-1.723847682e-04,1.229834561e-04,3.537308677e-06,-1.717990062e-04,7.020738021e-01,-1.996586705e-05,8.599690835e-01,7.020709229e-01,-1.781843475e-05,8.599710611e-01,7.028689664e-01,-1.098527797e-04,8.301539394e-01
+16,2.228333333e+01,DOWN_FORCE_DETACH,1793080424882925036,1.268652122e-04,1.954006822e-06,-1.938672484e-04,1.233174261e-04,2.593851894e-06,-1.904062548e-04,1.315513836e-04,1.973779162e-06,-1.897799798e-04,7.020825348e-01,-2.013390458e-05,8.599495786e-01,7.020789871e-01,-1.949405951e-05,8.599530396e-01,7.028775344e-01,-1.114163092e-04,8.301359584e-01
+17,2.388333333e+01,DOWN_FORCE_DETACH,1793080426471709828,1.346563921e-04,3.474848053e-06,-2.070057876e-04,1.299801721e-04,2.042515516e-06,-2.095110082e-04,1.386069333e-04,1.440719354e-06,-2.086699634e-04,7.020903260e-01,-1.861306335e-05,8.599364401e-01,7.020856498e-01,-2.004539589e-05,8.599339348e-01,7.028845899e-01,-1.119493690e-04,8.301170685e-01
+18,2.523333333e+01,DOWN_FORCE_DETACH,1793080427798352353,1.429764950e-04,-2.453538730e-06,-2.302533392e-04,1.382230796e-04,-1.962388895e-06,-2.289629228e-04,1.472768517e-04,-2.265915618e-06,-2.282165301e-04,7.020986461e-01,-2.454145014e-05,8.599131925e-01,7.020938927e-01,-2.405030030e-05,8.599144829e-01,7.028932598e-01,-1.156560040e-04,8.300975219e-01
+19,2.675000000e+01,DOWN_FORCE_DETACH,1793080429370942023,1.512584621e-04,-1.673069390e-06,-2.455009852e-04,1.491084341e-04,-3.800862438e-06,-2.454729724e-04,1.586100513e-04,-3.970143336e-06,-2.445759872e-04,7.021069281e-01,-2.376098080e-05,8.598979449e-01,7.021047781e-01,-2.588877384e-05,8.598979729e-01,7.029045930e-01,-1.173602317e-04,8.300811624e-01
+20,2.816666667e+01,DOWN_FORCE_DETACH,1793080430797174452,1.620487703e-04,2.156804153e-06,-2.684505650e-04,1.587444790e-04,1.023947424e-06,-2.622890672e-04,1.690259130e-04,4.177332161e-07,-2.615326001e-04,7.021177184e-01,-1.993110725e-05,8.598749953e-01,7.021144141e-01,-2.106396398e-05,8.598811568e-01,7.029150089e-01,-1.129723551e-04,8.300642058e-01
+21,2.955000000e+01,DOWN_FORCE_DETACH,1793080432188127360,1.680059908e-04,-3.258963209e-06,-2.878944335e-04,1.624640539e-04,-4.885578706e-06,-2.809397624e-04,1.730772663e-04,-5.042459424e-06,-2.801948420e-04,7.021236756e-01,-2.534687461e-05,8.598555514e-01,7.021181337e-01,-2.697349011e-05,8.598625061e-01,7.029190602e-01,-1.184325478e-04,8.300455436e-01
+22,3.100000000e+01,DOWN_FORCE_DETACH,1793080433700506093,1.816710906e-04,-3.326051833e-06,-3.078882752e-04,1.714222044e-04,-9.712590543e-06,-3.012212515e-04,1.824253894e-04,-9.508607644e-06,-3.003773111e-04,7.021373407e-01,-2.541396324e-05,8.598355576e-01,7.021270918e-01,-3.180050195e-05,8.598422246e-01,7.029284084e-01,-1.228986960e-04,8.300253611e-01
+23,3.243333333e+01,DOWN_FORCE_DETACH,1793080435137219001,1.886813053e-04,-8.344453067e-06,-3.350714759e-04,1.888864221e-04,-8.592674486e-06,-3.368961447e-04,2.003510207e-04,-8.518250947e-06,-3.353630073e-04,7.021443509e-01,-3.043236447e-05,8.598083744e-01,7.021445560e-01,-3.068058589e-05,8.598065497e-01,7.029463340e-01,-1.219083393e-04,8.299903754e-01
+24,3.403333333e+01,DOWN_FORCE_DETACH,1793080436709946148,2.010030793e-04,-1.347535756e-05,-3.650229090e-04,1.947081709e-04,-1.171934526e-05,-3.582158660e-04,2.068440831e-04,-1.144660159e-05,-3.569312612e-04,7.021566727e-01,-3.556326897e-05,8.597784229e-01,7.021503778e-01,-3.380725667e-05,8.597852300e-01,7.029528271e-01,-1.248366899e-04,8.299688072e-01
+25,3.558333333e+01,DOWN_FORCE_DETACH,1793080438281547743,2.109953801e-04,-1.323603605e-05,-4.015263749e-04,2.080171674e-04,-1.236804394e-05,-3.969056020e-04,2.205578064e-04,-1.213528980e-05,-3.951842894e-04,7.021666650e-01,-3.532394746e-05,8.597419195e-01,7.021636868e-01,-3.445595534e-05,8.597465402e-01,7.029665408e-01,-1.255253782e-04,8.299305541e-01
+26,3.703333333e+01,DOWN_FORCE_DETACH,1793080439739956468,2.238286446e-04,-1.487023223e-05,-4.362008903e-04,2.232390130e-04,-1.271971934e-05,-4.328937369e-04,2.362739886e-04,-1.251362132e-05,-4.307732735e-04,7.021794983e-01,-3.695814363e-05,8.597072450e-01,7.021789086e-01,-3.480763075e-05,8.597105521e-01,7.029822570e-01,-1.259037097e-04,8.298949652e-01
+27,3.845000000e+01,DOWN_FORCE_DETACH,1793080441148577848,2.359149881e-04,-1.695323748e-05,-4.726565928e-04,2.331591651e-04,-1.660600930e-05,-4.729812425e-04,2.465812673e-04,-1.613676451e-05,-4.706486926e-04,7.021915846e-01,-3.904114888e-05,8.596707893e-01,7.021888288e-01,-3.869392070e-05,8.596704646e-01,7.029925642e-01,-1.295268529e-04,8.298550897e-01
+28,3.986666667e+01,DOWN_FORCE_DETACH,1793080442540462876,2.487495724e-04,-2.556942875e-05,-5.173895627e-04,2.470927703e-04,-2.258508743e-05,-5.123224423e-04,2.609576658e-04,-2.165109590e-05,-5.099127535e-04,7.022044192e-01,-4.765734015e-05,8.596260563e-01,7.022027624e-01,-4.467299884e-05,8.596311234e-01,7.030069406e-01,-1.350411843e-04,8.298158257e-01
+29,4.091666667e+01,DOWN_FORCE_DETACH,1793080443573105576,2.592042590e-04,-9.623332291e-06,-5.613996753e-04,2.633878246e-04,3.304150976e-06,-5.584485296e-04,2.776795700e-04,1.987762506e-06,-5.556538296e-04,7.022148739e-01,-3.171124370e-05,8.595820462e-01,7.022190574e-01,-1.878376043e-05,8.595849973e-01,7.030236625e-01,-1.114023259e-04,8.297700846e-01
+30,4.203333333e+01,DOWN_FORCE_DETACH,1793080444670160010,2.690003677e-04,-1.117021546e-05,-5.952505882e-04,2.674657930e-04,-7.488846872e-06,-5.924915159e-04,2.819559701e-04,-7.884836551e-06,-5.898509705e-04,7.022246700e-01,-3.325812686e-05,8.595481953e-01,7.022231354e-01,-2.957675828e-05,8.595509543e-01,7.030279389e-01,-1.212749249e-04,8.297358875e-01
+31,4.358333333e+01,DOWN_FORCE_DETACH,1793080446242832837,2.845319184e-04,-1.174464008e-05,-6.526026055e-04,2.824849259e-04,-1.497095862e-05,-6.508605872e-04,2.973513865e-04,-1.478388396e-05,-6.482325018e-04,7.022402015e-01,-3.383255149e-05,8.594908432e-01,7.022381546e-01,-3.705887002e-05,8.594925853e-01,7.030433344e-01,-1.281739723e-04,8.296775059e-01
+32,4.496666667e+01,DOWN_FORCE_DETACH,1793080447635347054,2.980371300e-04,-1.674125808e-05,-7.065218298e-04,2.931961268e-04,-1.584224849e-05,-6.907607955e-04,3.085015920e-04,-1.561052498e-05,-6.887110728e-04,7.022537068e-01,-3.882916948e-05,8.594369240e-01,7.022488658e-01,-3.793015990e-05,8.594526850e-01,7.030544846e-01,-1.290006133e-04,8.296370274e-01
+33,4.631666667e+01,DOWN_FORCE_DETACH,1793080449043678977,3.161971437e-04,-2.414384207e-05,-7.631083398e-04,3.056551070e-04,-2.061694805e-05,-7.483726309e-04,3.212010948e-04,-2.000221450e-05,-7.462082563e-04,7.022718668e-01,-4.623175348e-05,8.593803375e-01,7.022613247e-01,-4.270485946e-05,8.593950732e-01,7.030671841e-01,-1.333923029e-04,8.295795302e-01
+34,4.771666667e+01,DOWN_FORCE_DETACH,1793080450454312188,3.282382841e-04,-2.096957095e-05,-8.371041764e-04,3.257773046e-04,-2.422158015e-05,-8.277070874e-04,3.418387136e-04,-2.337222887e-05,-8.246921554e-04,7.022839079e-01,-4.305748236e-05,8.593063417e-01,7.022814469e-01,-4.630949156e-05,8.593157388e-01,7.030878217e-01,-1.367623172e-04,8.295010463e-01
+35,4.911666667e+01,DOWN_FORCE_DETACH,1793080451863190608,3.446661428e-04,-2.820021931e-05,-9.089134169e-04,3.409709988e-04,-2.493747207e-05,-8.903114660e-04,3.574724212e-04,-2.400642215e-05,-8.873779319e-04,7.023003358e-01,-5.028813072e-05,8.592345324e-01,7.022966406e-01,-4.702538347e-05,8.592531344e-01,7.031034554e-01,-1.373965105e-04,8.294383605e-01
+36,5.051666667e+01,DOWN_FORCE_DETACH,1793080453303424326,3.628041662e-04,-2.743387962e-05,-9.929941672e-04,3.603579903e-04,-2.600448513e-05,-9.915519394e-04,3.770395983e-04,-2.500595802e-05,-9.876039931e-04,7.023184738e-01,-4.952179103e-05,8.591504517e-01,7.023160276e-01,-4.809239654e-05,8.591518939e-01,7.031230226e-01,-1.383960464e-04,8.293381344e-01
+37,5.205000000e+01,DOWN_FORCE_DETACH,1793080454809639723,3.776405876e-04,-2.995632452e-05,-1.085811508e-03,3.731692273e-04,-3.335489697e-05,-1.073029837e-03,3.900826199e-04,-3.181417281e-05,-1.069676408e-03,7.023333102e-01,-5.204423593e-05,8.590576343e-01,7.023288389e-01,-5.544280838e-05,8.590704160e-01,7.031360656e-01,-1.452042612e-04,8.292560620e-01
+38,5.330000000e+01,DOWN_FORCE_DETACH,1793080456054406401,3.942566753e-04,-3.013737924e-05,-1.167533923e-03,3.867482450e-04,-3.487540513e-05,-1.155337676e-03,4.037732431e-04,-3.323681121e-05,-1.151887340e-03,7.023499263e-01,-5.222529064e-05,8.589759119e-01,7.023424179e-01,-5.696331654e-05,8.589881082e-01,7.031497562e-01,-1.466268996e-04,8.291738511e-01
+39,5.476666667e+01,DOWN_FORCE_DETACH,1793080457512054289,4.077354996e-04,-3.410153434e-05,-1.285336800e-03,4.079466909e-04,-3.578531842e-05,-1.277033170e-03,4.249417604e-04,-3.418952824e-05,-1.272435522e-03,7.023634051e-01,-5.618944574e-05,8.588581090e-01,7.023636163e-01,-5.787322983e-05,8.588664127e-01,7.031709247e-01,-1.475796166e-04,8.290533029e-01
+40,5.598333333e+01,DOWN_FORCE_DETACH,1793080458740645953,4.230111646e-04,-3.509313664e-05,-1.382678416e-03,4.229691669e-04,-4.126922304e-05,-1.381408766e-03,4.398506253e-04,-3.926079838e-05,-1.375991593e-03,7.023786808e-01,-5.718104805e-05,8.587607674e-01,7.023786388e-01,-6.335713445e-05,8.587620371e-01,7.031858336e-01,-1.526508867e-04,8.289497468e-01
+41,5.718333333e+01,DOWN_FORCE_DETACH,1793080459969604454,4.446611028e-04,-3.133932436e-05,-1.491782708e-03,4.414054053e-04,-3.518996249e-05,-1.487549774e-03,4.584345905e-04,-3.371993404e-05,-1.482214524e-03,7.024003307e-01,-5.342723576e-05,8.586516631e-01,7.023970750e-01,-5.727787389e-05,8.586558961e-01,7.032044176e-01,-1.471100224e-04,8.288435239e-01
+42,5.850000000e+01,DOWN_FORCE_DETACH,1793080461362062019,4.656373108e-04,-2.344296162e-05,-1.628942762e-03,4.630132402e-04,-2.318746448e-05,-1.630783988e-03,4.799895872e-04,-2.285280952e-05,-1.624809513e-03,7.024213069e-01,-4.553087302e-05,8.585145031e-01,7.024186829e-01,-4.527537589e-05,8.585126619e-01,7.032259726e-01,-1.362428979e-04,8.287009289e-01
+43,5.985000000e+01,DOWN_FORCE_DETACH,1793080462688350475,4.837199486e-04,-2.649751609e-05,-1.764814872e-03,4.818792434e-04,-2.622554259e-05,-1.761863359e-03,4.988758279e-04,-2.574692659e-05,-1.756007929e-03,7.024393896e-01,-4.858542749e-05,8.583786310e-01,7.024375489e-01,-4.831345399e-05,8.583815825e-01,7.032448588e-01,-1.391370150e-04,8.285697305e-01
+44,6.110000000e+01,DOWN_FORCE_DETACH,1793080463916767471,5.004386334e-04,-2.614774059e-05,-1.906256438e-03,5.005939423e-04,-2.627942106e-05,-1.905893971e-03,5.171962972e-04,-2.577811724e-05,-1.899285933e-03,7.024561083e-01,-4.823565200e-05,8.582371894e-01,7.024562636e-01,-4.836733246e-05,8.582375519e-01,7.032631793e-01,-1.391682056e-04,8.284264525e-01
+45,6.236666667e+01,DOWN_FORCE_DETACH,1793080465326378183,5.190758908e-04,-2.847339764e-05,-2.075032329e-03,5.200300404e-04,-2.734245267e-05,-2.072355048e-03,5.359690163e-04,-2.679746870e-05,-2.065065973e-03,7.024747455e-01,-5.056130905e-05,8.580684135e-01,7.024756997e-01,-4.943036407e-05,8.580710908e-01,7.032819520e-01,-1.401875571e-04,8.282606725e-01
+46,6.351666667e+01,DOWN_FORCE_DETACH,1793080466538036700,5.362610996e-04,-2.932388735e-05,-2.241176173e-03,5.361605480e-04,-2.927840015e-05,-2.241168738e-03,5.515577789e-04,-2.872028629e-05,-2.233074679e-03,7.024919307e-01,-5.141179875e-05,8.579022697e-01,7.024918302e-01,-5.136631155e-05,8.579022771e-01,7.032975408e-01,-1.421103746e-04,8.280926637e-01
+47,6.465000000e+01,DOWN_FORCE_DETACH,1793080467668060795,5.529229314e-04,-3.230346348e-05,-2.403542055e-03,5.512709685e-04,-2.916197564e-05,-2.396859937e-03,5.660643591e-04,-2.862778471e-05,-2.389001663e-03,7.025085926e-01,-5.439137488e-05,8.577399038e-01,7.025069406e-01,-5.124988705e-05,8.577465859e-01,7.033120473e-01,-1.420178731e-04,8.279367368e-01
+48,6.585000000e+01,DOWN_FORCE_DETACH,1793080468912487112,5.800420554e-04,-3.223180328e-05,-2.597186386e-03,5.757899296e-04,-3.054634671e-05,-2.579694073e-03,5.901936115e-04,-2.997825102e-05,-2.572053540e-03,7.025357117e-01,-5.431971469e-05,8.575462595e-01,7.025314596e-01,-5.263425812e-05,8.575637518e-01,7.033361766e-01,-1.433683394e-04,8.277536849e-01
+49,6.688333333e+01,DOWN_FORCE_DETACH,1793080469928837091,5.946246948e-04,-3.303362511e-05,-2.775718251e-03,5.939506328e-04,-3.356410566e-05,-2.761140466e-03,6.077818665e-04,-3.270843009e-05,-2.752710258e-03,7.025502943e-01,-5.512153652e-05,8.573677276e-01,7.025496203e-01,-5.565201706e-05,8.573823054e-01,7.033537648e-01,-1.460985185e-04,8.275730282e-01
+50,6.791666667e+01,DOWN_FORCE_DETACH,1793080470960234169,6.147604255e-04,-3.053575492e-05,-2.974194777e-03,6.128684401e-04,-3.134544147e-05,-2.972776178e-03,6.256780810e-04,-3.059612974e-05,-2.963103735e-03,7.025704301e-01,-5.262366632e-05,8.571692511e-01,7.025685381e-01,-5.343335288e-05,8.571706697e-01,7.033716611e-01,-1.439862181e-04,8.273626347e-01
+51,6.896666667e+01,DOWN_FORCE_DETACH,1793080472008541644,6.317498726e-04,-3.998860851e-05,-3.195349961e-03,6.276002995e-04,-3.749908012e-05,-3.176684152e-03,6.393167316e-04,-3.638200357e-05,-3.166884648e-03,7.025874195e-01,-6.207651992e-05,8.569480959e-01,7.025832699e-01,-5.958699153e-05,8.569667617e-01,7.033852997e-01,-1.497720919e-04,8.271588538e-01
+52,6.996666667e+01,DOWN_FORCE_DETACH,1793080473007688593,6.479097268e-04,-3.577127865e-05,-3.425201394e-03,6.464900126e-04,-4.189385972e-05,-3.419286949e-03,6.566361225e-04,-4.054836308e-05,-3.408466263e-03,7.026035794e-01,-5.785919005e-05,8.567182445e-01,7.026021596e-01,-6.398177112e-05,8.567241589e-01,7.034026191e-01,-1.539384514e-04,8.269172722e-01
+53,7.093333333e+01,DOWN_FORCE_DETACH,1793080473957725864,6.592786143e-04,-3.405917510e-05,-3.663128460e-03,6.586006599e-04,-4.009038411e-05,-3.644278144e-03,6.671805034e-04,-3.889838160e-05,-3.633275341e-03,7.026149482e-01,-5.614708651e-05,8.564803174e-01,7.026142703e-01,-6.217829551e-05,8.564991677e-01,7.034131635e-01,-1.522884700e-04,8.266924631e-01
+54,7.183333333e+01,DOWN_FORCE_DETACH,1793080474875107696,6.769297231e-04,-4.564219885e-05,-3.917772602e-03,6.756870708e-04,-4.404123813e-05,-3.908375062e-03,6.823379229e-04,-4.267309967e-05,-3.895830403e-03,7.026325993e-01,-6.773011026e-05,8.562256732e-01,7.026313567e-01,-6.612914954e-05,8.562350708e-01,7.034283209e-01,-1.560631880e-04,8.264299080e-01
+55,7.263333333e+01,DOWN_FORCE_DETACH,1793080475661265869,6.902596854e-04,-4.256074215e-05,-4.164772485e-03,6.888809579e-04,-3.939109617e-05,-4.156626964e-03,6.937014383e-04,-3.857300380e-05,-4.143055835e-03,7.026459293e-01,-6.464865356e-05,8.559786734e-01,7.026445506e-01,-6.147900757e-05,8.559868189e-01,7.034396844e-01,-1.519630922e-04,8.261826826e-01
+56,7.341666667e+01,DOWN_FORCE_DETACH,1793080476431472184,7.033588307e-04,-4.996708444e-05,-4.431652488e-03,7.033394396e-04,-5.009233389e-05,-4.431182409e-03,7.060826787e-04,-4.839325481e-05,-4.416164256e-03,7.026590285e-01,-7.205499585e-05,8.557117934e-01,7.026590091e-01,-7.218024530e-05,8.557122634e-01,7.034520657e-01,-1.617833432e-04,8.259095742e-01
+57,7.411666667e+01,DOWN_FORCE_DETACH,1793080477118962136,7.175361238e-04,-4.428186290e-05,-4.685165359e-03,7.165995334e-04,-3.735046515e-05,-4.681042719e-03,7.174215888e-04,-3.663639817e-05,-4.665496875e-03,7.026732057e-01,-6.636977431e-05,8.554582805e-01,7.026722692e-01,-5.943837656e-05,8.554624031e-01,7.034634046e-01,-1.500264865e-04,8.256602416e-01
+58,7.480000000e+01,DOWN_FORCE_DETACH,1793080477813991893,7.368669591e-04,-4.967725288e-05,-4.959254999e-03,7.358205229e-04,-5.290214479e-05,-4.944044694e-03,7.348928608e-04,-5.097222988e-05,-4.927836507e-03,7.026925366e-01,-7.176516428e-05,8.551841908e-01,7.026914901e-01,-7.499005619e-05,8.551994012e-01,7.034808758e-01,-1.643623182e-04,8.253979019e-01
+59,7.578333333e+01,DOWN_PEAK_HOLD,1793080478806942164,6.996040517e-04,-5.014140105e-05,-5.174313721e-03,6.970983300e-04,-4.857782753e-05,-5.174828840e-03,6.924223133e-04,-4.698894409e-05,-5.162668509e-03,7.026552737e-01,-7.222931246e-05,8.549691321e-01,7.026527680e-01,-7.066573893e-05,8.549686170e-01,7.034384053e-01,-1.603790324e-04,8.251630699e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..223701d57ff38924159d922f208edd015aee313a
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,2.7139e-01,9.7887e-01,2.4685e+00,-1.0801e-01,5.6382e-02,2.1737e-03,1.7711e-02,3.5376e-03,-4.2048e-03,-1.8723e-04,1.4326e-03,-6.4792e-05,1.8544e-02,1.4462e-03
+1,1.2833e+00,DOWN_FORCE_DETACH,3.1814e-04,3.7382e-01,9.7141e-01,2.4671e+00,-1.0739e-01,6.3622e-02,1.2220e-03,1.2014e-01,-3.9285e-03,-5.6076e-03,4.3186e-04,8.6731e-03,-1.0165e-03,1.2034e-01,8.7432e-03
+2,2.8667e+00,DOWN_FORCE_DETACH,6.4302e-04,4.2281e-01,9.6864e-01,2.4656e+00,-1.0716e-01,6.7124e-02,6.7680e-04,1.6913e-01,-6.6922e-03,-7.1273e-03,6.6350e-04,1.2175e-02,-1.5617e-03,1.6942e-01,1.2293e-02
+3,4.2833e+00,DOWN_FORCE_DETACH,9.6437e-04,4.3769e-01,9.6786e-01,2.4646e+00,-1.0710e-01,6.8196e-02,4.8034e-04,1.8401e-01,-7.4803e-03,-8.1110e-03,7.2660e-04,1.3247e-02,-1.7582e-03,1.8434e-01,1.3383e-02
+4,5.7333e+00,DOWN_FORCE_DETACH,1.2878e-03,3.2618e-01,9.5872e-01,2.6127e+00,-1.0620e-01,5.9950e-02,6.0647e-04,7.2498e-02,-1.6616e-02,1.4001e-01,1.6178e-03,5.0012e-03,-1.6321e-03,1.5854e-01,5.5040e-03
+5,7.1500e+00,DOWN_FORCE_DETACH,1.6104e-03,4.0769e-01,9.5830e-01,2.5122e+00,-1.0629e-01,6.6019e-02,5.0027e-04,1.5402e-01,-1.7039e-02,3.9500e-02,1.5342e-03,1.1070e-02,-1.7383e-03,1.5991e-01,1.1310e-02
+6,8.4833e+00,DOWN_FORCE_DETACH,1.9342e-03,3.4533e-01,9.9650e-01,2.5483e+00,-1.0905e-01,6.1331e-02,4.7866e-04,9.1656e-02,2.1161e-02,7.5633e-02,-1.2269e-03,6.3816e-03,-1.7599e-03,1.2070e-01,6.7326e-03
+7,9.8667e+00,DOWN_FORCE_DETACH,2.2525e-03,3.7490e-01,9.1593e-01,2.5424e+00,-1.0324e-01,6.3536e-02,4.2996e-04,1.2122e-01,-5.9406e-02,6.9665e-02,4.5851e-03,8.5872e-03,-1.8086e-03,1.5191e-01,9.9013e-03
+8,1.1350e+01,DOWN_FORCE_DETACH,2.5752e-03,3.5364e-01,1.0262e+00,2.5973e+00,-1.1120e-01,6.1995e-02,3.4644e-04,9.9965e-02,5.0852e-02,1.2456e-01,-3.3812e-03,7.0458e-03,-1.8921e-03,1.6762e-01,8.0409e-03
+9,1.2633e+01,DOWN_FORCE_DETACH,2.8987e-03,3.4895e-01,9.9067e-01,2.5970e+00,-1.0862e-01,6.1537e-02,3.1633e-04,9.5274e-02,1.5335e-02,1.2428e-01,-7.9542e-04,6.5884e-03,-1.9222e-03,1.5735e-01,6.9090e-03
+10,1.4017e+01,DOWN_FORCE_DETACH,3.2194e-03,4.2613e-01,9.8903e-01,2.4958e+00,-1.0868e-01,6.7363e-02,1.8863e-04,1.7245e-01,1.3690e-02,2.3052e-02,-8.5540e-04,1.2414e-02,-2.0499e-03,1.7452e-01,1.2611e-02
+11,1.5417e+01,DOWN_FORCE_DETACH,3.5425e-03,3.9423e-01,1.0358e+00,2.5445e+00,-1.1203e-01,6.4954e-02,1.5696e-04,1.4055e-01,6.0504e-02,7.1758e-02,-4.2035e-03,1.0005e-02,-2.0816e-03,1.6901e-01,1.1050e-02
+12,1.6767e+01,DOWN_FORCE_DETACH,3.8671e-03,3.8573e-01,9.7613e-01,2.5605e+00,-1.0772e-01,6.4457e-02,8.4568e-05,1.3206e-01,7.9530e-04,8.7850e-02,1.0297e-04,9.5083e-03,-2.1540e-03,1.5861e-01,9.7498e-03
+13,1.7900e+01,DOWN_FORCE_DETACH,4.1876e-03,4.0249e-01,6.8075e-01,2.5255e+00,-8.6489e-02,6.5748e-02,-1.2675e-04,1.4882e-01,-2.9458e-01,5.2815e-02,2.1334e-02,1.0799e-02,-2.3653e-03,3.3424e-01,2.4028e-02
+14,1.9400e+01,DOWN_FORCE_DETACH,4.5100e-03,4.0819e-01,6.8002e-01,2.5291e+00,-8.6466e-02,6.6138e-02,-9.8533e-05,1.5452e-01,-2.9532e-01,5.6431e-02,2.1357e-02,1.1189e-02,-2.3371e-03,3.3804e-01,2.4224e-02
+15,2.0850e+01,DOWN_FORCE_DETACH,4.8321e-03,3.8221e-01,8.4285e-01,2.5552e+00,-9.8222e-02,6.4388e-02,-1.6088e-05,1.2853e-01,-1.3248e-01,8.2505e-02,9.6005e-03,9.4386e-03,-2.2546e-03,2.0219e-01,1.3651e-02
+16,2.2283e+01,DOWN_FORCE_DETACH,5.1540e-03,4.1375e-01,8.6727e-01,2.5364e+00,-1.0002e-01,6.6561e-02,-2.2437e-05,1.6008e-01,-1.0807e-01,6.3715e-02,7.8074e-03,1.1612e-02,-2.2610e-03,2.0338e-01,1.4174e-02
+17,2.3883e+01,DOWN_FORCE_DETACH,5.4787e-03,4.1592e-01,8.7380e-01,2.5923e+00,-1.0048e-01,6.6701e-02,-1.4460e-04,1.6224e-01,-1.0153e-01,1.1959e-01,7.3415e-03,1.1752e-02,-2.3831e-03,2.2568e-01,1.4060e-02
+18,2.5233e+01,DOWN_FORCE_DETACH,5.8029e-03,4.2931e-01,9.4200e-01,2.5652e+00,-1.0537e-01,6.7664e-02,-1.2579e-04,1.7563e-01,-3.3335e-02,9.2505e-02,2.4519e-03,1.2715e-02,-2.3643e-03,2.0129e-01,1.3163e-02
+19,2.6750e+01,DOWN_FORCE_DETACH,6.1229e-03,3.8160e-01,9.7131e-01,2.6047e+00,-1.0746e-01,6.4311e-02,-1.9599e-04,1.2792e-01,-4.0234e-03,1.3201e-01,3.6446e-04,9.3617e-03,-2.4345e-03,1.8387e-01,9.6799e-03
+20,2.8167e+01,DOWN_FORCE_DETACH,6.4429e-03,4.0797e-01,8.7302e-01,2.5753e+00,-1.0037e-01,6.6099e-02,-2.2589e-04,1.5430e-01,-1.0232e-01,1.0259e-01,7.4541e-03,1.1150e-02,-2.4644e-03,2.1166e-01,1.3636e-02
+21,2.9550e+01,DOWN_FORCE_DETACH,6.7653e-03,4.7474e-01,9.7518e-01,2.5597e+00,-1.0765e-01,7.1061e-02,-2.4698e-04,2.2106e-01,-1.5885e-04,8.7008e-02,1.7396e-04,1.6111e-02,-2.4855e-03,2.3757e-01,1.6303e-02
+22,3.1000e+01,DOWN_FORCE_DETACH,7.0892e-03,4.6612e-01,1.0555e+00,2.5727e+00,-1.1329e-01,7.0288e-02,-2.8215e-04,2.1244e-01,8.0202e-02,9.9976e-02,-5.4673e-03,1.5339e-02,-2.5207e-03,2.4811e-01,1.6478e-02
+23,3.2433e+01,DOWN_FORCE_DETACH,7.4103e-03,3.7750e-01,1.0235e+00,2.7137e+00,-1.1067e-01,6.3749e-02,-3.8183e-04,1.2382e-01,4.8174e-02,2.4104e-01,-2.8432e-03,8.7995e-03,-2.6204e-03,2.7524e-01,9.6115e-03
+24,3.4033e+01,DOWN_FORCE_DETACH,7.7309e-03,4.5961e-01,1.0669e+00,2.6435e+00,-1.1363e-01,6.9564e-02,-3.6433e-04,2.0593e-01,9.1515e-02,1.7082e-01,-5.8084e-03,1.4615e-02,-2.6029e-03,2.8278e-01,1.5941e-02
+25,3.5583e+01,DOWN_FORCE_DETACH,8.0549e-03,4.3343e-01,1.0652e+00,2.7396e+00,-1.1309e-01,6.7511e-02,-4.0043e-04,1.7975e-01,8.9894e-02,2.6695e-01,-5.2716e-03,1.2562e-02,-2.6390e-03,3.3415e-01,1.3876e-02
+26,3.7033e+01,DOWN_FORCE_DETACH,8.3764e-03,3.7312e-01,1.0611e+00,2.8072e+00,-1.1242e-01,6.3033e-02,-3.7945e-04,1.1944e-01,8.5724e-02,3.3447e-01,-4.5931e-03,8.0844e-03,-2.6180e-03,3.6535e-01,9.6595e-03
+27,3.8450e+01,DOWN_FORCE_DETACH,8.7009e-03,4.0440e-01,1.1227e+00,2.8384e+00,-1.1649e-01,6.5325e-02,-3.3019e-04,1.5072e-01,1.4733e-01,3.6567e-01,-8.6635e-03,1.0376e-02,-2.5687e-03,4.2206e-01,1.3759e-02
+28,3.9867e+01,DOWN_FORCE_DETACH,9.0219e-03,3.7683e-01,1.2148e+00,2.8510e+00,-1.2263e-01,6.3253e-02,-2.4634e-04,1.2316e-01,2.3943e-01,3.7829e-01,-1.4810e-02,8.3038e-03,-2.4849e-03,4.6432e-01,1.7160e-02
+29,4.0917e+01,DOWN_FORCE_DETACH,9.3460e-03,3.0029e-01,7.3535e-01,2.9385e+00,-8.7935e-02,5.7255e-02,-3.0850e-04,4.6615e-02,-2.3998e-01,4.6577e-01,1.9888e-02,2.3062e-03,-2.5470e-03,5.2603e-01,2.0182e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f336f6e73800197adb22dd95a534fdbe983549dd
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 583680
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2ad9107855ac3d6b57ba4c98b5fb3101f4d69ac8
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/fem_node.csv
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2dbe29888c9a22d33c9408975923c6b863da325d
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b30233d6a74b54b7b638ba54d371eaa772cc572
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..62911e408a427f61132ead8bd42900749f403b16
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+7,8.166666667e-01,WAIT_W2,1793080389502061779,5.334716043e-06,-2.087485638e-04,1.953059216e-05,5.354771676e-06,-2.087363077e-04,1.979689145e-05,6.354870671e-06,-1.899675585e-04,1.878379405e-05,7.019610043e-01,-2.308364752e-04,8.601629764e-01,7.019610244e-01,-2.308242191e-04,8.601632427e-01,7.027523378e-01,-3.033576363e-04,8.303445222e-01
+8,8.333333333e-01,WAIT_W2,1793080389518263285,5.296716201e-06,-3.257283986e-04,2.153935979e-05,5.219409278e-06,-3.255597735e-04,2.152832863e-05,6.281082855e-06,-2.964662163e-04,2.038455225e-05,7.019609663e-01,-3.478163100e-04,8.601649852e-01,7.019608890e-01,-3.476476849e-04,8.601649742e-01,7.027522641e-01,-4.098562941e-04,8.303461230e-01
+9,8.333333333e-01,WAIT_W2,1793080389518263285,5.296716201e-06,-3.257283986e-04,2.153935979e-05,5.219409278e-06,-3.255597735e-04,2.152832863e-05,6.281082855e-06,-2.964662163e-04,2.038455225e-05,7.019609663e-01,-3.478163100e-04,8.601649852e-01,7.019608890e-01,-3.476476849e-04,8.601649742e-01,7.027522641e-01,-4.098562941e-04,8.303461230e-01
+10,8.500000000e-01,WAIT_W2,1793080389535064737,6.645470673e-06,-4.644380994e-04,2.937791749e-05,6.796060910e-06,-4.641340241e-04,2.924314867e-05,8.146159964e-06,-4.230185531e-04,2.779285217e-05,7.019623151e-01,-4.865260108e-04,8.601728238e-01,7.019624657e-01,-4.862219355e-04,8.601726890e-01,7.027541291e-01,-5.364086308e-04,8.303535313e-01
+11,8.500000000e-01,WAIT_W2,1793080389535064737,6.645470673e-06,-4.644380994e-04,2.937791749e-05,6.796060910e-06,-4.641340241e-04,2.924314867e-05,8.146159964e-06,-4.230185531e-04,2.779285217e-05,7.019623151e-01,-4.865260108e-04,8.601728238e-01,7.019624657e-01,-4.862219355e-04,8.601726890e-01,7.027541291e-01,-5.364086308e-04,8.303535313e-01
+12,8.666666667e-01,WAIT_W2,1793080389550871985,8.554065678e-06,-5.469245316e-04,3.500141924e-05,8.488357450e-06,-5.470402850e-04,3.498779050e-05,9.930683167e-06,-4.987866970e-04,3.342069124e-05,7.019642237e-01,-5.690124430e-04,8.601784473e-01,7.019641580e-01,-5.691281964e-04,8.601784336e-01,7.027559137e-01,-6.121767748e-04,8.303591591e-01
+13,8.833333333e-01,WAIT_W2,1793080389566918437,1.629841960e-05,-5.413949451e-04,4.751196020e-05,8.488357450e-06,-5.470402850e-04,3.498779050e-05,9.825103061e-06,-4.989885361e-04,3.367786690e-05,7.019719680e-01,-5.634828565e-04,8.601909578e-01,7.019641580e-01,-5.691281964e-04,8.601784336e-01,7.027558081e-01,-6.123786139e-04,8.303594163e-01
+14,9.000000000e-01,WAIT_W2,1793080389583931660,2.036651906e-05,-4.828570173e-04,5.432459815e-05,2.040633454e-05,-4.828807373e-04,5.410834802e-05,2.222813259e-05,-4.406622747e-04,5.211051438e-05,7.019760361e-01,-5.049449287e-04,8.601977704e-01,7.019760760e-01,-5.049686487e-04,8.601975542e-01,7.027682111e-01,-5.540523525e-04,8.303778489e-01
+15,9.333333333e-01,WAIT_W2,1793080389616118381,3.433558063e-05,-4.632618687e-04,8.390946978e-05,3.424192669e-05,-4.631678420e-04,8.410598437e-05,3.675308458e-05,-4.224905333e-04,8.082173527e-05,7.019900052e-01,-4.853497801e-04,8.602273553e-01,7.019899116e-01,-4.852557534e-04,8.602275518e-01,7.027827361e-01,-5.358806110e-04,8.304065602e-01
+16,9.666666667e-01,WAIT_W2,1793080389649275971,4.982990150e-05,-4.739098464e-04,1.198673515e-04,4.978604209e-05,-4.741483158e-04,1.194879107e-04,5.333014227e-05,-4.325596652e-04,1.149040835e-04,7.020054995e-01,-4.959977578e-04,8.602633132e-01,7.020054557e-01,-4.962362272e-04,8.602629338e-01,7.027993131e-01,-5.459497430e-04,8.304406425e-01
+17,1.016666667e+00,WAIT_W2,1793080389697964517,6.662295001e-05,-4.645446227e-04,1.604605543e-04,6.661580717e-05,-4.646523160e-04,1.604875000e-04,7.129674801e-05,-4.238700553e-04,1.544803466e-04,7.020222926e-01,-4.866325341e-04,8.603039064e-01,7.020222854e-01,-4.867402274e-04,8.603039333e-01,7.028172797e-01,-5.372601330e-04,8.304802188e-01
+18,1.083333333e+00,WAIT_W2,1793080389764295798,8.009012990e-05,-4.506683983e-04,1.946462570e-04,7.409199372e-05,-4.433901161e-04,1.773096288e-04,7.957486853e-05,-4.045406997e-04,1.713333716e-04,7.020357598e-01,-4.727563097e-04,8.603380921e-01,7.020297616e-01,-4.654780275e-04,8.603207555e-01,7.028255578e-01,-5.179307775e-04,8.304970718e-01
+19,1.216666667e+00,WAIT_W2,1793080389894758582,9.429183589e-05,-4.409648396e-04,2.265164075e-04,9.139008333e-05,-4.376142518e-04,2.210595094e-04,9.855141132e-05,-3.993128463e-04,2.142359226e-04,7.020499615e-01,-4.630527510e-04,8.603699623e-01,7.020470597e-01,-4.597021633e-04,8.603645054e-01,7.028445344e-01,-5.127029241e-04,8.305399744e-01
+20,1.383333333e+00,WAIT_W2,1793080390076845753,1.011129269e-04,-4.298155352e-04,2.425754426e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.075324806e-04,-3.959892542e-04,2.334870039e-04,7.020567826e-01,-4.519034466e-04,8.603860213e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028535155e-01,-5.093793320e-04,8.305592254e-01
+21,1.583333333e+00,UP_FORCE_RAMP,1793080390288368253,9.978286629e-05,-4.287696113e-04,2.430344598e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.081867365e-04,-3.960717483e-04,2.343766787e-04,7.020554525e-01,-4.508575227e-04,8.603864803e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028541697e-01,-5.094618261e-04,8.305601151e-01
+22,1.833333333e+00,UP_FORCE_RAMP,1793080390533631167,1.005724785e-04,-4.331858868e-04,2.469861672e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.087353425e-04,-3.961726637e-04,2.350548995e-04,7.020562421e-01,-4.552737982e-04,8.603904320e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028547183e-01,-5.095627415e-04,8.305607933e-01
+23,2.066666667e+00,UP_FORCE_RAMP,1793080390762874761,1.033817108e-04,-4.315486178e-04,2.519533498e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.091463023e-04,-3.962467750e-04,2.355241613e-04,7.020590513e-01,-4.536365292e-04,8.603953992e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028551293e-01,-5.096368528e-04,8.305612626e-01
+24,2.350000000e+00,UP_FORCE_RAMP,1793080391041723255,1.019655797e-04,-4.265157520e-04,2.516720130e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.095682013e-04,-3.963277551e-04,2.359806238e-04,7.020576352e-01,-4.486036634e-04,8.603951179e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028555512e-01,-5.097178328e-04,8.305617191e-01
+25,2.616666667e+00,UP_FORCE_RAMP,1793080391304107204,1.014407212e-04,-4.256899634e-04,2.567658176e-04,9.928148384e-05,-4.339493902e-04,2.401538263e-04,1.099165075e-04,-3.963975609e-04,2.363367190e-04,7.020571103e-01,-4.477778748e-04,8.604002117e-01,7.020549511e-01,-4.560373016e-04,8.603835997e-01,7.028558995e-01,-5.097876387e-04,8.305620751e-01
+26,2.866666667e+00,UP_FORCE_RAMP,1793080391549474445,9.960115179e-05,-4.235540028e-04,2.631397415e-04,1.019030607e-04,-4.268694277e-04,2.601047102e-04,1.131051933e-04,-3.899596285e-04,2.558817662e-04,7.020552708e-01,-4.456419142e-04,8.604065856e-01,7.020575727e-01,-4.489573391e-04,8.604035506e-01,7.028590882e-01,-5.033497063e-04,8.305816202e-01
+27,3.050000000e+00,UP_FORCE_RAMP,1793080391729431459,9.455521192e-05,-4.312220524e-04,2.638405231e-04,1.019030607e-04,-4.268694277e-04,2.601047102e-04,1.133238622e-04,-3.899949387e-04,2.561953404e-04,7.020502248e-01,-4.533099638e-04,8.604072864e-01,7.020575727e-01,-4.489573391e-04,8.604035506e-01,7.028593068e-01,-5.033850165e-04,8.305819338e-01
+28,3.233333333e+00,UP_FORCE_RAMP,1793080391909401128,9.447353728e-05,-4.265865744e-04,2.716369958e-04,1.019030607e-04,-4.268694277e-04,2.601047102e-04,1.135161970e-04,-3.900281589e-04,2.564421046e-04,7.020501432e-01,-4.486744858e-04,8.604150828e-01,7.020575727e-01,-4.489573391e-04,8.604035506e-01,7.028594992e-01,-5.034182367e-04,8.305821805e-01
+29,3.416666667e+00,UP_FORCE_RAMP,1793080392089892304,9.269371768e-05,-4.255311749e-04,2.774066199e-04,1.019030607e-04,-4.268694277e-04,2.601047102e-04,1.136944384e-04,-3.900576313e-04,2.566542377e-04,7.020483633e-01,-4.476190863e-04,8.604208525e-01,7.020575727e-01,-4.489573391e-04,8.604035506e-01,7.028596774e-01,-5.034477091e-04,8.305823927e-01
+30,3.650000000e+00,UP_FORCE_RAMP,1793080392319172574,9.072828955e-05,-4.246572355e-04,2.878069330e-04,9.222303678e-05,-4.268972736e-04,2.780534972e-04,1.040363117e-04,-3.901034777e-04,2.742225493e-04,7.020463979e-01,-4.467451469e-04,8.604312528e-01,7.020478927e-01,-4.489851850e-04,8.604214993e-01,7.028500193e-01,-5.034935555e-04,8.305999610e-01
+31,3.816666667e+00,UP_FORCE_RAMP,1793080392482726251,8.342848515e-05,-4.243732732e-04,2.901108346e-04,9.222303678e-05,-4.268972736e-04,2.780534972e-04,1.041142601e-04,-3.901213616e-04,2.744653244e-04,7.020390981e-01,-4.464611846e-04,8.604335567e-01,7.020478927e-01,-4.489851850e-04,8.604214993e-01,7.028500972e-01,-5.035114394e-04,8.306002038e-01
+32,4.050000000e+00,UP_FORCE_RAMP,1793080392711905290,8.052081534e-05,-4.235901348e-04,3.037043093e-04,8.380790476e-05,-4.193099893e-04,2.982801487e-04,9.581356047e-05,-3.831824444e-04,2.941923814e-04,7.020361904e-01,-4.456780462e-04,8.604471502e-01,7.020394775e-01,-4.413979007e-04,8.604417260e-01,7.028417965e-01,-4.965725222e-04,8.306199308e-01
+33,4.216666667e+00,UP_FORCE_RAMP,1793080392875813718,7.352999478e-05,-4.194938020e-04,3.072172729e-04,8.380790476e-05,-4.193099893e-04,2.982801487e-04,9.584216142e-05,-3.831910395e-04,2.945014064e-04,7.020291996e-01,-4.415817134e-04,8.604506631e-01,7.020394775e-01,-4.413979007e-04,8.604417260e-01,7.028418251e-01,-4.965811173e-04,8.306202398e-01
+34,4.483333333e+00,UP_FORCE_RAMP,1793080393154750126,6.454665217e-05,-4.239438327e-04,3.226834743e-04,7.372061808e-05,-4.196658443e-04,3.155720072e-04,8.570330521e-05,-3.834908019e-04,3.115099041e-04,7.020202163e-01,-4.460317441e-04,8.604661293e-01,7.020293902e-01,-4.417537557e-04,8.604590179e-01,7.028316863e-01,-4.968808797e-04,8.306372483e-01
+35,4.550000000e+00,UP_FORCE_RAMP,1793080393220612988,6.121847753e-05,-4.045855824e-04,3.341678904e-04,6.119079686e-05,-4.046560348e-04,3.339171304e-04,7.304595401e-05,-3.698913591e-04,3.291657555e-04,7.020168881e-01,-4.266734938e-04,8.604776137e-01,7.020168604e-01,-4.267439462e-04,8.604773630e-01,7.028190289e-01,-4.832814369e-04,8.306549042e-01
+36,4.683333333e+00,UP_FORCE_RAMP,1793080393351227537,5.882730249e-05,-4.048105887e-04,3.429748018e-04,6.119079686e-05,-4.046560348e-04,3.339171304e-04,7.289205090e-05,-3.697743093e-04,3.295395849e-04,7.020144969e-01,-4.268985001e-04,8.604864206e-01,7.020168604e-01,-4.267439462e-04,8.604773630e-01,7.028188750e-01,-4.831643870e-04,8.306552780e-01
+37,4.850000000e+00,UP_FORCE_RAMP,1793080393516285732,5.298679375e-05,-4.171112268e-04,3.544985161e-04,5.339181130e-05,-4.106323159e-04,3.520006829e-04,6.509358334e-05,-3.751689904e-04,3.471612305e-04,7.020086564e-01,-4.391991382e-04,8.604979444e-01,7.020090614e-01,-4.327202273e-04,8.604954465e-01,7.028110766e-01,-4.885590682e-04,8.306728997e-01
+38,5.050000000e+00,UP_FORCE_RAMP,1793080393712416017,4.400351524e-05,-4.109077461e-04,3.631741653e-04,5.339181130e-05,-4.106323159e-04,3.520006829e-04,6.494563028e-05,-3.751738315e-04,3.477076836e-04,7.019996731e-01,-4.329956575e-04,8.605066200e-01,7.020090614e-01,-4.327202273e-04,8.604954465e-01,7.028109286e-01,-4.885639093e-04,8.306734461e-01
+39,5.200000000e+00,UP_FORCE_RAMP,1793080393858696407,3.875666879e-05,-4.132891262e-04,3.750300552e-04,4.255427912e-05,-4.114515910e-04,3.710170778e-04,5.399045358e-05,-3.758551156e-04,3.661927921e-04,7.019944263e-01,-4.353770376e-04,8.605184759e-01,7.019982239e-01,-4.335395024e-04,8.605144629e-01,7.027999734e-01,-4.892451934e-04,8.306919312e-01
+40,5.416666667e+00,UP_FORCE_RAMP,1793080394071798375,3.096882858e-05,-4.055333346e-04,3.939592541e-04,3.603871878e-05,-4.091504054e-04,3.898840869e-04,4.734888602e-05,-3.737809532e-04,3.847325681e-04,7.019866385e-01,-4.276212460e-04,8.605374051e-01,7.019917083e-01,-4.312383168e-04,8.605333299e-01,7.027933319e-01,-4.871710310e-04,8.307104710e-01
+41,5.650000000e+00,UP_FORCE_RAMP,1793080394301260699,2.187872998e-05,-4.024626241e-04,4.115211582e-04,2.597766725e-05,-4.046782489e-04,4.077115095e-04,3.699054647e-05,-3.696347276e-04,4.024321850e-04,7.019775484e-01,-4.245505355e-04,8.605549670e-01,7.019816473e-01,-4.267661603e-04,8.605511574e-01,7.027829735e-01,-4.830248054e-04,8.307281706e-01
+42,5.850000000e+00,UP_FORCE_RAMP,1793080394497743139,1.554667326e-05,-4.007240014e-04,4.305014744e-04,1.632494463e-05,-4.063928145e-04,4.290635779e-04,2.720772085e-05,-3.711887565e-04,4.233332347e-04,7.019712163e-01,-4.228119128e-04,8.605739473e-01,7.019719946e-01,-4.284807259e-04,8.605725094e-01,7.027731907e-01,-4.845788342e-04,8.307490717e-01
+43,6.100000000e+00,UP_FORCE_RAMP,1793080394743318169,3.162667942e-06,-4.004851500e-04,4.454780260e-04,9.319460899e-06,-3.997721397e-04,4.472116968e-04,1.984445167e-05,-3.650969500e-04,4.414602894e-04,7.019588323e-01,-4.225730614e-04,8.605889239e-01,7.019649891e-01,-4.218600512e-04,8.605906575e-01,7.027658274e-01,-4.784870278e-04,8.307671987e-01
+44,6.200000000e+00,UP_FORCE_RAMP,1793080394841773089,-2.501874021e-05,-3.968179757e-04,4.408479289e-04,-2.910437650e-05,-4.006229318e-04,4.381583242e-04,-1.957594709e-05,-3.657863942e-04,4.331252422e-04,7.019306509e-01,-4.189058871e-04,8.605842938e-01,7.019265652e-01,-4.227108432e-04,8.605816042e-01,7.027264070e-01,-4.791764720e-04,8.307588637e-01
+45,6.350000000e+00,UP_FORCE_RAMP,1793080395007578417,-3.172527414e-05,-4.028464220e-04,4.593531677e-04,-2.941306107e-05,-3.966804434e-04,4.580268805e-04,-2.036194085e-05,-3.621212730e-04,4.524173116e-04,7.019239444e-01,-4.249343334e-04,8.606027990e-01,7.019262566e-01,-4.187683548e-04,8.606014727e-01,7.027256210e-01,-4.755113507e-04,8.307781557e-01
+46,6.550000000e+00,UP_FORCE_RAMP,1793080395202090214,-3.872885198e-05,-3.977248021e-04,4.713142338e-04,-2.941306107e-05,-3.966804434e-04,4.580268805e-04,-2.082383708e-05,-3.620953200e-04,4.529734634e-04,7.019169408e-01,-4.198127135e-04,8.606147601e-01,7.019262566e-01,-4.187683548e-04,8.606014727e-01,7.027251591e-01,-4.754853977e-04,8.307787119e-01
+47,6.766666667e+00,UP_FORCE_HOLD,1793080395415229410,-4.375986532e-05,-3.941262121e-04,4.858081287e-04,-3.889698921e-05,-3.952135042e-04,4.756205329e-04,-3.077756534e-05,-3.607316076e-04,4.703727366e-04,7.019119098e-01,-4.162141235e-04,8.606292540e-01,7.019167726e-01,-4.173014156e-04,8.606190664e-01,7.027152054e-01,-4.741216853e-04,8.307961112e-01
+48,6.983333333e+00,UP_SETTLE,1793080395668450018,-5.294402213e-05,-3.953924176e-04,5.013641274e-04,-5.021460957e-05,-3.929999293e-04,4.917681905e-04,-4.256602996e-05,-3.586517809e-04,4.863719566e-04,7.019027256e-01,-4.174803291e-04,8.606448100e-01,7.019054550e-01,-4.150878407e-04,8.606352140e-01,7.027034169e-01,-4.720418587e-04,8.308121104e-01
+49,7.266666667e+00,UP_SETTLE,1793080395955769019,-5.965857732e-05,-3.932303406e-04,5.184659935e-04,-5.525016832e-05,-3.920293692e-04,5.120203085e-04,-4.800296447e-05,-3.577195305e-04,5.066306395e-04,7.018960110e-01,-4.153182520e-04,8.606619118e-01,7.019004195e-01,-4.141172806e-04,8.606554662e-01,7.026979800e-01,-4.711096083e-04,8.308323691e-01
+50,7.533333333e+00,UP_SETTLE,1793080396234100025,-6.731143182e-05,-3.913510085e-04,5.330033422e-04,-6.552309188e-05,-3.895031571e-04,5.296073200e-04,-5.870897314e-05,-3.553876727e-04,5.240718371e-04,7.018883582e-01,-4.134389199e-04,8.606764492e-01,7.018901465e-01,-4.115910685e-04,8.606730532e-01,7.026872740e-01,-4.687777505e-04,8.308498103e-01
+51,7.600000000e+00,UP_SETTLE,1793080396300111077,-7.472813794e-05,-3.992085644e-04,5.360249835e-04,-7.283867136e-05,-3.891130423e-04,5.357607999e-04,-6.624396502e-05,-3.550117421e-04,5.301678792e-04,7.018809415e-01,-4.212964758e-04,8.606794708e-01,7.018828310e-01,-4.112009537e-04,8.606792066e-01,7.026797390e-01,-4.684018198e-04,8.308559063e-01
+52,7.766666667e+00,UP_SETTLE,1793080396464112278,-7.601379889e-05,-3.914223283e-04,5.426240719e-04,-7.283867136e-05,-3.891130423e-04,5.357607999e-04,-6.658140652e-05,-3.549785414e-04,5.306397010e-04,7.018796558e-01,-4.135102397e-04,8.606860699e-01,7.018828310e-01,-4.112009537e-04,8.606792066e-01,7.026794016e-01,-4.683686192e-04,8.308563781e-01
+53,7.950000000e+00,UP_SETTLE,1793080396659567370,-8.337949611e-05,-3.975643678e-04,5.472765541e-04,-7.283867136e-05,-3.891130423e-04,5.357607999e-04,-6.683767522e-05,-3.549658357e-04,5.310457376e-04,7.018722901e-01,-4.196522792e-04,8.606907224e-01,7.018828310e-01,-4.112009537e-04,8.606792066e-01,7.026791453e-01,-4.683559135e-04,8.308567842e-01
+54,8.133333333e+00,UP_SETTLE,1793080396840090573,-9.049398372e-05,-3.928773414e-04,5.532057646e-04,-8.562924426e-05,-3.971647450e-04,5.502279031e-04,-8.002921593e-05,-3.623051121e-04,5.452662960e-04,7.018651756e-01,-4.149652528e-04,8.606966516e-01,7.018700404e-01,-4.192526564e-04,8.606936737e-01,7.026659538e-01,-4.756951898e-04,8.308710047e-01
+55,8.316666667e+00,UP_SETTLE,1793080397020221492,-1.112477804e-04,-3.944693044e-04,5.516341233e-04,-1.056028911e-04,-3.921483068e-04,5.509170197e-04,-1.007719075e-04,-3.576872328e-04,5.463263643e-04,7.018444218e-01,-4.165572158e-04,8.606950800e-01,7.018500667e-01,-4.142362182e-04,8.606943629e-01,7.026452111e-01,-4.710773105e-04,8.308720648e-01
+56,8.516666667e+00,UP_SETTLE,1793080397217057670,-1.123870353e-04,-3.878352668e-04,5.622388840e-04,-1.056028911e-04,-3.921483068e-04,5.509170197e-04,-1.012986926e-04,-3.576653209e-04,5.466932081e-04,7.018432826e-01,-4.099231782e-04,8.607056847e-01,7.018500667e-01,-4.142362182e-04,8.606943629e-01,7.026446843e-01,-4.710553987e-04,8.308724316e-01
+57,8.750000000e+00,UP_SETTLE,1793080397446100956,-1.140555551e-04,-3.942863428e-04,5.642418586e-04,-1.056028911e-04,-3.921483068e-04,5.509170197e-04,-1.016768566e-04,-3.576462302e-04,5.470544745e-04,7.018416141e-01,-4.163742542e-04,8.607076877e-01,7.018500667e-01,-4.142362182e-04,8.606943629e-01,7.026443061e-01,-4.710363080e-04,8.308727929e-01
+58,9.016666667e+00,UP_SETTLE,1793080397725772690,-1.171205971e-04,-3.935882175e-04,5.697267344e-04,-1.144661668e-04,-3.908685546e-04,5.695892240e-04,-1.109453526e-04,-3.564460342e-04,5.653534786e-04,7.018385490e-01,-4.156761289e-04,8.607131726e-01,7.018412035e-01,-4.129564660e-04,8.607130351e-01,7.026350376e-01,-4.698361120e-04,8.308910919e-01
+59,9.316666667e+00,UP_SETTLE,1793080398035935262,-1.180395072e-04,-3.928613680e-04,5.736178915e-04,-1.144661668e-04,-3.908685546e-04,5.695892240e-04,-1.113392784e-04,-3.564208236e-04,5.658892665e-04,7.018376301e-01,-4.149492794e-04,8.607170637e-01,7.018412035e-01,-4.129564660e-04,8.607130351e-01,7.026346437e-01,-4.698109013e-04,8.308916277e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e54f6f349c8132302d0ae4525e946e0f55b3443e
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,2.7147e-01,9.7881e-01,2.4684e+00,-1.0800e-01,5.6390e-02,2.1718e-03,1.7711e-02,3.2939e-03,-4.2729e-03,-1.6554e-04,1.4265e-03,-6.6772e-05,1.8514e-02,1.4377e-03
+1,3.5000e-01,WAIT_W2,5.1632e-05,3.0580e-01,9.7626e-01,2.4767e+00,-1.0779e-01,5.8794e-02,1.8199e-03,5.2035e-02,7.4512e-04,4.0495e-03,4.3862e-05,3.8306e-03,-4.1864e-04,5.2198e-02,3.8537e-03
+2,7.3333e-01,WAIT_W2,1.0669e-04,3.4249e-01,9.7447e-01,2.4707e+00,-1.0767e-01,6.1412e-02,1.5400e-03,8.8725e-02,-1.0514e-03,-2.0022e-03,1.6756e-04,6.4491e-03,-6.9859e-04,8.8754e-02,6.4890e-03
+3,7.8333e-01,WAIT_W2,1.4551e-04,3.4300e-01,9.7444e-01,2.4706e+00,-1.0767e-01,6.1444e-02,1.5396e-03,8.9242e-02,-1.0808e-03,-2.1300e-03,1.6987e-04,6.4812e-03,-6.9893e-04,8.9273e-02,6.5210e-03
+4,8.0000e-01,WAIT_W2,2.4888e-04,3.2374e-01,1.6583e+00,2.4048e+00,-1.5717e-01,6.0087e-02,1.7528e-03,6.9979e-02,6.8273e-01,-6.7910e-02,-4.9334e-02,5.1235e-03,-4.8577e-04,6.8966e-01,4.9602e-02
+5,8.0000e-01,WAIT_W2,2.4888e-04,3.2374e-01,1.6583e+00,2.4048e+00,-1.5717e-01,6.0087e-02,1.7528e-03,6.9979e-02,6.8273e-01,-6.7910e-02,-4.9334e-02,5.1235e-03,-4.8577e-04,6.8966e-01,4.9602e-02
+6,8.1667e-01,WAIT_W2,3.1999e-04,3.4716e-01,3.6677e+00,2.3258e+00,-3.0267e-01,6.1772e-02,2.4473e-03,9.3398e-02,2.6922e+00,-1.4688e-01,-1.9484e-01,6.8094e-03,2.0871e-04,2.6978e+00,1.9495e-01
+7,8.1667e-01,WAIT_W2,3.1999e-04,3.4716e-01,3.6677e+00,2.3258e+00,-3.0267e-01,6.1772e-02,2.4473e-03,9.3398e-02,2.6922e+00,-1.4688e-01,-1.9484e-01,6.8094e-03,2.0871e-04,2.6978e+00,1.9495e-01
+8,8.3333e-01,WAIT_W2,4.3699e-04,3.4743e-01,5.0282e+00,2.2798e+00,-4.0200e-01,6.1937e-02,3.3953e-03,9.3669e-02,4.0527e+00,-1.9292e-01,-2.9416e-01,6.9741e-03,1.1567e-03,4.0584e+00,2.9424e-01
+9,8.3333e-01,WAIT_W2,4.3699e-04,3.4743e-01,5.0282e+00,2.2798e+00,-4.0200e-01,6.1937e-02,3.3953e-03,9.3669e-02,4.0527e+00,-1.9292e-01,-2.9416e-01,6.9741e-03,1.1567e-03,4.0584e+00,2.9424e-01
+10,8.5000e-01,WAIT_W2,5.7593e-04,3.9446e-01,7.2547e+00,2.2975e+00,-5.6325e-01,6.5417e-02,4.7021e-03,1.4070e-01,6.2791e+00,-1.7517e-01,-4.5542e-01,1.0454e-02,2.4635e-03,6.2832e+00,4.5554e-01
+11,8.5000e-01,WAIT_W2,5.7593e-04,3.9446e-01,7.2547e+00,2.2975e+00,-5.6325e-01,6.5417e-02,4.7021e-03,1.4070e-01,6.2791e+00,-1.7517e-01,-4.5542e-01,1.0454e-02,2.4635e-03,6.2832e+00,4.5554e-01
+12,8.6667e-01,WAIT_W2,6.5863e-04,4.4251e-01,9.8559e+00,2.2252e+00,-7.5259e-01,6.8942e-02,6.3714e-03,1.8874e-01,8.8804e+00,-2.4753e-01,-6.4476e-01,1.3979e-02,4.1328e-03,8.8858e+00,6.4492e-01
+13,8.8333e-01,WAIT_W2,6.7435e-04,4.6127e-01,1.1412e+01,2.2448e+00,-8.6691e-01,7.0373e-02,8.1373e-03,2.0750e-01,1.0437e+01,-2.2793e-01,-7.5907e-01,1.5410e-02,5.8988e-03,1.0441e+01,7.5925e-01
+14,9.0000e-01,WAIT_W2,7.3342e-04,4.6125e-01,1.1411e+01,2.2446e+00,-8.6687e-01,7.0371e-02,8.1391e-03,2.0749e-01,1.0436e+01,-2.2811e-01,-7.5903e-01,1.5408e-02,5.9006e-03,1.0441e+01,7.5921e-01
+15,9.3333e-01,WAIT_W2,7.9368e-04,2.1318e-01,9.4060e+00,2.0248e+00,-7.2404e-01,5.2794e-02,1.1563e-02,-4.0587e-02,8.4305e+00,-4.4787e-01,-6.1620e-01,-2.1692e-03,9.3249e-03,8.4425e+00,6.1628e-01
+16,9.6667e-01,WAIT_W2,8.4694e-04,1.3342e-01,1.0099e+01,1.8296e+00,-7.7604e-01,4.7427e-02,1.3389e-02,-1.2034e-01,9.1234e+00,-6.4313e-01,-6.6820e-01,-7.5357e-03,1.1151e-02,9.1468e+00,6.6833e-01
+17,1.0167e+00,WAIT_W2,9.0819e-04,-3.3780e-02,9.3781e+00,1.5374e+00,-7.2806e-01,3.5254e-02,1.4012e-02,-2.8754e-01,8.4026e+00,-9.3530e-01,-6.2023e-01,-1.9709e-02,1.1773e-02,8.4594e+00,6.2065e-01
+18,1.0833e+00,WAIT_W2,9.6179e-04,-1.1977e-01,9.2421e+00,1.3615e+00,-7.2474e-01,3.0037e-02,1.6087e-02,-3.7353e-01,8.2666e+00,-1.1112e+00,-6.1691e-01,-2.4926e-02,1.3848e-02,8.3493e+00,6.1756e-01
+19,1.2167e+00,WAIT_W2,1.0160e-03,-1.4878e-01,9.1135e+00,1.2227e+00,-7.1747e-01,2.7909e-02,1.7496e-02,-4.0254e-01,8.1380e+00,-1.2500e+00,-6.0964e-01,-2.7054e-02,1.5257e-02,8.2432e+00,6.1043e-01
+20,1.3833e+00,WAIT_W2,1.0692e-03,-1.2866e-01,9.0952e+00,1.2485e+00,-7.1630e-01,2.9215e-02,1.7491e-02,-3.8243e-01,8.1197e+00,-1.2242e+00,-6.0846e-01,-2.5748e-02,1.5252e-02,8.2204e+00,6.0920e-01
+21,1.5833e+00,UP_FORCE_RAMP,1.1267e-03,5.2665e-02,9.0267e+00,1.4944e+00,-7.1154e-01,4.1114e-02,1.7386e-02,-2.0110e-01,8.0511e+00,-9.7824e-01,-6.0370e-01,-1.3849e-02,1.5147e-02,8.1128e+00,6.0405e-01
+22,1.8333e+00,UP_FORCE_RAMP,1.1785e-03,3.8601e-02,8.9569e+00,1.5572e+00,-7.0571e-01,4.0393e-02,1.5319e-02,-2.1516e-01,7.9814e+00,-9.1549e-01,-5.9787e-01,-1.4570e-02,1.3080e-02,8.0366e+00,5.9819e-01
+23,2.0667e+00,UP_FORCE_RAMP,1.2319e-03,1.7205e-01,8.9898e+00,1.6272e+00,-7.0492e-01,5.1022e-02,1.4419e-02,-8.1710e-02,8.0143e+00,-8.4551e-01,-5.9708e-01,-3.9410e-03,1.2181e-02,8.0592e+00,5.9722e-01
+24,2.3500e+00,UP_FORCE_RAMP,1.2854e-03,2.2559e-01,8.9647e+00,1.7101e+00,-7.0195e-01,5.4746e-02,1.2807e-02,-2.8174e-02,7.9892e+00,-7.6261e-01,-5.9411e-01,-2.1747e-04,1.0568e-02,8.0256e+00,5.9421e-01
+25,2.6167e+00,UP_FORCE_RAMP,1.3393e-03,2.8554e-01,8.9868e+00,1.7496e+00,-7.0323e-01,5.8461e-02,1.1883e-02,3.1780e-02,8.0113e+00,-7.2307e-01,-5.9539e-01,3.4978e-03,9.6441e-03,8.0439e+00,5.9548e-01
+26,2.8667e+00,UP_FORCE_RAMP,1.3919e-03,3.0844e-01,8.8308e+00,1.6609e+00,-6.9243e-01,6.0321e-02,1.0587e-02,5.4677e-02,7.8553e+00,-8.1176e-01,-5.8459e-01,5.3582e-03,8.3482e-03,7.8973e+00,5.8468e-01
+27,3.0500e+00,UP_FORCE_RAMP,1.4405e-03,3.5553e-01,8.8159e+00,1.7791e+00,-6.9036e-01,6.3945e-02,9.9452e-03,1.0177e-01,7.8403e+00,-6.9354e-01,-5.8252e-01,8.9819e-03,7.7067e-03,7.8716e+00,5.8265e-01
+28,3.2333e+00,UP_FORCE_RAMP,1.4980e-03,3.8504e-01,8.8201e+00,1.7712e+00,-6.9011e-01,6.5694e-02,9.1702e-03,1.3128e-01,7.8445e+00,-7.0148e-01,-5.8228e-01,1.0731e-02,6.9316e-03,7.8769e+00,5.8242e-01
+29,3.4167e+00,UP_FORCE_RAMP,1.5501e-03,4.2415e-01,8.8136e+00,1.8565e+00,-6.8898e-01,6.8757e-02,8.6351e-03,1.7039e-01,7.8381e+00,-6.1616e-01,-5.8115e-01,1.3794e-02,6.3966e-03,7.8641e+00,5.8134e-01
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 624640
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..821833a47187b0b2dbc3537f3689d07de511a820
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/fem_node.csv
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb6c5d012c5d5559d14496deffbcab3c16c3d37c
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
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+62984,1793080502818766664,17053891000000,1793080502814447311,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6760914988773694,-0.00481783745953635,0.09990144758825296,0.9999999799543283,0.00012557555208656966,-4.097043330305487e-06,0.0001254918409903787,0.6761,-0.0046,0.09980510815303968,1.0,0.0,0.0,0.0,-0.2450652794804696,0.13996855725624135,0.12905660788948747,0.012847342501238396,0.013385864676755364,0.0020426551371979995,-0.194265640767873,0.7432680982993463,2.578284330841797,0.04910556231563475,0.015287481587258286,0.0007697102608113386,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.1774181168322067,0.8402165346633842,-0.9320880916917231,-0.10129189742122333,0.7850156725384134,0.42897984655225246,1.6318748266239418,-0.12905660788948747,2.563962918315665,2.563962918315665,2.6381856229599103,0,0,-3.7439431097282593e-06,-9.982786405705042e-05
+63169,1793080504360659447,17055433000000,1793080504354447490,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6760954704365371,-0.004821010507207795,0.09988652095991321,0.999999979510345,0.00012452452165095094,3.333435129694019e-06,0.00013001809736328088,0.6761,-0.0046,0.09977437721993655,1.0,0.0,0.0,0.0,-0.2825106397401338,0.16614004432614782,0.22946695804466932,0.014692225997889455,0.015350893094840716,0.002007503310355007,-0.23171100102753722,0.7694395853692527,2.678694680996979,0.05095044581228581,0.017252510005343637,0.0007345584339683467,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.295405720543324,0.9246009191588433,-1.1595811268005425,-0.12031641319115409,0.9538987119016872,0.49028049610381946,1.6318748266239418,-0.22946695804466932,2.7914559534244843,2.7914559534244843,2.7923856229602357,0,0,-3.3611927217876196e-05,8.031637441086587e-05
+63333,1793080505727672480,17056800000000,1793080505726447144,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761060735477925,-0.004822007082722793,0.09987541295791512,0.9999999781962136,0.0001281078047043445,1.9583177567362912e-05,0.0001351122732332632,0.6761,-0.0046,0.09974352408345577,1.0,0.0,0.0,0.0,-0.3240086119916802,0.19901039687872502,0.3917848651736109,0.01738517408268031,0.01870148901030069,0.002990549335635335,-0.27320897327908356,0.8023099379218299,2.8410125881259205,0.05364339389707667,0.02060310592080361,0.0017176044592486744,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.3268680111255704,0.8823892940784118,-1.221362642298537,-0.11772393329074567,0.9940985108580659,0.4576683367964963,1.6318748266239418,-0.3917848651736109,2.8532374689224786,2.8532374689224786,2.929085622960524,0,0,-8.983452505521799e-06,-8.820488370109842e-05
+63507,1793080507177533246,17058250000000,1793080507174447215,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761093858637186,-0.0048240944705546405,0.09986100875263236,0.9999999777042824,0.00012752102160675216,2.5765527588687065e-05,0.0001382346760807032,0.6761,-0.0046,0.09971584877686113,1.0,0.0,0.0,0.0,-0.3512086555229923,0.21615312322173996,0.4824122512851994,0.01868981003608018,0.020682709777709574,0.002960896460927148,-0.3004090168103957,0.8194526642648449,2.931639974237509,0.05494802985047654,0.022584326688212496,0.0016879515845404872,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.36054015583028,0.9101071085477668,-1.4227464684179854,-0.12322609326141627,1.125133753841615,0.47509309677963163,1.6318748266239418,-0.4824122512851994,3.054621295041927,3.054621295041927,3.07408562296083,0,0,-3.081982541811167e-05,6.507273472700632e-05
+63680,1793080508618485894,17059690999999,1793080508614447084,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6761229785112093,-0.004820079830995536,0.09984952995030104,0.9999999759977303,0.000130225066897974,4.874223244859669e-05,0.00014182041428726795,0.6761,-0.0046,0.09967386898298866,1.0,0.0,0.0,0.0,-0.4048126829172768,0.26578554224563766,0.6738289472561383,0.022010218027815956,0.02462508164852631,0.0034005492637708785,-0.3540130442046802,0.8690850832887426,3.123056670208448,0.05826843784221231,0.02652669855902923,0.0021276043873842175,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.478328958867489,0.8628111705472594,-1.557807465039839,-0.11386971298089743,1.234664214971273,0.44007543099505064,1.6318748266239418,-0.6738289472561383,3.1896822916637806,3.1896822916637806,3.2181856229611343,0,0,-2.1488361391679096e-05,-9.92190455059216e-05
+63849,1793080510027450241,17061099999999,1793080510026447173,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.676128803280856,-0.0048215074994508314,0.09983388454545238,0.999999974659536,0.00013172533418263753,5.6955122446316954e-05,0.00014672539629281394,0.6761,-0.0046,0.09965210256433409,1.0,0.0,0.0,0.0,-0.43897396197407257,0.27071541937629295,0.7939599942791671,0.022770538919862797,0.026593244160796267,0.003875485936798197,-0.38817432326147594,0.8740149604193979,3.2431877172314767,0.059028758734259154,0.02849486107129919,0.002602541060411536,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.467785156455882,0.7855526943200615,-1.717620311377593,-0.0907666393210795,1.3292081593391725,0.39589572803732,1.6318748266239418,-0.7939599942791671,3.3494951380015348,3.3494951380015348,3.3590856229614316,0,0,-1.1807555760529127e-05,3.0199374611399315e-06
+64036,1793080511585402584,17062658000000,1793080511582456679,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761356749103232,-0.004823151954935449,0.09981942468170404,0.9999999734617695,0.00013142261508343432,6.821284980515058e-05,0.0001503144307582098,0.6761,-0.0046,0.09961878310950639,1.0,0.0,0.0,0.0,-0.478363551629133,0.3019114898637748,0.946481313403086,0.02552235369725868,0.0285521572308226,0.0038041972914920792,-0.4275639129165364,0.9052110309068797,3.3957090363553957,0.061780573511655036,0.03045377414132552,0.0025312524151054182,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.5602805832421567,0.7677396569247538,-1.8591025304657334,-0.08042577350522032,1.4381517234427843,0.38311871514674495,1.6318748266239418,-0.946481313403086,3.490977357089675,3.490977357089675,3.5148856229617604,0,0,-2.3702216199487876e-05,-1.9610975369960218e-05
+64217,1793080513093269221,17064166000000,1793080513090456770,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.676145847522851,-0.00482594901028331,0.09981147333930852,0.9999999714155758,0.00013078299415936163,8.529071371646293e-05,0.00015566956830587135,0.6761,-0.0046,0.09958940710934343,1.0,0.0,0.0,0.0,-0.519286059575788,0.331197206289109,1.0674510870088492,0.02746045566381946,0.031523511066525324,0.003771792130335087,-0.46848642086319137,0.9344967473322139,3.516678809961159,0.06371867547821582,0.03342512797702825,0.002498847253948426,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.5820880469553085,0.8614830390870786,-1.9559352863073558,-0.11666922829183367,1.5031228734914333,0.4418658679717775,1.6318748266239418,-1.0674510870088492,3.5878101129312974,3.5878101129312974,3.6656856229620787,0,0,-2.6283081734661213e-05,-9.998439162573475e-05
+64378,1793080514435165445,17065508000000,1793080514434447630,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761526553147225,-0.004825047041206465,0.09979117957965662,0.999999969925075,0.00013125260085790374,9.699835233217748e-05,0.00015797717528905338,0.6761,-0.0046,0.09955080396607893,1.0,0.0,0.0,0.0,-0.5751466467705196,0.3558708770666146,1.2388436867171846,0.030398884911640604,0.034464313117857935,0.004735315710657571,-0.524347008057923,0.9591704181097195,3.688071409669494,0.06665710472603696,0.03636593002836086,0.0034623708342709104,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.727079337807135,0.8018559742795015,-2.218565126011535,-0.10251772889875094,1.6982379148428037,0.40043694324250023,1.6318748266239418,-1.2388436867171846,3.850439952635477,3.850439952635477,3.799885622962362,0,0,-2.2150977126130005e-05,9.999996250365512e-05
+64533,1793080515728128254,17066800000000,1793080515722456913,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761590990235873,-0.004824936022599965,0.0997805805770512,0.9999999682118859,0.00013359773450432648,0.0001072685659742766,0.0001602004731003369,0.6761,-0.0046,0.09953067082255171,1.0,0.0,0.0,0.0,-0.6042726860537533,0.3823376621104887,1.3377191053470971,0.03134859991301293,0.03644927615061789,0.0046948521628043475,-0.5534730473411567,0.9856372031535936,3.7869468282994068,0.06760681972740928,0.038350893061120814,0.003421907286417687,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.7025079480012026,0.794170546159785,-2.294052748385391,-0.09826765492349687,1.7383740507071406,0.39775936630244413,1.6318748266239418,-1.3377191053470971,3.925927575009333,3.925927575009333,3.9290856229626345,0,0,-1.5253147887779645e-05,5.373974462508642e-05
+64706,1793080517168025453,17068241000000,1793080517162456991,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761706635196295,-0.004809607863875064,0.09975927366514468,0.9999999846915562,6.268441255614273e-06,0.0001373100834348097,5.6270769408034126e-05,0.6761,-0.0046,0.09949132661317218,1.0,0.0,0.0,0.0,-0.5679997496572047,0.5459046618999347,1.4953081919045998,0.04237389308916858,0.03479444089324044,0.005700366071278007,-0.517200110944608,1.1492042029430396,3.9445359148569095,0.07863211290356494,0.03669605780374337,0.004427421194891346,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.7939134087878312,0.7236568559080242,-2.3673094736526568,-0.09053873351998296,1.8138759010764183,0.3852084037378061,1.6318748266239418,-1.4953081919045998,3.9991843002765988,3.9991843002765988,4.0731856229626136,0,0,-3.1997853987301934e-05,-8.860685382495177e-05
+64873,1793080518559974386,17069633000000,1793080518554447369,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761784161143614,-0.004811573785490318,0.0997439270332662,0.9999999824474483,6.496170441798754e-06,0.00015102547125782765,6.080357415148607e-05,0.6761,-0.0046,0.09944842754376758,1.0,0.0,0.0,0.0,-0.5672278072298755,0.6178266277378716,1.6481062529344244,0.0476596809421028,0.03482196757325181,0.0056424146071870525,-0.5164281685172789,1.2211261687809765,4.097333975886734,0.08391790075649916,0.036723584483754734,0.0043694697308003915,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.9539671223174944,0.7598410339210523,-2.573455676770861,-0.09709765688482508,1.9797639370630784,0.4163948574820188,1.6318748266239418,-1.6481062529344244,4.205330503394803,4.205330503394803,4.212385622962289,0,0,-2.0947450181359233e-05,9.999997638144293e-05
+65036,1793080519917961026,17070991000000,1793080519914447065,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761845903514508,-0.004815118942744524,0.09973466698909282,0.9999999807060334,8.142725483309999e-06,0.00015989952794356202,6.630712091858245e-05,0.6761,-0.0046,0.09942705847930539,1.0,0.0,0.0,0.0,-0.5975751022100427,0.6246129538464796,1.7385077461496503,0.04833180334148144,0.03655696113082665,0.0055961452720982505,-0.5467754634974461,1.2279124948895845,4.18773546910196,0.0845900231558778,0.03845857804132957,0.0043232003957115895,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.94136958931552,0.8277983305703135,-2.6815546971347506,-0.09387879962355498,2.0411984889934316,0.4683027148793585,1.6318748266239418,-1.7385077461496503,4.313429523758693,4.313429523758693,4.348185622961973,0,0,-2.0916634864447066e-05,-9.999999025923074e-05
+65209,1793080521359890974,17072433000000,1793080521358446884,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6761926684385497,-0.004817399291989013,0.0997124588002173,0.9999999778716718,1.426126056942563e-05,0.0001727464285375361,7.51984595388226e-05,0.6761,-0.0046,0.09938535416728274,1.0,0.0,0.0,0.0,-0.6446857017665806,0.654397559042368,1.8858542039588824,0.05052984521739088,0.04000061552175635,0.005639454593738736,-0.593886063053984,1.2576971000854729,4.335081926911192,0.08678806503178724,0.041902232432259275,0.004366509717352075,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.0257625444931606,0.8347220112502156,-2.808428437191854,-0.09306782855130404,2.131489970905221,0.46653194929650765,1.6318748266239418,-1.8858542039588824,4.440303263815796,4.440303263815796,4.492385622961637,0,0,-3.0436043139984943e-05,-9.263964181738799e-05
+65388,1793080522851773841,17073925000000,1793080522850447257,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6762012058086921,-0.004820109022107591,0.09969517775149671,0.9999999750341495,1.3664781628351065e-05,0.00018594310119643493,8.132036486889659e-05,0.6761,-0.0046,0.09935275087843824,1.0,0.0,0.0,0.0,-0.6921052519172612,0.6705166541216451,2.0123605010183483,0.05216515301672512,0.04195957059846451,0.006527854336769369,-0.6413056132046646,1.27381619516475,4.461588223970658,0.08842337283112148,0.043861187508967434,0.005254909460382708,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.063397658967399,0.8444877458936795,-3.0252460973021713,-0.0745069893683313,2.2745253928990206,0.4641487270125467,1.6318748266239418,-2.0123605010183483,4.657120923926113,4.657120923926113,4.641585622961289,0,0,-1.8036864561617232e-05,9.78427297778694e-05
+65573,1793080524392637054,17075466000000,1793080524390447083,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6762067194258112,-0.004821803148406315,0.09967246228840382,0.999999972167102,1.7590162656460233e-05,0.00019714018949797276,8.907856908466308e-05,0.6761,-0.0046,0.09931050615450805,1.0,0.0,0.0,0.0,-0.7319952685254257,0.6936922169904908,2.161816487226002,0.05398878782685739,0.04494343168145784,0.006476610954970573,-0.6811956298128291,1.2969917580335957,4.611044210178312,0.09024700764125375,0.046845048591960765,0.005203666078583912,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.1456267802679507,0.7628268327915922,-3.1628567443756292,-0.04762200294844492,2.3776366832587073,0.40493223847026183,1.6318748266239418,-2.161816487226002,4.794731570999571,4.794731570999571,4.79568562296093,0,0,-3.195045672890894e-05,9.375086404273531e-05
+65754,1793080525901632764,17076974999999,1793080525898447174,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6762196615907888,-0.0048227585930374975,0.09965464350681959,0.9999999677511189,1.6289847476785433e-05,0.0002164743492128861,9.388355908362173e-05,0.6761,-0.0046,0.0992720585661168,1.0,0.0,0.0,0.0,-0.7851448347790646,0.705598675037237,2.302702790299979,0.055333236864239875,0.04792015181546415,0.006412895074018508,-0.734345196066468,1.308898216080342,4.751930513252288,0.09159145667863623,0.049821768725967074,0.005139950197631847,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.171806018762505,0.7811483083978062,-3.3229009904898037,-0.026572914602573036,2.477280091027758,0.41670709552143875,1.6318748266239418,-2.302702790299979,4.954775817113745,4.954775817113745,4.946585622960578,0,0,-2.548256535364756e-05,9.960754029781355e-05
+65919,1793080527276601108,17078349999999,1793080527274447383,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6762297666885521,-0.004822390658161457,0.09963527165630162,0.999999963541478,2.2535924918984786e-05,0.0002315035086745609,0.0001012825985879931,0.6761,-0.0046,0.09923433301874282,1.0,0.0,0.0,0.0,-0.817985503566034,0.7053261628011865,2.433259394444407,0.05626694798417301,0.0501246892465157,0.006348510381725566,-0.7671858648534373,1.3086257038442914,4.882487117396717,0.09252516779856937,0.05202630615701862,0.005075565505338905,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.2102387864763973,0.7682127343060088,-3.4436127007908874,-0.027300960716654006,2.5557570747699563,0.39843670917196217,1.6318748266239418,-2.433259394444407,5.075487527414829,5.075487527414829,5.084085622960258,0,0,-2.5254780465473796e-05,9.999999025923074e-05
+66121,1793080528959526902,17080033000000,1793080528954447553,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6762389930505428,-0.004830287478878543,0.0996118102107239,0.999999958464289,2.0711543619238047e-05,0.00024902717378146635,0.0001098671165840097,0.6761,-0.0046,0.09918960477626988,1.0,0.0,0.0,0.0,-0.865445025961952,0.7289846976244728,2.5731020846556008,0.05724401016583439,0.05376680734143855,0.006301598173031837,-0.8146453872493554,1.3322842386675777,5.02232980760791,0.09350222998023075,0.055668424251941476,0.005028653296645176,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.2411654237147673,0.7098104883451335,-3.5245114451943755,0.005092110059865335,2.6091012857392575,0.35718418985876843,1.6318748266239418,-2.5731020846556008,5.1563862718183175,5.1563862718183175,5.252385622959865,0,0,-3.57815884935705e-05,-9.999980984798924e-05
+66300,1793080530451470229,17081525000000,1793080530450446701,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6762519369870078,-0.004829895656809315,0.09958457681515628,0.999999952140932,2.7338906520030335e-05,0.000268947654968306,0.00011866229996444037,0.6761,-0.0046,0.09913643397455625,1.0,0.0,0.0,0.0,-0.9093452358345117,0.7626614282813436,2.7253168074185443,0.060093498061368676,0.0568535393716895,0.00625532886130516,-0.858545597121915,1.3659609693244485,5.174544530370854,0.09635171787576503,0.058755156282192425,0.004982383984918499,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.3361967032841653,0.8243719688974444,-3.800355220911587,-0.03696741186140664,2.8065899599105215,0.42719636137858474,1.6318748266239418,-2.7253168074185443,5.432230047535529,5.432230047535529,5.401585622959518,0,0,-3.0452237347018733e-05,9.988497115387957e-05
+66465,1793080531826309219,17082900000000,1793080531818456751,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6762574784881902,-0.004827128061982754,0.09955593235513284,0.9999999493991591,2.8844916277617877e-05,0.0002774657874200798,0.00012175898798761703,0.6761,-0.0046,0.09909520609759245,1.0,0.0,0.0,0.0,-0.9426088466065324,0.7608202630090083,2.8516933354045455,0.060022434205846666,0.05885412138324444,0.006183934054992687,-0.8918092078939358,1.3641198040521132,5.300921058356855,0.09628065402024302,0.06075573829374736,0.004910989178606026,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.373410656940976,0.8441269344772614,-3.84387549290428,-0.040605609012612044,2.8421667414827616,0.4439711399837234,1.6318748266239418,-2.8516933354045455,5.475750319528222,5.475750319528222,5.539085622959197,0,0,-3.54153737961146e-05,-9.815282894643502e-05
+66645,1793080533326249603,17084400000000,1793080533318456814,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6762699947541876,-0.004834020417918347,0.09952765308687307,0.999999942445639,3.097123320172354e-05,0.0002970729193417203,0.00013168161033315717,0.6761,-0.0046,0.09903982528878713,1.0,0.0,0.0,0.0,-0.9823972540140863,0.7750732612384189,2.9961373476971507,0.060944526528609495,0.061842963260345725,0.006117865326220142,-0.9315976153014897,1.3783728022815238,5.44536507064946,0.09720274634300585,0.06374458017084865,0.004844920449833481,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.3868932379456016,0.7287078996694567,-4.015111048949295,-0.019287281433213746,2.9513262683414867,0.36362409507888177,1.6318748266239418,-2.9961373476971507,5.646985875573237,5.646985875573237,5.689085622958848,0,0,-3.3667137115693475e-05,-9.999994862586731e-05
+66827,1793080534842253183,17085916000000,1793080534838456617,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6762810790043897,-0.0048304343450655,0.09949531386365026,0.9999999359162192,3.9014045785352434e-05,0.00031547760923046007,0.000136243180938188,0.6761,-0.0046,0.09898314890862737,1.0,0.0,0.0,0.0,-1.0290196798321938,0.7809886216034526,3.1463570632018087,0.06083877322208293,0.06483270430109149,0.006037939764798611,-0.9782200411195972,1.3842881626465575,5.595584786154118,0.09709699303647928,0.06673432121159441,0.00476499488841195,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.3699779652271555,0.7834628164089164,-4.192638433093536,-0.04773917852355306,3.0548290901986515,0.3968562647034478,1.6318748266239418,-3.1463570632018087,5.824513259717477,5.824513259717477,5.840685622958494,0,0,-4.251009417114015e-05,9.999881064726707e-05
+66988,1793080536184118128,17087258000000,1793080536182457098,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6762912920073769,-0.004834726497982119,0.099463313302029,0.9999999295637524,3.6953282968143366e-05,0.00033187717798105785,0.0001442475245491451,0.6761,-0.0046,0.09893117377299808,1.0,0.0,0.0,0.0,-1.0573014559363385,0.771466311083033,3.2745385106596037,0.060781341625443554,0.06584072237984206,0.0059467448633835985,-1.0065018172237419,1.3747658521261379,5.723766233611913,0.09703956143983991,0.06774233929034498,0.0046737999869969375,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.409251008736234,0.6819779199344624,-4.199270883313701,-0.024373692839810394,3.07073020078223,0.3257813643891545,1.6318748266239418,-3.2745385106596037,5.831145709937642,5.831145709937642,5.9748856229581815,0,0,-3.839142224545811e-05,-9.999999025923074e-05
+67139,1793080537442022247,17088516000000,1793080537438457217,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6763017962635101,-0.004837888440221233,0.0994310255878179,0.9999999217238079,4.0468346013433894e-05,0.0003503178431659444,0.00015373667151852345,0.6761,-0.0046,0.09887869853638973,1.0,0.0,0.0,0.0,-1.0802626880749489,0.7794893801377684,3.37678164713912,0.06068200079513921,0.06884413074583548,0.005908111229787395,-1.0294630493623522,1.3827889211808733,5.8260093700914295,0.09694022060953557,0.0707457476563384,0.004635166353400734,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.465834780808853,0.8189415107636039,-4.437866431118693,-0.06956190746600918,3.23390563309237,0.41799897716541207,1.6318748266239418,-3.37678164713912,6.069741257742635,6.069741257742635,6.100685622957888,0,0,-4.6221249623530685e-05,3.8212831536493754e-05
+67304,1793080538816965336,17089891000000,1793080538814456476,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.676318922931334,-0.00481855382153092,0.09938493272869914,0.9999999129574644,-0.00011876791605711589,0.00038865446716694125,1.9230580741214667e-05,0.6761,-0.0046,0.09881625928963508,1.0,0.0,0.0,0.0,-1.0954356873476427,0.7848222417744685,3.5272590082046125,0.060625594895703176,0.06983612130197318,0.005800782123946282,-1.044636048635046,1.3881217828175734,5.976486731156922,0.09688381471009953,0.0717377382124761,0.004527837247559621,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.458765619880098,0.9267424384464685,-4.57072786002712,-0.05934650661128248,3.317160740039851,0.4839902137538209,1.6318748266239418,-3.5272590082046125,6.202602686651062,6.202602686651062,6.238185622957568,0,0,-4.33299340338048e-05,1.9392406980785166e-07
+67442,1793080539966901559,17091041000000,1793080539966447416,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6763292022703483,-0.004824288735419183,0.09935191552851816,0.9999999061698492,-0.00011647670760204223,0.00040566490156692726,3.118206623988097e-05,0.6761,-0.0046,0.09875720864166185,1.0,0.0,0.0,0.0,-0.9408976448323162,0.9724245075768393,3.627171538876388,0.07234473592204768,0.06121331884573273,0.005736108472856037,-0.8900980061197196,1.5757240486199442,6.076399261828698,0.10860295573644405,0.06311493575623565,0.004463163596469376,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.657872007291884,0.8286923678954584,-4.705540555110547,-0.05755695418691757,3.4723234470782307,0.47230844888114026,1.6318748266239418,-3.627171538876388,6.3374153817344885,6.3374153817344885,6.3531856229573,0,0,-5.1276875541435334e-05,9.697618682936166e-05
+67605,1793080541325904741,17092400000000,1793080541322456905,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6763409778973287,-0.004828932893991571,0.09930319559364731,0.9999998995462579,-0.00011430039500630681,0.0004210085291200846,4.513952536152226e-05,0.6761,-0.0046,0.09868947728113048,1.0,0.0,0.0,0.0,-0.9422691625746821,0.9413150078003688,3.7384054155449626,0.06999326220931565,0.062102435545613933,0.00563469771847091,-0.8914695238620854,1.5446145488434737,6.187633138497272,0.10625148202371201,0.06400405245611686,0.004361752842084249,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.633492300004258,0.7454026346747009,-4.911955178251786,-0.016809577242118078,3.596918455680947,0.4034014482073499,1.6318748266239418,-3.7384054155449626,6.543830004875727,6.543830004875727,6.489085622956983,0,0,-4.9023221000672794e-05,9.975647671656702e-05
+67780,1793080542783830547,17093858000000,1793080542782447577,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6763509377842738,-0.0048342614205579846,0.09924794320553079,0.9999998924815191,-0.00010988632465960593,0.0004367541081302412,6.0420684773305924e-05,0.6761,-0.0046,0.09861345274750662,1.0,0.0,0.0,0.0,-0.9618339009549167,0.9041335558212308,3.850882385859134,0.06687098558888008,0.0635680045999719,0.004503251358019662,-0.9110342622423201,1.5074330968643357,6.3001101088114435,0.10312920540327644,0.06546962151047482,0.0032303064816330013,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.614736078097545,0.7979693031588424,-5.035203706093346,0.004897716919912495,3.6621346568585036,0.4254079431602763,1.6318748266239418,-3.850882385859134,6.667078532717287,6.667078532717287,6.634885622956643,0,0,-5.79139722886327e-05,9.999980984798924e-05
+67965,1793080544325798087,17095400000000,1793080544318447793,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6763685568039948,-0.004837881655385774,0.09918814435329838,0.9999998793166249,-0.00010508049160074113,0.00046502272474903845,7.430717020872899e-05,0.6761,-0.0046,0.09852367331432799,1.0,0.0,0.0,0.0,-0.9872276271428165,0.8830628525122567,3.9815317841493703,0.06470966492449165,0.06560602799397246,0.004403685292222358,-0.9364279884302199,1.4863623935553616,6.43075950710168,0.10096788473888801,0.06750764490447538,0.003130740415835698,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.5895333869500803,0.9065900260199504,-5.141411820487295,-0.012022698266544323,3.722385680059581,0.482856722616089,1.6318748266239418,-3.9815317841493703,6.773286647111236,6.773286647111236,6.789085622956284,0,0,-5.7460546783157145e-05,9.980597878567749e-05
+68144,1793080545816735835,17096891000000,1793080545814447189,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6763850564562379,-0.0048403661807561345,0.09912109109920754,0.9999998651992701,-0.00010851201288757594,0.0004924940882957314,8.196964107590075e-05,0.6761,-0.0046,0.09842741961899458,1.0,0.0,0.0,0.0,-0.9954831306323007,0.8323937348338698,4.124976401563973,0.06163107816857432,0.06664735390510353,0.004267288031472191,-0.944683491919704,1.4356932758769747,6.574204124516283,0.09788929798297068,0.06854897081560644,0.002994343155085531,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.581593572942129,0.7512876477391426,-5.236469454242115,0.02373901058865589,3.7842809104893385,0.37218089892335304,1.6318748266239418,-4.124976401563973,6.868344280866056,6.868344280866056,6.938185622955936,0,0,-6.137532864855378e-05,-9.999997638144293e-05
+68315,1793080547241670013,17098315999999,1793080547234447994,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6764012039661843,-0.0048414205560157455,0.09904851776748953,0.9999998496927115,-0.00012941789379110252,0.0005187586047872249,7.872698017841827e-05,0.6761,-0.0046,0.0983299118146253,1.0,0.0,0.0,0.0,-0.9752224870002852,0.8086029693754425,4.238912900029151,0.059619494483920434,0.06464000980219348,0.004112216201993402,-0.9244228482876886,1.4119025104185474,6.688140622981461,0.09587771429831679,0.0665416267126964,0.002839271325606741,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.5291648981255173,0.9179320446064602,-5.303806699093362,-0.026842533939854765,3.8183569227284875,0.4777222720157818,1.6318748266239418,-4.238912900029151,6.935681525717303,6.935681525717303,7.080685622955604,0,0,-7.388331421251249e-05,-9.868634662091864e-05
+68482,1793080548633494911,17099707999999,1793080548626447882,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6764183948982913,-0.0048401450506760126,0.09897365642842765,0.9999998323140636,-0.00014844974040097037,0.00054745560908089,7.120210241469474e-05,0.6761,-0.0046,0.09822477044941678,1.0,0.0,0.0,0.0,-0.9569994701064901,0.8015461166443655,4.3726443655887675,0.05858230679073221,0.0646315671208415,0.0029865518459850256,-0.9061998313938935,1.4048456576874704,6.8218720885410775,0.09484052660512857,0.06653318403134442,0.0017136069695983646,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.5661782451674107,0.7271214040775136,-5.575537653868025,0.022882890167067307,4.007809587091508,0.3521480183142043,1.6318748266239418,-4.3726443655887675,7.207412480491967,7.207412480491967,7.21988562295528,0,0,-7.179563834139457e-05,9.81993195355912e-05
+68649,1793080550025492578,17101099999999,1793080550022446688,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6764333056423784,-0.004851319002337107,0.09889320350197876,0.9999998164094149,-0.00016540767222267201,0.0005701660891436981,7.858074404730617e-05,0.6761,-0.0046,0.09812155696553089,1.0,0.0,0.0,0.0,-0.9368413563907875,0.7559322548648398,4.459022647525456,0.055528161306525596,0.06365810218197422,0.002860968625244034,-0.8860417176781908,1.3592317959079447,6.908250370477766,0.09178638112092195,0.06555971909247714,0.001588023748857373,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.5097822649070047,0.8015494547385872,-5.548759305169093,-0.011013399844574922,3.98414999460805,0.3943251280944241,1.6318748266239418,-4.459022647525456,7.180634131793035,7.180634131793035,7.3590856229549555,0,0,-8.028301364956659e-05,-9.999999025923074e-05
+68818,1793080551433428836,17102508000000,1793080551426447216,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6764505479371736,-0.00485370602852559,0.09880924005829743,0.9999997974458109,-0.00018022395629321736,0.000597956277052603,8.073919543442038e-05,0.6761,-0.0046,0.09800627520216192,1.0,0.0,0.0,0.0,-0.9070000185380648,0.704264637842228,4.577177572432317,0.05155629311996173,0.06168376558510199,0.0026919838180813763,-0.8562003798254681,1.307564178885333,7.026405295384627,0.08781451293435809,0.06358538249560491,0.0014190389416947153,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.4751244871345266,0.7591746819003652,-5.714911526302671,0.003730616867741153,4.087039407523494,0.3690079561630334,1.6318748266239418,-4.577177572432317,7.346786352926612,7.346786352926612,7.499885622954627,0,0,-8.490918306933016e-05,-9.999999025923074e-05
+68987,1793080552841398177,17103916000000,1793080552838446870,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6764679255309616,-0.004850331977002367,0.09870702930978602,0.9999997778472899,-0.00019038028507265806,0.0006265819368637026,8.30581637685936e-05,0.6761,-0.0046,0.09788028883038766,1.0,0.0,0.0,0.0,-0.8747545624705887,0.6903664568151461,4.69902006361851,0.051133672277803195,0.05963342026452341,0.0025649691618080048,-0.8239549237579921,1.293665997858251,7.1482477865708205,0.08739189209219955,0.061535037175026334,0.0012920242854213438,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.5013177112220766,0.9442006989236211,-6.0166529211887,-0.06155085808109457,4.292292289582937,0.48338647443219107,1.6318748266239418,-4.69902006361851,7.648527747812642,7.648527747812642,7.640685622954299,0,0,-8.665350404305083e-05,9.999999025923074e-05
+69164,1793080554316343940,17105391000000,1793080554314456440,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6764887379058049,-0.004838596834923537,0.09859796872990004,0.9999997529484773,-0.0001963882607815507,0.0006630633660004684,8.558313020965981e-05,0.6761,-0.0046,0.09773596689185945,1.0,0.0,0.0,0.0,-0.731209811754798,0.7639512788850448,4.812544317577931,0.05542298365522482,0.0513955876103034,0.0013827659213207371,-0.6804101730422014,1.3672508199281497,7.261772040530241,0.09168120346962118,0.05329720452080632,0.00010982104493407639,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.4634584423115427,1.0968340319284162,-6.044849090230072,-0.06984009004378434,4.302862274578656,0.5811666828359014,1.6318748266239418,-4.812544317577931,7.676723916854014,7.676723916854014,7.7881856229539554,0,0,-0.00010506540849416902,-9.999999025923074e-05
+69327,1793080555675210076,17106750000000,1793080555670446986,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6765053162205419,-0.0048415911558810235,0.09848447281378592,0.9999997312038207,-0.0002060254259468666,0.0006925085031517302,8.37893037560365e-05,0.6761,-0.0046,0.09759447037703906,1.0,0.0,0.0,0.0,-0.7012294833093063,0.7122716614541208,4.901089776699873,0.052180496404888525,0.04842640214500885,0.002268868325477708,-0.6504298445967097,1.3155712024972257,7.350317499652183,0.08843871621928488,0.05032801905551178,0.0009959234490910472,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.4674970617928675,1.0823786436502252,-6.202606215599419,-0.06487953829749847,4.414714406349839,0.5757708129809779,1.6318748266239418,-4.901089776699873,7.83448104222336,7.83448104222336,7.924085622953639,0,0,-0.00010707615971753423,-4.538759179798212e-06
+69471,1793080556875225034,17107950000000,1793080556874456653,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6765269257203704,-0.004840488538832712,0.09837721598148103,0.9999997273786732,9.344939122441871e-06,0.0007272805708478534,8.752763673791853e-05,0.6761,-0.0046,0.09744935515136392,1.0,0.0,0.0,0.0,-0.6910109667536158,0.6810340407111951,5.029169796654362,0.05002872674120983,0.04743734056346313,0.0010830137655570941,-0.6402113280410192,1.2843335817543,7.478397519606671,0.08628694655560619,0.04933895747396606,-0.00018993111082956672,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.432884141799488,1.208735077694638,-6.356886189614275,-0.14248208202601576,4.51733185496824,0.5911155029331228,1.6318748266239418,-5.029169796654362,7.988761016238216,7.988761016238216,8.044085622953359,0,0,-0.00012344769791530907,8.886173327583009e-05
+69624,1793080558150090172,17109224999999,1793080558146447101,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6765444703767822,-0.004836550696847163,0.0982545453846276,0.999999705311896,-1.2761774679849537e-05,0.0007569097547720743,8.799855676112297e-05,0.6761,-0.0046,0.09729934447997055,1.0,0.0,0.0,0.0,-0.6266771641590976,0.5982143970581743,5.087147912062456,0.04472906327998084,0.043475466289762926,0.0009229629292761682,-0.575877525446501,1.2015139381012792,7.536375635014766,0.0809872830943772,0.04537708320026585,-0.0003499819471104926,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.4666109953369273,1.0872053558549892,-6.460429162949402,-0.08414064423559996,4.610455117868611,0.5337224140711243,1.6318748266239418,-5.087147912062456,8.092303989573344,8.092303989573344,8.171585622953062,0,0,-0.00011478099780773553,9.14528134040637e-05
+69797,1793080559591052403,17110666000000,1793080559586456909,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6765632718264726,-0.0048418230738638485,0.0981042644750576,0.9999996798237387,-5.771430846138701e-05,0.0007885258373632915,8.180065298989714e-05,0.6761,-0.0046,0.09711920457602327,1.0,0.0,0.0,0.0,-0.5732989286838606,0.5311365523573938,5.200196700226353,0.04073001100847296,0.03947237082989043,0.0007202543425103888,-0.5224992899712639,1.1344360934004987,7.649424423178663,0.07698823082286932,0.04137398774039335,-0.000552690533876272,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.385356572897658,0.9661424852153273,-6.566056903987934,0.0005925138221473065,4.6663711794444005,0.5050338571415567,1.6318748266239418,-5.200196700226353,8.197931730611876,8.197931730611876,8.315685622952726,0,0,-0.00012939658963348333,-7.774537544159017e-05
+69954,1793080560899996002,17111974999999,1793080560894457112,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6765849454484244,-0.004842592914641469,0.09796742361561026,0.9999996490497131,-8.150492248106124e-05,0.0008246736466795257,8.132428437910002e-05,0.6761,-0.0046,0.09694677811378773,1.0,0.0,0.0,0.0,-0.5096288290385173,0.44078055873828104,5.304746185629858,0.03573615793463294,0.034505728939017155,0.0005196959507670541,-0.4588291903259207,1.044080099781386,7.753973908582168,0.0719943777490293,0.03640734584952008,-0.0007532489256196067,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.3072639993741118,0.9499571505958353,-6.729508456162788,0.014300834259562932,4.767661126217703,0.5015656159871573,1.6318748266239418,-5.304746185629858,8.36138328278673,8.36138328278673,8.446585622952421,0,0,-0.0001372373096316951,5.1356942336272484e-05
+70127,1793080562340909322,17113416000000,1793080562338446632,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6766062489250657,-0.004838738685188857,0.09778418820065955,0.9999996183916134,-9.933463694309101e-05,0.0008585795551097454,8.736858307384972e-05,0.6761,-0.0046,0.09673252581484261,1.0,0.0,0.0,0.0,-0.4744471794738728,0.36373724056658696,5.434169150087298,0.030656584122181148,0.03192581065132289,0.0011253447719241118,-0.42364754076127625,0.9670367816096919,7.883396873039607,0.0669148039365775,0.033827427561825815,-0.00014760010446254892,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.326900969281236,0.8966507419728577,-6.911427040515687,0.042557618415525515,4.90958219190772,0.4607451520929403,1.6318748266239418,-5.434169150087298,8.543301867139629,8.543301867139629,8.590685622952085,0,0,-0.0001509954715886178,9.999999025923074e-05
+70275,1793080563574826956,17114650000000,1793080563574447180,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.6766201327747924,-0.004841528293422947,0.09761475362982903,0.9999995930142411,-0.00012858792133920845,0.0008836616111154446,8.956293942934087e-05,0.6761,-0.0046,0.09654285280937491,1.0,0.0,0.0,0.0,-0.3973799926449465,0.2750037636890904,5.482608943713258,0.024984120908279367,0.026948020421921206,0.001175148398607813,-0.34658035393234987,0.8783033047321953,7.931836666665567,0.061242340722675724,0.028849637332424127,-9.779647777884777e-05,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.2692335024562285,0.8965921328434621,-7.035069124894227,0.05114075866901283,4.996955653795975,0.45618764460335864,1.6318748266239418,-5.482608943713258,8.666943951518169,8.666943951518169,8.714085622951798,0,0,-0.0001642224972023002,9.972187939156214e-05
+70428,1793080564849762006,17115925000000,1793080564846447077,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6766470481669029,-0.0048437108612174274,0.09743485429824159,0.9999995511877557,-0.00016722366694311506,0.0009242075411566955,8.332957131256993e-05,0.6761,-0.0046,0.0963230549851329,1.0,0.0,0.0,0.0,-0.3637983976969932,0.24388905521479398,5.558248663179796,0.023028366815007167,0.024541150328868853,0.0010536233158078144,-0.3129987589843966,0.8471885962578989,8.007476386132106,0.059286586629403525,0.026442767239371775,-0.0002193215605788464,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.2423608588618626,0.9947459887346232,-6.982820912390277,0.045384621251584115,4.964343382465277,0.5218944824453403,1.6318748266239418,-5.558248663179796,8.61469573901422,8.61469573901422,8.8415856229515,0,0,-0.00018697286651855739,-9.999999025923074e-05
+70573,1793080566057809726,17117133000000,1793080566050448087,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6766669102213879,-0.004848423054372251,0.09723900237328906,0.999999513885096,-0.00017894290949673795,0.0009602226832217514,9.810336160987508e-05,0.6761,-0.0046,0.09609195734368414,1.0,0.0,0.0,0.0,-0.32628533428778794,0.140406803920752,5.696273000598769,0.016600444424467425,0.021599091352505012,0.0008162118757775722,-0.27548569557519137,0.7437063449638569,8.145500723551079,0.05285866423886378,0.023500708263007934,-0.0004567330006090886,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.210964555143896,0.9060814059680066,-7.177722557942518,0.07988227647419027,5.110576821995925,0.4641473797562897,1.6318748266239418,-5.696273000598769,8.80959738456646,8.80959738456646,8.962385622951219,0,0,-0.00018889346290342762,5.6036129714320153e-05
+70709,1793080567190655456,17118266000000,1793080567186447512,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6766896918585829,-0.0048481068965315795,0.0970372321778361,0.9999994921471104,-4.4280234713131814e-05,0.0010001432324443938,7.000829343422292e-05,0.6761,-0.0046,0.09585995343876173,1.0,0.0,0.0,0.0,-0.23124562506485535,0.11200620750879464,5.770346649998471,0.015828187120091895,0.014507902858461052,0.0006564634100872023,-0.18044598635225875,0.7153057485518995,8.219574372950781,0.05208640693448825,0.016409519768963973,-0.0006164814662994585,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.184714384584916,0.9565991033027933,-7.254088125751167,0.05805609146609931,5.17460592118424,0.4263266147593944,1.6318748266239418,-5.770346649998471,8.88596295237511,8.88596295237511,9.075685622950955,0,0,-0.00021810800587415547,-2.9438336517034716e-05
+70845,1793080568324678242,17119400000000,1793080568322446887,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6767121225112163,-0.0048491440682248066,0.09681150142211938,0.9999994514553197,-6.136962221373595e-05,0.001037083731857522,9.603659015020315e-05,0.6761,-0.0046,0.09560222317966824,1.0,0.0,0.0,0.0,-0.22766321562378775,-0.016648026190867138,5.863555878019678,0.007590535009413479,0.013634935322542766,0.0004735161771187407,-0.17686357691119114,0.5866515148522378,8.312783600971988,0.043848754823809837,0.015536552233045687,-0.0007994286992679201,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.1058679054608755,0.9095220566967519,-7.276829629104218,0.10502615585807308,5.187627988606764,0.4648642647591726,1.6318748266239418,-5.863555878019678,8.90870445572816,8.90870445572816,9.18908562295069,0,0,-0.000233478466528407,-9.999994862586731e-05
+70978,1793080569432586350,17120508000000,1793080569430446263,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6767288495787736,-0.004852112129696027,0.09656589385287599,0.9999994229774326,-7.565713120157175e-05,0.0010610214428871108,0.00011830960420277048,0.6761,-0.0046,0.09533743271382135,1.0,0.0,0.0,0.0,-0.17192251051613633,-0.13710690903790373,5.919351649953022,0.0005221540229963448,0.009704690407041111,0.0012024314615213252,-0.12112287180353971,0.46619263200520117,8.368579372905332,0.0367803738373927,0.011606307317544032,-7.051341486533549e-05,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.0666171421733406,0.7531823620545243,-7.409493140258564,0.17388411482205637,5.2919929914209325,0.3680194772518592,1.6318748266239418,-5.919351649953022,9.041367966882506,9.041367966882506,9.299885622950432,0,0,-0.00024744632505099693,-9.9999393514355e-05
+71100,1793080570449597260,17121525000000,1793080570446446321,DOWN_FORCE_DETACH,7,0.0748,0.07479695975780487,0.676748000581042,-0.004855297419760203,0.0963285833825245,0.9999993806307743,-0.00014695964395920142,0.0010956713651525554,8.993361263116443e-05,0.6761,-0.0046,0.09507110732256496,1.0,0.0,0.0,0.0,-0.07345764404031663,-0.18657362338426298,5.98667064438251,-0.0026096851912699934,0.0036734792993151984,0.0011508204553394438,-0.02265800532772003,0.4167259176588419,8.43589836733482,0.033648534623126364,0.00557509620981812,-0.00012212442104721704,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,2.0174529578176217,0.802893872075656,-7.540563625649792,0.1540798987375229,5.388001031105944,0.39820778286640923,1.6318748266239418,-5.98667064438251,9.172438452273735,9.172438452273735,9.401585622950195,0,0,-0.0002803330453368406,2.654559491522264e-05
+71214,1793080571399552316,17122474999999,1793080571398447384,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6767670760997119,-0.004856041736595983,0.09607421487768607,0.9999993547301503,-4.213371175414207e-05,0.0011250072974217794,0.0001206875241189243,0.6761,-0.0046,0.09478640989036957,1.0,0.0,0.0,0.0,-0.05926198278534962,-0.319385884922664,6.0782573219583735,-0.009511126331736258,0.0018123670996326537,0.0009670473217631632,-0.008462344072753026,0.2839136561204409,8.527485044910684,0.0267470934826601,0.0037139840101355756,-0.00030589755462349764,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.9786986505286233,0.6916726932395008,-7.570832990885874,0.1942807053127332,5.422414831588924,0.32717605032041697,1.6318748266239418,-6.0782573219583735,9.202707817509816,9.202707817509816,9.496585622949974,0,0,-0.0003167789162747666,-9.769327988096705e-05
+71316,1793080572249504003,17123325000000,1793080572242447382,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6767842505891679,-0.0048588976074427715,0.09581990391101888,0.999999316032184,-0.0001270694946787027,0.0011556260390075427,8.808989812336277e-05,0.6761,-0.0046,0.09450845323399584,1.0,0.0,0.0,0.0,0.01728976025907228,-0.3103641280767502,6.132383704029335,-0.011634194055754984,-0.0002973457501380813,0.0008567101231846239,0.06808939897166888,0.2929354129663547,8.581611426981645,0.024624025758641373,0.0016042711603648405,-0.00041623475320203685,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.930386323898066,0.6386166142930835,-7.616216021689166,0.23373763158135186,5.461192279958836,0.29938454660387587,1.6318748266239418,-6.132383704029335,9.248090848313108,9.248090848313108,9.581585622949776,0,0,-0.0003351670541759929,-9.998333691386136e-05
+71412,1793080573049493000,17124125000000,1793080573042447759,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6767948748563385,-0.004857896559157311,0.09555466200272353,0.9999992971645174,-0.00012230925759374692,0.0011692306681067633,0.0001226924026317287,0.6761,-0.0046,0.09422983763577307,1.0,0.0,0.0,0.0,0.030623237832891087,-0.4658948146776486,6.218574829603522,-0.020665331468893204,-0.0021065750074923555,0.0007909800312481503,0.08142287654548769,0.1374047263654563,8.667802552555832,0.015592888345503153,-0.00020495809698943359,-0.0004819648451385104,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.852061593359138,0.641453671421484,-7.624898899255846,0.20576355686446135,5.475345860715708,0.2950903223844449,1.6318748266239418,-6.218574829603522,9.256773725879787,9.256773725879787,9.66158562294959,0,0,-0.00036037813631459157,-9.414965615318067e-05
+71507,1793080573840363941,17124916000000,1793080573834447049,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6768147558699849,-0.0048633769884545664,0.09527255831448475,0.9999992581238462,-0.00018545927668661574,0.0011967737169407253,9.23696292720185e-05,0.6761,-0.0046,0.0939350954208828,1.0,0.0,0.0,0.0,0.12822675055285623,-0.44985952694126297,6.232131119800542,-0.01978412143759611,-0.008486265318053594,0.0016145392205300026,0.17902638926545283,0.1534400141018419,8.681358842752852,0.016474098376800247,-0.006584648407550672,0.0003415943441433418,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.7955226424652746,0.7430473793712709,-7.695740898626014,0.2176155846025257,5.520623841697138,0.3762940761107386,1.6318748266239418,-6.232131119800542,9.327615725249956,9.327615725249956,9.740685622949405,0,0,-0.00038665226313325105,-9.999999025923074e-05
+71595,1793080574574407592,17125650000000,1793080574566447346,DOWN_FORCE_DETACH,7,0.0748,0.0747976154088974,0.6768380472714234,-0.004865179156144566,0.09499702156151692,0.9999992306893242,-6.029367680055547e-05,0.0012310162285697921,0.00010501115090560212,0.6761,-0.0046,0.09363788701015768,1.0,0.0,0.0,0.0,0.12158603792419309,-0.548496077768063,6.22414622237709,-0.02559475827329507,-0.008883194855804822,0.0014819260306521858,0.1723856766367897,0.05480346327504197,8.6733739453294,0.010663461541101288,-0.0069815779453019,0.00020898115426552495,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,1.7652242438472534,0.6534188860303989,-7.687828190840277,0.21196554498369913,5.526232556749227,0.2709895295962399,1.6318748266239418,-6.22414622237709,9.319703017464219,9.319703017464219,9.814085622949234,0,0,-0.00042323353245252014,-9.999997638144293e-05
+71722,1793080575628370548,17126704000000,1793080575622457331,DOWN_PEAK_HOLD,7,0.0748,0.0747976154088974,0.6767976922997271,-0.0048619405285232455,0.09475486240352421,0.9999993122172715,-0.00010985682139409178,0.0011604278315452124,9.135959216161936e-05,0.6761,-0.0046,0.09351391027647399,1.0,0.0,0.0,0.0,0.5447556618408657,-0.8946519899879568,5.234209396058057,-0.047088908593376146,-0.03673274196610869,-0.0003629418570219533,0.5955553005534623,-0.29135244894485196,7.6834371190103665,-0.010830688778979788,-0.03483112505560577,-0.001635886733408614,0.0507996387125966,0.6032995410431049,2.4492277229523096,0.03625821981439636,0.0019016169105029218,-0.0012729448763866608,1,0.9836714874024047,0.6008276185929118,-6.59848935669302,0.23890454261076305,4.712051092594315,0.2701737262206172,1.6318748266239418,-5.234209396058057,8.230364183316961,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d6c3250cecc48fdfdc26ac2b5edfb2b9514582df
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..806272b295d598a16a2d2d19d0977383f96a35ef
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,7.400000000e+00,DOWN_FORCE_DETACH,1793080504360704940,4.919562495e-05,1.361911803e-06,-4.081110316e-05,4.242941634e-05,1.049312977e-06,-4.098271273e-05,4.585214528e-05,7.160518383e-07,-4.036520370e-05,7.020048652e-01,-2.072599960e-05,8.601026347e-01,7.019980990e-01,-2.103859843e-05,8.601024631e-01,7.027919812e-01,-1.123358361e-04,8.302852968e-01
+6,8.766666667e+00,DOWN_FORCE_DETACH,1793080505723415658,5.476790935e-05,-2.183351897e-06,-6.098731024e-05,5.196215643e-05,-3.317901982e-06,-5.785977259e-05,5.600900380e-05,-3.237899724e-06,-5.707521888e-05,7.020104375e-01,-2.427126330e-05,8.600824585e-01,7.020076318e-01,-2.540581339e-05,8.600855861e-01,7.028021381e-01,-1.162897877e-04,8.302685868e-01
+7,1.021666667e+01,DOWN_FORCE_DETACH,1793080507176514196,6.470315365e-05,-1.992861037e-06,-6.686288049e-05,5.196215643e-05,-3.317901982e-06,-5.785977259e-05,5.640370358e-05,-3.252396017e-06,-5.757647232e-05,7.020203728e-01,-2.408077244e-05,8.600765830e-01,7.020076318e-01,-2.540581339e-05,8.600855861e-01,7.028025328e-01,-1.163042840e-04,8.302680855e-01
+8,1.163333333e+01,DOWN_FORCE_DETACH,1793080508617432351,7.432736875e-05,-3.731189217e-06,-8.540099192e-05,6.369452684e-05,7.177694049e-07,-7.573612569e-05,6.866964603e-05,3.968906805e-07,-7.526720357e-05,7.020299970e-01,-2.581910062e-05,8.600580449e-01,7.020193642e-01,-2.137014200e-05,8.600677097e-01,7.028147987e-01,-1.126549973e-04,8.302503948e-01
+9,1.303333333e+01,DOWN_FORCE_DETACH,1793080510027734203,7.681004753e-05,-1.666409928e-06,-1.034121268e-04,7.247988131e-05,-2.811914071e-06,-9.506410222e-05,7.794222810e-05,-2.830699629e-06,-9.449226639e-05,7.020324797e-01,-2.375432133e-05,8.600400337e-01,7.020281495e-01,-2.489982548e-05,8.600483817e-01,7.028240713e-01,-1.158825876e-04,8.302311698e-01
+10,1.453333333e+01,DOWN_FORCE_DETACH,1793080511582459141,8.617327751e-05,-5.560012375e-06,-1.136714668e-04,8.149934387e-05,-4.148751574e-06,-1.128409085e-04,8.739772691e-05,-4.056516778e-06,-1.121888783e-04,7.020418429e-01,-2.764792378e-05,8.600297744e-01,7.020371690e-01,-2.623666298e-05,8.600306049e-01,7.028335268e-01,-1.171084047e-04,8.302134731e-01
+11,1.606666667e+01,DOWN_FORCE_DETACH,1793080513089442365,9.582513984e-05,-5.014707599e-06,-1.240672412e-04,8.149934387e-05,-4.148751574e-06,-1.128409085e-04,8.774745745e-05,-4.067914770e-06,-1.127527628e-04,7.020514948e-01,-2.710261900e-05,8.600193786e-01,7.020371690e-01,-2.623666298e-05,8.600306049e-01,7.028338765e-01,-1.171198027e-04,8.302129093e-01
+12,1.743333333e+01,DOWN_FORCE_DETACH,1793080514432360425,1.043009520e-04,-3.233932631e-06,-1.402820260e-04,9.560873460e-05,-3.967331444e-06,-1.266998693e-04,1.026011208e-04,-3.926890865e-06,-1.264739727e-04,7.020599706e-01,-2.532184404e-05,8.600031638e-01,7.020512784e-01,-2.605524285e-05,8.600167460e-01,7.028487302e-01,-1.169787788e-04,8.301991880e-01
+13,1.875000000e+01,DOWN_FORCE_DETACH,1793080515726462966,1.130713242e-04,-6.080710889e-06,-1.475105428e-04,1.046672921e-04,-8.151531442e-06,-1.442354820e-04,1.122486481e-04,-7.730860945e-06,-1.439914302e-04,7.020687409e-01,-2.816862229e-05,8.599959353e-01,7.020603369e-01,-3.023944285e-05,8.599992104e-01,7.028583777e-01,-1.207827489e-04,8.301816706e-01
+14,2.020000000e+01,DOWN_FORCE_DETACH,1793080517170059138,1.189646611e-04,1.050808586e-05,-1.762649410e-04,1.208941831e-04,1.344348254e-05,-1.692399491e-04,1.289827026e-04,1.180484799e-05,-1.684392009e-04,7.020746343e-01,-1.157982554e-05,8.599671809e-01,7.020765638e-01,-8.644428862e-06,8.599742059e-01,7.028751118e-01,-1.012470399e-04,8.301572228e-01
+15,2.160000000e+01,DOWN_FORCE_DETACH,1793080518559958797,1.302903708e-04,7.717683278e-06,-1.894240355e-04,1.277209811e-04,1.626772726e-06,-1.851826323e-04,1.364488679e-04,1.088981961e-06,-1.844821257e-04,7.020859600e-01,-1.437022813e-05,8.599540218e-01,7.020833906e-01,-2.046113868e-05,8.599582632e-01,7.028825779e-01,-1.119629060e-04,8.301411799e-01
+16,2.295000000e+01,DOWN_FORCE_DETACH,1793080519919619161,1.357541523e-04,4.524736785e-06,-1.987375669e-04,1.277209811e-04,1.626772726e-06,-1.851826323e-04,1.368517149e-04,1.071875444e-06,-1.850624557e-04,7.020914238e-01,-1.756317462e-05,8.599447083e-01,7.020833906e-01,-2.046113868e-05,8.599582632e-01,7.028829808e-01,-1.119800125e-04,8.301405996e-01
+17,2.440000000e+01,DOWN_FORCE_DETACH,1793080521362073904,1.436876872e-04,-3.047924010e-07,-2.208929369e-04,1.434483007e-04,-2.759516365e-07,-2.206902714e-04,1.527557174e-04,-6.452043283e-07,-2.196167635e-04,7.020993573e-01,-2.239270381e-05,8.599225529e-01,7.020991179e-01,-2.236386304e-05,8.599227556e-01,7.028988848e-01,-1.136970923e-04,8.301060453e-01
+18,2.585000000e+01,DOWN_FORCE_DETACH,1793080522851606323,1.522041093e-04,9.056639019e-07,-2.376604670e-04,1.434483007e-04,-2.759516365e-07,-2.206902714e-04,1.534546834e-04,-7.013050752e-07,-2.205301343e-04,7.021078737e-01,-2.118224750e-05,8.599057854e-01,7.020991179e-01,-2.236386304e-05,8.599227556e-01,7.028995838e-01,-1.137531930e-04,8.301051319e-01
+19,2.741666667e+01,DOWN_FORCE_DETACH,1793080524391055649,1.621259933e-04,-2.654191634e-06,-2.559640869e-04,1.615530567e-04,2.837292206e-06,-2.576738394e-04,1.719972779e-04,2.061586845e-06,-2.565856529e-04,7.021177956e-01,-2.474210304e-05,8.598874818e-01,7.021172227e-01,-1.925061920e-05,8.598857720e-01,7.029181264e-01,-1.109903011e-04,8.300690764e-01
+20,2.891666667e+01,DOWN_FORCE_DETACH,1793080525897809320,1.721972652e-04,-1.544786805e-06,-2.765086388e-04,1.667917237e-04,-2.527430178e-06,-2.758937632e-04,1.778261890e-04,-2.875467035e-06,-2.749755485e-04,7.021278669e-01,-2.363269821e-05,8.598669372e-01,7.021224613e-01,-2.461534158e-05,8.598675521e-01,7.029239553e-01,-1.159273550e-04,8.300506865e-01
+21,3.023333333e+01,DOWN_FORCE_DETACH,1793080527273418130,1.801571862e-04,-1.718869718e-06,-2.982374689e-04,1.748170523e-04,-3.676675549e-06,-2.963019471e-04,1.862121955e-04,-3.961932047e-06,-2.951952068e-04,7.021358268e-01,-2.380678112e-05,8.598452084e-01,7.021304867e-01,-2.576458695e-05,8.598471439e-01,7.029323413e-01,-1.170138200e-04,8.300304668e-01
+22,3.190000000e+01,DOWN_FORCE_DETACH,1793080528961337409,1.911601577e-04,-9.283904191e-06,-3.206371584e-04,1.844385115e-04,-7.701131366e-06,-3.138946186e-04,1.964277410e-04,-7.665631301e-06,-3.129643690e-04,7.021468298e-01,-3.137181560e-05,8.598228087e-01,7.021401081e-01,-2.978904277e-05,8.598295512e-01,7.029425568e-01,-1.207175192e-04,8.300126976e-01
+23,3.338333333e+01,DOWN_FORCE_DETACH,1793080530451530249,2.036559368e-04,-1.005905198e-05,-3.482574643e-04,1.929298797e-04,-7.114074993e-06,-3.320913137e-04,2.054328159e-04,-7.190219377e-06,-3.311807350e-04,7.021593256e-01,-3.214696339e-05,8.597951884e-01,7.021485995e-01,-2.920198640e-05,8.598113545e-01,7.029515619e-01,-1.202421073e-04,8.299944813e-01
+24,3.476666667e+01,DOWN_FORCE_DETACH,1793080531827583019,2.109749289e-04,-8.117958997e-06,-3.754268917e-04,2.079235829e-04,-1.140581669e-05,-3.696948492e-04,2.209095452e-04,-1.114223935e-05,-3.680401318e-04,7.021666446e-01,-3.020587040e-05,8.597680190e-01,7.021635932e-01,-3.349372809e-05,8.597737510e-01,7.029670386e-01,-1.241941273e-04,8.299576219e-01
+25,3.625000000e+01,DOWN_FORCE_DETACH,1793080533325139453,2.223936820e-04,-8.206723428e-06,-4.050376725e-04,2.174556694e-04,-1.253315522e-05,-4.082931219e-04,2.307446573e-04,-1.224058449e-05,-4.059719035e-04,7.021780633e-01,-3.029463483e-05,8.597384082e-01,7.021731253e-01,-3.462106663e-05,8.597351527e-01,7.029768737e-01,-1.252924724e-04,8.299196901e-01
+26,3.773333333e+01,DOWN_FORCE_DETACH,1793080534841090195,2.327224093e-04,-1.533729998e-05,-4.372612090e-04,2.276917382e-04,-1.088045496e-05,-4.255824356e-04,2.415347436e-04,-1.079856600e-05,-4.238364676e-04,7.021883920e-01,-3.742521139e-05,8.597061846e-01,7.021833614e-01,-3.296836637e-05,8.597178634e-01,7.029876638e-01,-1.238504539e-04,8.299018256e-01
+27,3.908333333e+01,DOWN_FORCE_DETACH,1793080536183909475,2.445605332e-04,-1.495846413e-05,-4.697183403e-04,2.399339628e-04,-1.489660286e-05,-4.630249382e-04,2.541488398e-04,-1.450123222e-05,-4.608947917e-04,7.022002302e-01,-3.704637554e-05,8.596737275e-01,7.021956036e-01,-3.698451427e-05,8.596804209e-01,7.030002779e-01,-1.275531202e-04,8.298647672e-01
+28,4.033333333e+01,DOWN_FORCE_DETACH,1793080537444973933,2.546527438e-04,-2.068829136e-05,-5.018038328e-04,2.502036119e-04,-1.612362449e-05,-5.032286787e-04,2.646077996e-04,-1.565273686e-05,-5.005948767e-04,7.022103224e-01,-4.277620277e-05,8.596416420e-01,7.022058732e-01,-3.821153590e-05,8.596402172e-01,7.030107369e-01,-1.287046248e-04,8.298250671e-01
+29,4.170000000e+01,DOWN_FORCE_DETACH,1793080538821013057,2.724527217e-04,-9.731934007e-06,-5.460813298e-04,2.662253994e-04,7.104760078e-06,-5.474466743e-04,2.811173535e-04,5.362720805e-06,-5.443811585e-04,7.022281223e-01,-3.181984541e-05,8.595973645e-01,7.022218950e-01,-1.498315133e-05,8.595959992e-01,7.030272464e-01,-1.076891671e-04,8.297812809e-01
+30,4.283333333e+01,DOWN_FORCE_DETACH,1793080539968726253,2.797174163e-04,-4.065551157e-06,-5.841805056e-04,2.761412753e-04,-7.315315983e-06,-5.745837358e-04,2.916233540e-04,-7.701097752e-06,-5.720898091e-04,7.022353870e-01,-2.615346256e-05,8.595592653e-01,7.022318109e-01,-2.940322739e-05,8.595688621e-01,7.030377524e-01,-1.207529857e-04,8.297535722e-01
+31,4.420000000e+01,DOWN_FORCE_DETACH,1793080541327269781,2.920378974e-04,-1.143142041e-05,-6.299681468e-04,2.865111052e-04,-1.251812376e-05,-6.120412252e-04,3.024133226e-04,-1.245013269e-05,-6.098919549e-04,7.022477075e-01,-3.351933182e-05,8.595134777e-01,7.022421807e-01,-3.460603517e-05,8.595314046e-01,7.030485424e-01,-1.255020206e-04,8.297157701e-01
+32,4.566666667e+01,DOWN_FORCE_DETACH,1793080542784674729,3.026567340e-04,-1.442481573e-05,-6.848910739e-04,3.025885111e-04,-1.637957634e-05,-6.708794890e-04,3.188773204e-04,-1.597242380e-05,-6.684628877e-04,7.022583264e-01,-3.651272714e-05,8.594585548e-01,7.022582581e-01,-3.846748775e-05,8.594725664e-01,7.030650064e-01,-1.290243117e-04,8.296571991e-01
+33,4.713333333e+01,DOWN_FORCE_DETACH,1793080544324642111,3.219570288e-04,-2.171529663e-05,-7.414969094e-04,3.173677560e-04,-2.054304525e-05,-7.347982437e-04,3.339909146e-04,-1.983834391e-05,-7.320922141e-04,7.022776267e-01,-4.380320803e-05,8.594019489e-01,7.022730374e-01,-4.263095665e-05,8.594086476e-01,7.030801200e-01,-1.328902318e-04,8.295935698e-01
+34,4.850000000e+01,DOWN_FORCE_DETACH,1793080545815539395,3.380917041e-04,-2.210854000e-05,-8.124006265e-04,3.342137530e-04,-2.056851446e-05,-7.953007807e-04,3.513264633e-04,-1.989176051e-05,-7.923041719e-04,7.022937613e-01,-4.419645141e-05,8.593310452e-01,7.022898834e-01,-4.265642587e-05,8.593481451e-01,7.030974555e-01,-1.329436484e-04,8.295333578e-01
+35,4.986666667e+01,DOWN_FORCE_DETACH,1793080547240681736,3.529229159e-04,-2.158395119e-05,-8.843165120e-04,3.511689265e-04,-2.137997464e-05,-8.763897298e-04,3.685844639e-04,-2.069001083e-05,-8.724808214e-04,7.023085925e-01,-4.367186259e-05,8.592591293e-01,7.023068386e-01,-4.346788605e-05,8.592670561e-01,7.031147135e-01,-1.337418988e-04,8.294531812e-01
+36,5.123333333e+01,DOWN_FORCE_DETACH,1793080548632547398,3.717323613e-04,-2.248505535e-05,-9.580491329e-04,3.677649552e-04,-2.561732080e-05,-9.567649603e-04,3.855602671e-04,-2.454767922e-05,-9.524820472e-04,7.023274020e-01,-4.457296676e-05,8.591853967e-01,7.023234346e-01,-4.770523221e-05,8.591866809e-01,7.031316893e-01,-1.375995672e-04,8.293731800e-01
+37,5.263333333e+01,DOWN_FORCE_DETACH,1793080550024299173,3.863415744e-04,-2.647988266e-05,-1.037027344e-03,3.803779811e-04,-2.723296701e-05,-1.019925508e-03,3.985931359e-04,-2.603399197e-05,-1.016298157e-03,7.023420112e-01,-4.856779407e-05,8.591064185e-01,7.023360476e-01,-4.932087841e-05,8.591235203e-01,7.031447222e-01,-1.390858799e-04,8.293093639e-01
+38,5.406666667e+01,DOWN_FORCE_DETACH,1793080551433111873,4.016194496e-04,-2.939900669e-05,-1.122129320e-03,4.010351160e-04,-3.038232318e-05,-1.121215324e-03,4.194721067e-04,-2.898560317e-05,-1.116809037e-03,7.023572891e-01,-5.148691810e-05,8.590213165e-01,7.023567047e-01,-5.247023458e-05,8.590222305e-01,7.031656012e-01,-1.420374911e-04,8.292088530e-01
+39,5.550000000e+01,DOWN_FORCE_DETACH,1793080552841857472,4.196444807e-04,-3.049537218e-05,-1.225804970e-03,4.196415859e-04,-3.035076813e-05,-1.225505433e-03,4.380633032e-04,-2.907948838e-05,-1.220281552e-03,7.023753141e-01,-5.258328358e-05,8.589176409e-01,7.023753112e-01,-5.243867954e-05,8.589179404e-01,7.031841924e-01,-1.421313763e-04,8.291053805e-01
+40,5.696666667e+01,DOWN_FORCE_DETACH,1793080554317050039,4.404568556e-04,-1.876023010e-05,-1.334865550e-03,4.369863841e-04,-1.762322504e-05,-1.325269343e-03,4.556699714e-04,-1.756608470e-05,-1.320094930e-03,7.023961265e-01,-4.084814150e-05,8.588085803e-01,7.023926560e-01,-3.971113644e-05,8.588181765e-01,7.032017991e-01,-1.306179726e-04,8.290055671e-01
+41,5.831666667e+01,DOWN_FORCE_DETACH,1793080555677199316,4.570351703e-04,-2.175455105e-05,-1.448361466e-03,4.541032270e-04,-1.836520598e-05,-1.433388645e-03,4.729160002e-04,-1.826036901e-05,-1.428036676e-03,7.024127048e-01,-4.384246246e-05,8.586950844e-01,7.024097729e-01,-4.045311738e-05,8.587100572e-01,7.032190451e-01,-1.313122569e-04,8.288976253e-01
+42,5.953333333e+01,DOWN_FORCE_DETACH,1793080556871399706,4.761844163e-04,-1.806378516e-05,-1.558861977e-03,4.760657283e-04,-1.793615735e-05,-1.558778304e-03,4.949969958e-04,-1.797423212e-05,-1.552369572e-03,7.024318540e-01,-4.015169656e-05,8.585845839e-01,7.024317354e-01,-4.002406875e-05,8.585846675e-01,7.032411261e-01,-1.310261201e-04,8.287732924e-01
+43,6.080000000e+01,DOWN_FORCE_DETACH,1793080558149974259,4.949931389e-04,-1.780227580e-05,-1.679087443e-03,4.919083587e-04,-2.144408219e-05,-1.666906230e-03,5.110425413e-04,-2.128545489e-05,-1.661241910e-03,7.024506628e-01,-3.989018720e-05,8.584643584e-01,7.024475780e-01,-4.353199360e-05,8.584765396e-01,7.032571716e-01,-1.343373428e-04,8.286644201e-01
+44,6.225000000e+01,DOWN_FORCE_DETACH,1793080559589853397,5.174579759e-04,-2.033176493e-05,-1.823907240e-03,5.155036392e-04,-1.984364607e-05,-1.817106991e-03,5.344646449e-04,-1.981656892e-05,-1.810689815e-03,7.024731276e-01,-4.241967634e-05,8.583195386e-01,7.024711733e-01,-4.193155747e-05,8.583263389e-01,7.032805937e-01,-1.328684568e-04,8.285149722e-01
+45,6.355000000e+01,DOWN_FORCE_DETACH,1793080560900754949,5.351324646e-04,-2.283774684e-05,-1.967246445e-03,5.346679843e-04,-2.199473071e-05,-1.959580592e-03,5.533152346e-04,-2.173412509e-05,-1.952869695e-03,7.024908021e-01,-4.492565825e-05,8.581761994e-01,7.024903376e-01,-4.408264212e-05,8.581838653e-01,7.032994443e-01,-1.347860130e-04,8.283727923e-01
+46,6.498333333e+01,DOWN_FORCE_DETACH,1793080562341865071,5.588067942e-04,-2.413707499e-05,-2.146703490e-03,5.534718910e-04,-2.333790795e-05,-2.133388650e-03,5.715359484e-04,-2.305159958e-05,-2.126390726e-03,7.025144764e-01,-4.622498640e-05,8.579967424e-01,7.025091415e-01,-4.542581935e-05,8.580100572e-01,7.033176650e-01,-1.361034875e-04,8.281992713e-01
+47,6.623333333e+01,DOWN_FORCE_DETACH,1793080563570994693,5.742884256e-04,-2.535301608e-05,-2.313957767e-03,5.703372764e-04,-2.663702886e-05,-2.297124303e-03,5.879358066e-04,-2.617321420e-05,-2.289370860e-03,7.025299581e-01,-4.744092749e-05,8.578294881e-01,7.025260069e-01,-4.872494026e-05,8.578463215e-01,7.033340649e-01,-1.392251021e-04,8.280362912e-01
+48,6.750000000e+01,DOWN_FORCE_DETACH,1793080564848322997,6.024240481e-04,-2.447296198e-05,-2.492814473e-03,5.989601263e-04,-2.864374093e-05,-2.493530901e-03,6.160492878e-04,-2.806113847e-05,-2.484687404e-03,7.025580937e-01,-4.656087339e-05,8.576506314e-01,7.025546298e-01,-5.073165234e-05,8.576499149e-01,7.033621784e-01,-1.411130264e-04,8.278409746e-01
+49,6.868333333e+01,DOWN_FORCE_DETACH,1793080566059759094,6.185882088e-04,-3.063394288e-05,-2.693966390e-03,6.199014721e-04,-2.907043406e-05,-2.682415868e-03,6.367565129e-04,-2.856574465e-05,-2.673175805e-03,7.025742578e-01,-5.272185429e-05,8.574494795e-01,7.025755711e-01,-5.115834547e-05,8.574610300e-01,7.033828856e-01,-1.416176326e-04,8.276524862e-01
+50,6.981666667e+01,DOWN_FORCE_DETACH,1793080567190114580,6.421878171e-04,-2.530294609e-05,-2.895161387e-03,6.402967691e-04,-2.572210282e-05,-2.891057618e-03,6.563733692e-04,-2.536218655e-05,-2.880685143e-03,7.025978574e-01,-4.739085749e-05,8.572482845e-01,7.025959664e-01,-4.781001423e-05,8.572523882e-01,7.034025024e-01,-1.384140745e-04,8.274449769e-01
+51,7.095000000e+01,DOWN_FORCE_DETACH,1793080568320847500,6.618741375e-04,-3.106542179e-05,-3.122940268e-03,6.611426522e-04,-3.100141883e-05,-3.113718139e-03,6.762979822e-04,-3.027296090e-05,-3.102549950e-03,7.026175438e-01,-5.315333320e-05,8.570205056e-01,7.026168123e-01,-5.308933023e-05,8.570297277e-01,7.034224271e-01,-1.433248488e-04,8.272231121e-01
+52,7.206666667e+01,DOWN_FORCE_DETACH,1793080569434351951,6.806880637e-04,-3.296826884e-05,-3.367145635e-03,6.781586751e-04,-3.401496616e-05,-3.358364837e-03,6.918255787e-04,-3.317239697e-05,-3.346376493e-03,7.026363577e-01,-5.505618024e-05,8.567763002e-01,7.026338283e-01,-5.610287757e-05,8.567850810e-01,7.034379547e-01,-1.462242849e-04,8.269792855e-01
+53,7.308333333e+01,DOWN_FORCE_DETACH,1793080570450650820,6.975415466e-04,-3.048468321e-05,-3.607811436e-03,6.972916010e-04,-3.051502031e-05,-3.608067312e-03,7.093683631e-04,-3.007648075e-05,-3.594741453e-03,7.026532112e-01,-5.257259461e-05,8.565356344e-01,7.026529612e-01,-5.260293171e-05,8.565353785e-01,7.034554974e-01,-1.431283687e-04,8.267309206e-01
+54,7.403333333e+01,DOWN_FORCE_DETACH,1793080571399494269,7.178397185e-04,-3.862842443e-05,-3.858063392e-03,7.177228377e-04,-3.834826814e-05,-3.858117698e-03,7.282577585e-04,-3.727449248e-05,-3.843773631e-03,7.026735093e-01,-6.071633583e-05,8.562853825e-01,7.026733925e-01,-6.043617955e-05,8.562853281e-01,7.034743868e-01,-1.503263804e-04,8.264818884e-01
+55,7.490000000e+01,DOWN_FORCE_DETACH,1793080572251217277,7.369635195e-04,-3.622807984e-05,-4.112762686e-03,7.335387953e-04,-3.852476850e-05,-4.098473904e-03,7.425266871e-04,-3.765911498e-05,-4.083903480e-03,7.026926331e-01,-5.831599125e-05,8.560306832e-01,7.026892084e-01,-6.061267991e-05,8.560449719e-01,7.034886558e-01,-1.507110029e-04,8.262417585e-01
+56,7.571666667e+01,DOWN_FORCE_DETACH,1793080573053466847,7.480098238e-04,-4.195649207e-05,-4.378751199e-03,7.456071963e-04,-4.371690106e-05,-4.374659078e-03,7.524108848e-04,-4.235938118e-05,-4.358339121e-03,7.027036794e-01,-6.404440347e-05,8.557646946e-01,7.027012768e-01,-6.580481246e-05,8.557687868e-01,7.034985400e-01,-1.554112691e-04,8.259673229e-01
+57,7.651666667e+01,DOWN_FORCE_DETACH,1793080573840089165,7.678142717e-04,-4.370422118e-05,-4.656379800e-03,7.677980358e-04,-4.207328847e-05,-4.638178660e-03,7.729851139e-04,-4.085820651e-05,-4.621698872e-03,7.027234839e-01,-6.579213259e-05,8.554870660e-01,7.027234677e-01,-6.416119988e-05,8.555052672e-01,7.035191142e-01,-1.539100944e-04,8.257039631e-01
+58,7.725000000e+01,DOWN_FORCE_DETACH,1793080574577069353,7.882597065e-04,-4.412128520e-05,-4.937311615e-03,7.892146930e-04,-4.901939992e-05,-4.922528344e-03,7.925284479e-04,-4.717965180e-05,-4.904678226e-03,7.027439293e-01,-6.620919661e-05,8.552061342e-01,7.027448843e-01,-7.110731133e-05,8.552209175e-01,7.035386575e-01,-1.602315397e-04,8.254209838e-01
+59,7.831666667e+01,DOWN_PEAK_HOLD,1793080575626168132,7.511021355e-04,-3.582570092e-05,-5.174365698e-03,7.564931407e-04,-3.785589483e-05,-5.158821702e-03,7.564705370e-04,-3.702212006e-05,-5.145713562e-03,7.027067718e-01,-5.791361232e-05,8.549690801e-01,7.027121628e-01,-5.994380623e-05,8.549846241e-01,7.035025996e-01,-1.500740080e-04,8.251799485e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07f52bf4da719df34f2db517581f69ced4277c7c
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,2.8871e-01,1.0478e+00,2.4737e+00,-1.1305e-01,5.7499e-02,2.5309e-03,1.4783e-03,-1.4043e-04,-1.0967e-04,9.5516e-06,9.5870e-05,-5.7369e-07,1.4890e-03,9.6347e-05
+1,1.4833e+00,DOWN_FORCE_DETACH,3.2659e-04,4.3359e-01,1.0338e+00,2.4723e+00,-1.1190e-01,6.7926e-02,1.3795e-03,1.4635e-01,-1.4104e-02,-1.4958e-03,1.1572e-03,1.0524e-02,-1.1520e-03,1.4704e-01,1.0649e-02
+2,3.0500e+00,DOWN_FORCE_DETACH,6.5944e-04,4.8339e-01,1.0313e+00,2.4684e+00,-1.1169e-01,7.1471e-02,8.3639e-04,1.9616e-01,-1.6635e-02,-5.4126e-03,1.3697e-03,1.4068e-02,-1.6951e-03,1.9694e-01,1.4236e-02
+3,4.5667e+00,DOWN_FORCE_DETACH,9.8686e-04,3.1248e-01,1.0421e+00,2.6345e+00,-1.1224e-01,5.8765e-02,8.3238e-04,2.5248e-02,-5.8861e-03,1.6066e-01,8.2314e-04,1.3621e-03,-1.6991e-03,1.6274e-01,2.3280e-03
+4,5.9833e+00,DOWN_FORCE_DETACH,1.3139e-03,4.4859e-01,1.0393e+00,2.5248e+00,-1.1212e-01,6.8851e-02,7.0975e-04,1.6135e-01,-8.6427e-03,5.0992e-02,9.3693e-04,1.1448e-02,-1.8217e-03,1.6944e-01,1.1630e-02
+5,7.4000e+00,DOWN_FORCE_DETACH,1.6435e-03,4.0714e-01,9.9353e-01,2.5774e+00,-1.0879e-01,6.5791e-02,5.5758e-04,1.1991e-01,-5.4410e-02,1.0356e-01,4.2702e-03,8.3885e-03,-1.9739e-03,1.6752e-01,9.6175e-03
+6,8.7667e+00,DOWN_FORCE_DETACH,1.9694e-03,4.1305e-01,1.0771e+00,2.5983e+00,-1.1479e-01,6.6068e-02,5.5650e-04,1.2581e-01,2.9139e-02,1.2452e-01,-1.7325e-03,8.6649e-03,-1.9750e-03,1.7939e-01,9.0544e-03
+7,1.0217e+01,DOWN_FORCE_DETACH,2.2974e-03,4.8300e-01,1.0762e+00,2.5137e+00,-1.1489e-01,7.1370e-02,3.9918e-04,1.9577e-01,2.8219e-02,3.9843e-02,-1.8309e-03,1.3967e-02,-2.1323e-03,2.0176e-01,1.4247e-02
+8,1.1633e+01,DOWN_FORCE_DETACH,2.6271e-03,4.5971e-01,9.9069e-01,2.5349e+00,-1.0871e-01,6.9639e-02,3.2694e-04,1.7248e-01,-5.7245e-02,6.1117e-02,4.3519e-03,1.2237e-02,-2.2045e-03,1.9173e-01,1.3173e-02
+9,1.3033e+01,DOWN_FORCE_DETACH,2.9532e-03,4.6167e-01,1.0592e+00,2.5581e+00,-1.1363e-01,6.9860e-02,3.1570e-04,1.7444e-01,1.1220e-02,8.4237e-02,-5.6830e-04,1.2457e-02,-2.2158e-03,1.9403e-01,1.2665e-02
+10,1.4533e+01,DOWN_FORCE_DETACH,3.2804e-03,4.4466e-01,1.0817e+00,2.5779e+00,-1.1527e-01,6.8568e-02,2.1593e-04,1.5743e-01,3.3755e-02,1.0408e-01,-2.2070e-03,1.1165e-02,-2.3155e-03,1.9172e-01,1.1614e-02
+11,1.6067e+01,DOWN_FORCE_DETACH,3.6109e-03,5.0975e-01,1.0802e+00,2.4801e+00,-1.1536e-01,7.3493e-02,9.6822e-05,2.2252e-01,3.2308e-02,6.3095e-03,-2.3013e-03,1.6090e-02,-2.4347e-03,2.2494e-01,1.6435e-02
+12,1.7433e+01,DOWN_FORCE_DETACH,3.9372e-03,4.7436e-01,1.0712e+00,2.4869e+00,-1.1473e-01,7.0999e-02,1.0956e-04,1.8713e-01,2.3235e-02,1.3094e-02,-1.6689e-03,1.3597e-02,-2.4219e-03,1.8902e-01,1.3911e-02
+13,1.8750e+01,DOWN_FORCE_DETACH,4.2646e-03,4.8991e-01,1.1490e+00,2.4986e+00,-1.2033e-01,7.2105e-02,1.2322e-04,2.0268e-01,1.0105e-01,2.4769e-02,-7.2709e-03,1.4702e-02,-2.4083e-03,2.2782e-01,1.6577e-02
+14,2.0200e+01,DOWN_FORCE_DETACH,4.5966e-03,3.8289e-01,6.9236e-01,2.5977e+00,-8.7363e-02,6.4333e-02,-4.4268e-04,9.5656e-02,-3.5558e-01,1.2390e-01,2.5697e-02,6.9301e-03,-2.9742e-03,3.8851e-01,2.6781e-02
+15,2.1600e+01,DOWN_FORCE_DETACH,4.9229e-03,4.5697e-01,9.4282e-01,2.5583e+00,-1.0545e-01,6.9659e-02,-6.2793e-05,1.6973e-01,-1.0512e-01,8.4457e-02,7.6102e-03,1.2256e-02,-2.5943e-03,2.1678e-01,1.4658e-02
+16,2.2950e+01,DOWN_FORCE_DETACH,5.2492e-03,5.3104e-01,9.4144e-01,2.4524e+00,-1.0559e-01,7.5327e-02,-1.0359e-04,2.4381e-01,-1.0650e-01,-2.1422e-02,7.4716e-03,1.7924e-02,-2.6351e-03,2.6692e-01,1.9597e-02
+17,2.4400e+01,DOWN_FORCE_DETACH,5.5790e-03,5.4694e-01,8.6439e-01,2.4660e+00,-1.0004e-01,7.6391e-02,-1.8903e-04,2.5970e-01,-1.8355e-01,-7.7915e-03,1.3018e-02,1.8988e-02,-2.7205e-03,3.1812e-01,2.3182e-02
+18,2.5850e+01,DOWN_FORCE_DETACH,5.9078e-03,5.3802e-01,9.6756e-01,2.4671e+00,-1.0751e-01,7.5841e-02,-1.7259e-04,2.5079e-01,-8.0383e-02,-6.7534e-03,5.5548e-03,1.8438e-02,-2.7041e-03,2.6344e-01,1.9446e-02
+19,2.7417e+01,DOWN_FORCE_DETACH,6.2349e-03,4.4618e-01,8.9646e-01,2.6313e+00,-1.0223e-01,6.8950e-02,-2.7295e-04,1.5895e-01,-1.5148e-01,1.5744e-01,1.0828e-02,1.1547e-02,-2.8044e-03,2.7018e-01,1.6076e-02
+20,2.8917e+01,DOWN_FORCE_DETACH,6.5642e-03,5.1163e-01,9.9542e-01,2.5992e+00,-1.0932e-01,7.3678e-02,-2.5919e-04,2.2440e-01,-5.2518e-02,1.2538e-01,3.7419e-03,1.6275e-02,-2.7907e-03,2.6236e-01,1.6931e-02
+21,3.0233e+01,DOWN_FORCE_DETACH,6.8912e-03,5.0090e-01,1.0104e+00,2.6338e+00,-1.1030e-01,7.2671e-02,-3.3679e-04,2.1367e-01,-3.7516e-02,1.5993e-01,2.7632e-03,1.5268e-02,-2.8683e-03,2.6952e-01,1.5779e-02
+22,3.1900e+01,DOWN_FORCE_DETACH,7.2192e-03,5.1362e-01,1.0786e+00,2.5965e+00,-1.1514e-01,7.3618e-02,-3.8453e-04,2.2638e-01,3.0697e-02,1.2267e-01,-2.0833e-03,1.6215e-02,-2.9160e-03,2.5931e-01,1.6606e-02
+23,3.3383e+01,DOWN_FORCE_DETACH,7.5499e-03,5.3170e-01,1.0571e+00,2.5902e+00,-1.1349e-01,7.5005e-02,-4.7159e-04,2.4447e-01,9.2019e-03,1.1642e-01,-4.2479e-04,1.7603e-02,-3.0031e-03,2.7093e-01,1.7862e-02
+24,3.4767e+01,DOWN_FORCE_DETACH,7.8774e-03,4.9260e-01,1.1274e+00,2.7177e+00,-1.1817e-01,7.1754e-02,-4.4409e-04,2.0536e-01,7.9428e-02,2.4387e-01,-5.1088e-03,1.4351e-02,-2.9756e-03,3.2857e-01,1.5521e-02
+25,3.6250e+01,DOWN_FORCE_DETACH,8.2045e-03,4.9423e-01,1.1403e+00,2.8602e+00,-1.1861e-01,7.1748e-02,-4.7214e-04,2.0700e-01,9.2405e-02,3.8636e-01,-5.5453e-03,1.4345e-02,-3.0036e-03,4.4796e-01,1.5670e-02
+26,3.7733e+01,DOWN_FORCE_DETACH,8.5338e-03,4.8147e-01,1.0952e+00,2.7355e+00,-1.1523e-01,7.0815e-02,-4.4428e-04,1.9423e-01,4.7307e-02,2.6165e-01,-2.1730e-03,1.3412e-02,-2.9758e-03,3.2928e-01,1.3909e-02
+27,3.9083e+01,DOWN_FORCE_DETACH,8.8609e-03,4.5742e-01,1.1642e+00,2.7882e+00,-1.1974e-01,6.8880e-02,-3.3584e-04,1.7019e-01,1.1627e-01,3.1437e-01,-6.6795e-03,1.1477e-02,-2.8673e-03,3.7591e-01,1.3586e-02
+28,4.0333e+01,DOWN_FORCE_DETACH,9.1879e-03,4.5422e-01,1.1886e+00,2.8891e+00,-1.2123e-01,6.8699e-02,-2.6002e-04,1.6699e-01,1.4069e-01,4.1524e-01,-8.1650e-03,1.1297e-02,-2.7915e-03,4.6915e-01,1.4215e-02
+29,4.1700e+01,DOWN_FORCE_DETACH,9.5259e-03,3.9505e-01,6.9665e-01,2.9557e+00,-8.5481e-02,6.4259e-02,-5.6171e-04,1.0781e-01,-3.5129e-01,4.8183e-01,2.7579e-02,6.8563e-03,-3.0932e-03,6.0596e-01,2.8586e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..74db6e9a0d5d2b39c410dd521cffa714637d7fab
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:119cf4c0e6a3085694f7e2388dd303d08eec500e4ef699f0e58536929df4c501
+size 583680
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..37b52220c407f6247e137dc02a7e35b6da3e14a5
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/fem_node.csv
@@ -0,0 +1,31741 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47b543b5e755f1572a13df2c688ffef5ce3a39c9
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b64135214a1953c5562c8617804fe8799a3df5b3
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8a30d8be69ea138d3a8162437d1e6052d210d544
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+6,7.000000000e-01,WAIT_W2,1793080483404584495,7.048730659e-07,-1.319988236e-04,8.409834694e-06,7.311566778e-07,-1.318028110e-04,8.242959411e-06,1.363343425e-06,-1.189312731e-04,7.815959730e-06,7.019563745e-01,-1.540867350e-04,8.601518557e-01,7.019564008e-01,-1.538907224e-04,8.601516888e-01,7.027474924e-01,-2.319831712e-04,8.303334780e-01
+7,7.166666667e-01,WAIT_W2,1793080483426246303,2.446843508e-06,-2.756918921e-04,1.351632398e-05,2.414253727e-06,-2.757178978e-04,1.345173218e-05,3.314027316e-06,-2.489563210e-04,1.268263422e-05,7.019581165e-01,-2.977798035e-04,8.601569622e-01,7.019580839e-01,-2.978058092e-04,8.601568976e-01,7.027494431e-01,-3.620082190e-04,8.303383446e-01
+8,7.166666667e-01,WAIT_W2,1793080483426246303,2.446843508e-06,-2.756918921e-04,1.351632398e-05,2.414253727e-06,-2.757178978e-04,1.345173218e-05,3.314027316e-06,-2.489563210e-04,1.268263422e-05,7.019581165e-01,-2.977798035e-04,8.601569622e-01,7.019580839e-01,-2.978058092e-04,8.601568976e-01,7.027494431e-01,-3.620082190e-04,8.303383446e-01
+9,7.333333333e-01,WAIT_W2,1793080483442074044,3.145306291e-06,-3.736247553e-04,1.897653452e-05,3.008811260e-06,-3.735911443e-04,1.918778001e-05,4.054253289e-06,-3.376500138e-04,1.808826083e-05,7.019588149e-01,-3.957126668e-04,8.601624224e-01,7.019586784e-01,-3.956790557e-04,8.601626336e-01,7.027501834e-01,-4.507019118e-04,8.303437503e-01
+10,7.333333333e-01,WAIT_W2,1793080483442074044,3.145306291e-06,-3.736247553e-04,1.897653452e-05,3.008811260e-06,-3.735911443e-04,1.918778001e-05,4.054253289e-06,-3.376500138e-04,1.808826083e-05,7.019588149e-01,-3.957126668e-04,8.601624224e-01,7.019586784e-01,-3.956790557e-04,8.601626336e-01,7.027501834e-01,-4.507019118e-04,8.303437503e-01
+11,7.500000000e-01,WAIT_W2,1793080483458717699,2.991920136e-06,-5.164109211e-04,2.363169583e-05,3.199135342e-06,-5.162023624e-04,2.372927860e-05,4.448775272e-06,-4.668365302e-04,2.248717285e-05,7.019586615e-01,-5.384988325e-04,8.601670775e-01,7.019588688e-01,-5.382902738e-04,8.601671751e-01,7.027505779e-01,-5.798884282e-04,8.303481492e-01
+12,7.500000000e-01,WAIT_W2,1793080483458717699,2.991920136e-06,-5.164109211e-04,2.363169583e-05,3.199135342e-06,-5.162023624e-04,2.372927860e-05,4.448775272e-06,-4.668365302e-04,2.248717285e-05,7.019586615e-01,-5.384988325e-04,8.601670775e-01,7.019588688e-01,-5.382902738e-04,8.601671751e-01,7.027505779e-01,-5.798884282e-04,8.303481492e-01
+13,7.666666667e-01,WAIT_W2,1793080483474935489,1.021018334e-05,-5.419610144e-04,3.579948951e-05,1.028658344e-05,-5.418730535e-04,3.565617461e-05,1.169099403e-05,-4.902348888e-04,3.394194268e-05,7.019658798e-01,-5.640489258e-04,8.601792453e-01,7.019659562e-01,-5.639609649e-04,8.601791020e-01,7.027578201e-01,-6.032867868e-04,8.303596039e-01
+14,8.000000000e-01,WAIT_W2,1793080483507552461,2.884301778e-05,-4.469575455e-04,6.696228542e-05,2.893266930e-05,-4.471219897e-04,6.693855119e-05,3.091209947e-05,-4.048435044e-04,6.392027319e-05,7.019845126e-01,-4.690454569e-04,8.602104081e-01,7.019846023e-01,-4.692099011e-04,8.602103844e-01,7.027770412e-01,-5.178954024e-04,8.303895823e-01
+15,8.333333333e-01,WAIT_W2,1793080483541108992,4.166059207e-05,-4.660108487e-04,9.925471817e-05,4.164639453e-05,-4.660489089e-04,9.943661919e-05,4.435238511e-05,-4.218122041e-04,9.500220308e-05,7.019973302e-01,-4.880987601e-04,8.602427006e-01,7.019973160e-01,-4.881368203e-04,8.602428825e-01,7.027904815e-01,-5.348641021e-04,8.304206642e-01
+16,8.666666667e-01,WAIT_W2,1793080483573230596,5.822296139e-05,-4.549129855e-04,1.382464162e-04,5.824412590e-05,-4.551077235e-04,1.383451965e-04,6.199701307e-05,-4.120192918e-04,1.324294084e-04,7.020138926e-01,-4.770008969e-04,8.602816923e-01,7.020139138e-01,-4.771956349e-04,8.602817910e-01,7.028081261e-01,-5.250711898e-04,8.304580914e-01
+17,9.166666667e-01,WAIT_W2,1793080483622735126,7.749726670e-05,-4.525013755e-04,1.845967501e-04,7.752537301e-05,-4.525332537e-04,1.843777464e-04,8.248958293e-05,-4.096469490e-04,1.768020560e-04,7.020331669e-01,-4.745892869e-04,8.603280426e-01,7.020331950e-01,-4.746211651e-04,8.603278236e-01,7.028286187e-01,-5.226988470e-04,8.305024640e-01
+18,9.833333333e-01,WAIT_W2,1793080483704503920,9.369709983e-05,-4.375220499e-04,2.217434543e-04,8.552042079e-05,-4.371967583e-04,2.064561152e-04,9.146665541e-05,-3.957935384e-04,1.988076466e-04,7.020493667e-01,-4.596099613e-04,8.603651893e-01,7.020411900e-01,-4.592846697e-04,8.603499020e-01,7.028375958e-01,-5.088454364e-04,8.305244696e-01
+19,1.116666667e+00,WAIT_W2,1793080483835081306,1.072041381e-04,-4.303754616e-04,2.565297291e-04,1.023628625e-04,-4.302005905e-04,2.425049956e-04,1.099417281e-04,-3.894785024e-04,2.344985266e-04,7.020628738e-01,-4.524633730e-04,8.603999756e-01,7.020580325e-01,-4.522885019e-04,8.603859508e-01,7.028560708e-01,-5.025304004e-04,8.305601605e-01
+20,1.333333333e+00,WAIT_W2,1793080484048488004,1.102306298e-04,-4.164221377e-04,2.654000374e-04,1.108678165e-04,-4.237812767e-04,2.609457696e-04,1.198945087e-04,-3.837488558e-04,2.536175880e-04,7.020659003e-01,-4.385100491e-04,8.604088459e-01,7.020665374e-01,-4.458691881e-04,8.604043916e-01,7.028660236e-01,-4.968007539e-04,8.305792796e-01
+21,1.483333333e+00,UP_FORCE_RAMP,1793080484211581961,1.105362889e-04,-4.148396826e-04,2.663507171e-04,1.108678165e-04,-4.237812767e-04,2.609457696e-04,1.204155197e-04,-3.838127511e-04,2.543119617e-04,7.020662059e-01,-4.369275940e-04,8.604097966e-01,7.020665374e-01,-4.458691881e-04,8.604043916e-01,7.028665446e-01,-4.968646491e-04,8.305799740e-01
+22,1.700000000e+00,UP_FORCE_RAMP,1793080484425430655,1.127289908e-04,-4.158884599e-04,2.703159873e-04,1.108678165e-04,-4.237812767e-04,2.609457696e-04,1.209952385e-04,-3.838938154e-04,2.550413272e-04,7.020683986e-01,-4.379763713e-04,8.604137618e-01,7.020665374e-01,-4.458691881e-04,8.604043916e-01,7.028671243e-01,-4.969457134e-04,8.305807033e-01
+23,1.933333333e+00,UP_FORCE_RAMP,1793080484653861161,1.121494038e-04,-4.166035061e-04,2.708648259e-04,1.108678165e-04,-4.237812767e-04,2.609457696e-04,1.214813200e-04,-3.839676458e-04,2.556223095e-04,7.020678190e-01,-4.386914176e-04,8.604143107e-01,7.020665374e-01,-4.458691881e-04,8.604043916e-01,7.028676104e-01,-4.970195438e-04,8.305812843e-01
+24,2.200000000e+00,UP_FORCE_RAMP,1793080484916581125,1.162700404e-04,-4.092990791e-04,2.819259469e-04,1.152994137e-04,-4.130485341e-04,2.776285685e-04,1.266832579e-04,-3.743281768e-04,2.721754143e-04,7.020719397e-01,-4.313869905e-04,8.604253718e-01,7.020709690e-01,-4.351364455e-04,8.604210744e-01,7.028728124e-01,-4.873800748e-04,8.305978374e-01
+25,2.450000000e+00,UP_FORCE_RAMP,1793080485161956687,1.133889912e-04,-4.114666771e-04,2.827503322e-04,1.152994137e-04,-4.130485341e-04,2.776285685e-04,1.271201102e-04,-3.743940949e-04,2.727359863e-04,7.020690586e-01,-4.335545885e-04,8.604261962e-01,7.020709690e-01,-4.351364455e-04,8.604210744e-01,7.028732492e-01,-4.874459929e-04,8.305983980e-01
+26,2.766666667e+00,UP_FORCE_RAMP,1793080485489868103,1.090057022e-04,-4.096722874e-04,2.844108047e-04,1.152994137e-04,-4.130485341e-04,2.776285685e-04,1.275717602e-04,-3.744749809e-04,2.732607224e-04,7.020646753e-01,-4.317601988e-04,8.604278567e-01,7.020709690e-01,-4.351364455e-04,8.604210744e-01,7.028737009e-01,-4.875268789e-04,8.305989227e-01
+27,3.033333333e+00,UP_FORCE_RAMP,1793080485768473777,1.059024543e-04,-4.038030697e-04,2.888463567e-04,1.152994137e-04,-4.130485341e-04,2.776285685e-04,1.278944149e-04,-3.745273991e-04,2.736188500e-04,7.020615721e-01,-4.258909811e-04,8.604322922e-01,7.020709690e-01,-4.351364455e-04,8.604210744e-01,7.028740235e-01,-4.875792971e-04,8.305992808e-01
+28,3.250000000e+00,UP_FORCE_RAMP,1793080486065702234,1.040302763e-04,-4.042756331e-04,2.983400907e-04,1.072407876e-04,-4.025996132e-04,2.930238081e-04,1.199605996e-04,-3.650647697e-04,2.887017297e-04,7.020596999e-01,-4.263635445e-04,8.604417859e-01,7.020629104e-01,-4.246875246e-04,8.604364697e-01,7.028660897e-01,-4.781166677e-04,8.306143637e-01
+29,3.450000000e+00,UP_FORCE_RAMP,1793080486259508395,9.747376963e-05,-4.066849538e-04,3.029643510e-04,1.072407876e-04,-4.025996132e-04,2.930238081e-04,1.200932451e-04,-3.650955999e-04,2.890229310e-04,7.020531434e-01,-4.287728652e-04,8.604464102e-01,7.020629104e-01,-4.246875246e-04,8.604364697e-01,7.028662223e-01,-4.781474979e-04,8.306146849e-01
+30,3.716666667e+00,UP_FORCE_RAMP,1793080486537605214,9.297885362e-05,-4.041122252e-04,3.150431812e-04,9.565031544e-05,-4.025515364e-04,3.100043439e-04,1.085529684e-04,-3.650400977e-04,3.056427639e-04,7.020486485e-01,-4.262001366e-04,8.604584890e-01,7.020513199e-01,-4.246394478e-04,8.604534502e-01,7.028546821e-01,-4.780919958e-04,8.306313048e-01
+31,3.950000000e+00,UP_FORCE_RAMP,1793080486767045400,8.792415101e-05,-3.998265199e-04,3.260296480e-04,9.565031544e-05,-4.025515364e-04,3.100043439e-04,1.085916366e-04,-3.650661287e-04,3.060520335e-04,7.020435938e-01,-4.219144313e-04,8.604694755e-01,7.020513199e-01,-4.246394478e-04,8.604534502e-01,7.028547207e-01,-4.781180267e-04,8.306317140e-01
+32,4.166666667e+00,UP_FORCE_RAMP,1793080486979894219,8.399392433e-05,-3.998396137e-04,3.401873097e-04,8.735717876e-05,-4.024504121e-04,3.289200117e-04,1.003426531e-04,-3.649787050e-04,3.245438466e-04,7.020396635e-01,-4.219275251e-04,8.604836332e-01,7.020430268e-01,-4.245383235e-04,8.604723659e-01,7.028464718e-01,-4.780306030e-04,8.306502058e-01
+33,4.400000000e+00,UP_FORCE_RAMP,1793080487209619964,7.551167159e-05,-3.957541407e-04,3.551007745e-04,8.041009959e-05,-3.990244226e-04,3.476656817e-04,9.342456746e-05,-3.618379327e-04,3.428619643e-04,7.020311813e-01,-4.178420521e-04,8.604985466e-01,7.020360797e-01,-4.211123340e-04,8.604911115e-01,7.028395537e-01,-4.748898307e-04,8.306685240e-01
+34,4.633333333e+00,UP_FORCE_RAMP,1793080487438608754,6.713825350e-05,-3.988304511e-04,3.697257363e-04,6.834648503e-05,-4.001268073e-04,3.638072036e-04,8.123242840e-05,-3.628127134e-04,3.588006875e-04,7.020228079e-01,-4.209183625e-04,8.605131716e-01,7.020240161e-01,-4.222147187e-04,8.605072530e-01,7.028273615e-01,-4.758646115e-04,8.306844627e-01
+35,4.716666667e+00,UP_FORCE_RAMP,1793080487520513875,5.871875984e-05,-3.946767668e-04,3.717937225e-04,6.069800207e-05,-3.894925970e-04,3.731195598e-04,7.341919441e-05,-3.531838493e-04,3.679221230e-04,7.020143884e-01,-4.167646782e-04,8.605152396e-01,7.020163676e-01,-4.115805084e-04,8.605165654e-01,7.028195483e-01,-4.662357473e-04,8.306935841e-01
+36,4.900000000e+00,UP_FORCE_RAMP,1793080487701429987,5.635921741e-05,-3.878092550e-04,3.874101798e-04,6.069800207e-05,-3.894925970e-04,3.731195598e-04,7.326064814e-05,-3.531707346e-04,3.683957141e-04,7.020120288e-01,-4.098971664e-04,8.605308560e-01,7.020163676e-01,-4.115805084e-04,8.605165654e-01,7.028193897e-01,-4.662226327e-04,8.306940577e-01
+37,5.116666667e+00,UP_FORCE_RAMP,1793080487914130975,4.943763290e-05,-3.916094823e-04,4.036071070e-04,5.552959555e-05,-3.880431515e-04,3.928331542e-04,6.803622623e-05,-3.518457676e-04,3.877445073e-04,7.020051073e-01,-4.136973937e-04,8.605470530e-01,7.020111992e-01,-4.101310629e-04,8.605362790e-01,7.028141653e-01,-4.648976656e-04,8.307134065e-01
+38,5.316666667e+00,UP_FORCE_RAMP,1793080488110384559,4.103171247e-05,-3.889416461e-04,4.179623275e-04,4.590550016e-05,-3.904367592e-04,4.138862623e-04,5.835905587e-05,-3.539807895e-04,4.083261527e-04,7.019967013e-01,-4.110295575e-04,8.605614082e-01,7.020015751e-01,-4.125246706e-04,8.605573321e-01,7.028044882e-01,-4.670326875e-04,8.307339881e-01
+39,5.583333333e+00,UP_FORCE_RAMP,1793080488372465479,2.894543545e-05,-3.875215237e-04,4.382587753e-04,3.650808956e-05,-3.860570636e-04,4.318989962e-04,4.873146477e-05,-3.499675562e-04,4.263215169e-04,7.019846151e-01,-4.096094351e-04,8.605817046e-01,7.019921777e-01,-4.081449750e-04,8.605753448e-01,7.027948606e-01,-4.630194542e-04,8.307519835e-01
+40,5.816666667e+00,UP_FORCE_RAMP,1793080488601766460,1.868294966e-05,-3.845916326e-04,4.565473566e-04,2.613295058e-05,-3.855446378e-04,4.518718705e-04,3.804021723e-05,-3.494504489e-04,4.460766817e-04,7.019743526e-01,-4.066795440e-04,8.605999932e-01,7.019818026e-01,-4.076325492e-04,8.605953177e-01,7.027841693e-01,-4.625023469e-04,8.307717387e-01
+41,6.050000000e+00,UP_FORCE_RAMP,1793080488830750820,8.869123585e-06,-3.835254420e-04,4.785978839e-04,1.509544803e-05,-3.844030516e-04,4.684987468e-04,2.666498887e-05,-3.484025396e-04,4.626800805e-04,7.019645387e-01,-4.056133534e-04,8.606220437e-01,7.019707651e-01,-4.064909630e-04,8.606119446e-01,7.027727941e-01,-4.614544376e-04,8.307883421e-01
+42,6.133333333e+00,UP_FORCE_RAMP,1793080488913283158,-1.877134096e-05,-3.839892136e-04,4.766515719e-04,-2.014093193e-05,-3.830307343e-04,4.719396638e-04,-9.373765986e-06,-3.470728163e-04,4.661488245e-04,7.019368983e-01,-4.060771250e-04,8.606200974e-01,7.019355287e-01,-4.051186457e-04,8.606153855e-01,7.027367553e-01,-4.601247144e-04,8.307918108e-01
+43,6.250000000e+00,UP_FORCE_RAMP,1793080489027434598,-2.446529127e-05,-3.790221290e-04,4.871853528e-04,-2.014093193e-05,-3.830307343e-04,4.719396638e-04,-9.873792316e-06,-3.470576752e-04,4.664819027e-04,7.019312043e-01,-4.011100404e-04,8.606306312e-01,7.019355287e-01,-4.051186457e-04,8.606153855e-01,7.027362553e-01,-4.601095732e-04,8.307921439e-01
+44,6.450000000e+00,UP_FORCE_RAMP,1793080489241424926,-3.350507512e-05,-3.783048854e-04,5.010281284e-04,-2.307113593e-05,-3.789188164e-04,4.952494587e-04,-1.309602407e-05,-3.433212061e-04,4.893109957e-04,7.019221645e-01,-4.003927968e-04,8.606444740e-01,7.019325985e-01,-4.010067278e-04,8.606386953e-01,7.027330331e-01,-4.563731041e-04,8.308149730e-01
+45,6.683333333e+00,UP_FORCE_HOLD,1793080489470009058,-4.002688039e-05,-3.813118546e-04,5.203975161e-04,-3.450007026e-05,-3.753919910e-04,5.127696899e-04,-2.509275986e-05,-3.400687698e-04,5.068205565e-04,7.019156427e-01,-4.033997660e-04,8.606638434e-01,7.019211696e-01,-3.974799024e-04,8.606562155e-01,7.027210363e-01,-4.531206678e-04,8.308324825e-01
+46,6.933333333e+00,UP_SETTLE,1793080489752048269,-5.244405223e-05,-3.739397141e-04,5.357831127e-04,-4.553843162e-05,-3.767282625e-04,5.303521942e-04,-3.665120552e-05,-3.412175404e-04,5.243455034e-04,7.019032256e-01,-3.960276255e-04,8.606792290e-01,7.019101312e-01,-3.988161739e-04,8.606737980e-01,7.027094779e-01,-4.542694384e-04,8.308500075e-01
+47,7.166666667e+00,UP_SETTLE,1793080489977557077,-5.948790055e-05,-3.724966335e-04,5.533047546e-04,-5.727465331e-05,-3.782128621e-04,5.466160323e-04,-4.892792321e-05,-3.425384177e-04,5.405459787e-04,7.018961817e-01,-3.945845449e-04,8.606967506e-01,7.018983950e-01,-4.003007735e-04,8.606900619e-01,7.026972012e-01,-4.555903157e-04,8.308662080e-01
+48,7.433333333e+00,UP_SETTLE,1793080490257246898,-7.036055439e-05,-3.722541300e-04,5.682718346e-04,-6.706058296e-05,-3.711905228e-04,5.628949835e-04,-5.928241368e-05,-3.361036548e-04,5.568485257e-04,7.018853091e-01,-3.943420414e-04,8.607117177e-01,7.018886090e-01,-3.932784342e-04,8.607063408e-01,7.026868467e-01,-4.491555528e-04,8.308825105e-01
+49,7.700000000e+00,UP_SETTLE,1793080490520014657,-8.158039355e-05,-3.657057076e-04,5.777204193e-04,-7.995329655e-05,-3.682633899e-04,5.803454590e-04,-7.271133123e-05,-3.334276328e-04,5.741526187e-04,7.018740892e-01,-3.877936190e-04,8.607211663e-01,7.018757163e-01,-3.903513013e-04,8.607237913e-01,7.026734178e-01,-4.464795309e-04,8.308998146e-01
+50,7.883333333e+00,UP_SETTLE,1793080490714703696,-8.353577962e-05,-3.702552039e-04,5.911754405e-04,-7.995329655e-05,-3.682633899e-04,5.803454590e-04,-7.316737848e-05,-3.333988049e-04,5.747735129e-04,7.018721338e-01,-3.923431153e-04,8.607346213e-01,7.018757163e-01,-3.903513013e-04,8.607237913e-01,7.026729617e-01,-4.464507029e-04,8.309004355e-01
+51,8.166666667e+00,UP_SETTLE,1793080490993076734,-9.331152166e-05,-3.663309891e-04,5.976823999e-04,-9.240231122e-05,-3.610032453e-04,5.948132028e-04,-8.617523166e-05,-3.268183075e-04,5.891956835e-04,7.018623581e-01,-3.884189005e-04,8.607411282e-01,7.018632673e-01,-3.830911567e-04,8.607382590e-01,7.026599539e-01,-4.398702055e-04,8.309148577e-01
+52,8.316666667e+00,UP_SETTLE,1793080491157971256,-9.471612984e-05,-3.977829873e-04,6.066467456e-04,-9.458827309e-05,-3.978685318e-04,6.066134939e-04,-8.849504570e-05,-3.599260842e-04,6.007555291e-04,7.018609535e-01,-4.198708987e-04,8.607500926e-01,7.018610814e-01,-4.199564432e-04,8.607500593e-01,7.026576341e-01,-4.729779822e-04,8.309264175e-01
+53,8.400000000e+00,UP_SETTLE,1793080491239197590,-1.041672307e-04,-3.751505394e-04,6.136391829e-04,-1.015003032e-04,-3.719827097e-04,6.125901623e-04,-9.564485763e-05,-3.366905498e-04,6.067899259e-04,7.018515024e-01,-3.972384508e-04,8.607570850e-01,7.018541693e-01,-3.940706211e-04,8.607560360e-01,7.026504842e-01,-4.497424479e-04,8.309324519e-01
+54,8.566666667e+00,UP_SETTLE,1793080491403235229,-1.055489468e-04,-3.699866936e-04,6.163814772e-04,-1.015003032e-04,-3.719827097e-04,6.125901623e-04,-9.598934555e-05,-3.366711975e-04,6.072747616e-04,7.018501207e-01,-3.920746050e-04,8.607598273e-01,7.018541693e-01,-3.940706211e-04,8.607560360e-01,7.026501398e-01,-4.497230955e-04,8.309329368e-01
+55,8.750000000e+00,UP_SETTLE,1793080491583777972,-1.289200734e-04,-3.763229758e-04,6.069501527e-04,-1.285040469e-04,-3.764028973e-04,6.067826945e-04,-1.236523602e-04,-3.406002738e-04,6.021462375e-04,7.018267496e-01,-3.984108872e-04,8.607503960e-01,7.018271656e-01,-3.984908087e-04,8.607502285e-01,7.026224767e-01,-4.536521718e-04,8.309278082e-01
+56,8.933333333e+00,UP_SETTLE,1793080491762867102,-1.281496262e-04,-3.686019145e-04,6.203600853e-04,-1.285040469e-04,-3.764028973e-04,6.067826945e-04,-1.244167171e-04,-3.406044784e-04,6.023994417e-04,7.018275200e-01,-3.906898259e-04,8.607638059e-01,7.018271656e-01,-3.984908087e-04,8.607502285e-01,7.026217124e-01,-4.536563764e-04,8.309280614e-01
+57,9.166666667e+00,UP_SETTLE,1793080491992747266,-1.317682437e-04,-3.726110564e-04,6.251594533e-04,-1.280421021e-04,-3.699695089e-04,6.258227270e-04,-1.242667070e-04,-3.347533462e-04,6.209923898e-04,7.018239014e-01,-3.946989679e-04,8.607686053e-01,7.018276275e-01,-3.920574203e-04,8.607692686e-01,7.026218624e-01,-4.478052442e-04,8.309466544e-01
+58,9.383333333e+00,UP_SETTLE,1793080492206100014,-1.317352273e-04,-3.756635294e-04,6.296554068e-04,-1.280421021e-04,-3.699695089e-04,6.258227270e-04,-1.246073188e-04,-3.347337584e-04,6.214348846e-04,7.018239344e-01,-3.977514408e-04,8.607731013e-01,7.018276275e-01,-3.920574203e-04,8.607692686e-01,7.026215218e-01,-4.477856564e-04,8.309470969e-01
+59,9.650000000e+00,UP_SETTLE,1793080492467793245,-1.348633519e-04,-3.696963794e-04,6.313033979e-04,-1.280421021e-04,-3.699695089e-04,6.258227270e-04,-1.249397418e-04,-3.347148189e-04,6.218555521e-04,7.018208063e-01,-3.917842908e-04,8.607747492e-01,7.018276275e-01,-3.920574203e-04,8.607692686e-01,7.026211894e-01,-4.477667169e-04,8.309475175e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3c4198a4849bcef0a1269431567b24c623c13ed2
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,2.8873e-01,1.0478e+00,2.4737e+00,-1.1305e-01,5.7500e-02,2.5308e-03,1.4767e-03,-1.4019e-04,-1.0586e-04,9.5516e-06,9.5766e-05,-5.7928e-07,1.4871e-03,9.6243e-05
+1,2.5000e-01,WAIT_W2,5.8356e-05,3.2438e-01,1.0436e+00,2.4750e+00,-1.1272e-01,6.0083e-02,2.2534e-03,3.7128e-02,-4.3651e-03,1.1787e-03,3.4010e-04,2.6790e-03,-2.7798e-04,3.7402e-02,2.7148e-03
+2,4.6667e-01,WAIT_W2,1.1428e-04,3.5023e-01,1.0425e+00,2.4700e+00,-1.1264e-01,6.1841e-02,2.0393e-03,6.2980e-02,-5.4715e-03,-3.8071e-03,4.2328e-04,4.4367e-03,-4.9207e-04,6.3332e-02,4.4839e-03
+3,6.3333e-01,WAIT_W2,1.7105e-04,3.7313e-01,1.0397e+00,2.4676e+00,-1.1243e-01,6.3508e-02,1.8509e-03,8.5878e-02,-8.2502e-03,-6.1631e-03,6.2641e-04,6.1041e-03,-6.8041e-04,8.6493e-02,6.1738e-03
+4,6.8333e-01,WAIT_W2,2.5209e-04,3.7364e-01,1.0397e+00,2.4681e+00,-1.1243e-01,6.3544e-02,1.8507e-03,8.6393e-02,-8.2868e-03,-5.6510e-03,6.2946e-04,6.1395e-03,-6.8061e-04,8.6973e-02,6.2091e-03
+5,7.0000e-01,WAIT_W2,3.1359e-04,3.9324e-01,2.5229e+00,2.3846e+00,-2.1977e-01,6.5095e-02,2.2540e-03,1.0598e-01,1.4750e+00,-8.9218e-02,-1.0671e-01,7.6910e-03,-2.7729e-04,1.4815e+00,1.0699e-01
+6,7.0000e-01,WAIT_W2,3.1359e-04,3.9324e-01,2.5229e+00,2.3846e+00,-2.1977e-01,6.5095e-02,2.2540e-03,1.0598e-01,1.4750e+00,-8.9218e-02,-1.0671e-01,7.6910e-03,-2.7729e-04,1.4815e+00,1.0699e-01
+7,7.1667e-01,WAIT_W2,4.5738e-04,4.0448e-01,3.7944e+00,2.3981e+00,-3.1201e-01,6.5936e-02,2.9092e-03,1.1723e-01,2.7465e+00,-7.5644e-02,-1.9895e-01,8.5315e-03,3.7790e-04,2.7500e+00,1.9913e-01
+8,7.1667e-01,WAIT_W2,4.5738e-04,4.0448e-01,3.7944e+00,2.3981e+00,-3.1201e-01,6.5936e-02,2.9092e-03,1.1723e-01,2.7465e+00,-7.5644e-02,-1.9895e-01,8.5315e-03,3.7790e-04,2.7500e+00,1.9913e-01
+9,7.3333e-01,WAIT_W2,5.5547e-04,4.4985e-01,6.7478e+00,2.3186e+00,-5.2598e-01,6.9192e-02,4.1877e-03,1.6260e-01,5.6999e+00,-1.5524e-01,-4.1292e-01,1.1788e-02,1.6564e-03,5.7043e+00,4.1309e-01
+10,7.3333e-01,WAIT_W2,5.5547e-04,4.4985e-01,6.7478e+00,2.3186e+00,-5.2598e-01,6.9192e-02,4.1877e-03,1.6260e-01,5.6999e+00,-1.5524e-01,-4.1292e-01,1.1788e-02,1.6564e-03,5.7043e+00,4.1309e-01
+11,7.5000e-01,WAIT_W2,6.9833e-04,4.7281e-01,8.7191e+00,2.3037e+00,-6.6987e-01,7.1065e-02,5.7341e-03,1.8556e-01,7.6712e+00,-1.7012e-01,-5.5681e-01,1.3661e-02,3.2028e-03,7.6753e+00,5.5699e-01
+12,7.5000e-01,WAIT_W2,6.9833e-04,4.7281e-01,8.7191e+00,2.3037e+00,-6.6987e-01,7.1065e-02,5.7341e-03,1.8556e-01,7.6712e+00,-1.7012e-01,-5.5681e-01,1.3661e-02,3.2028e-03,7.6753e+00,5.5699e-01
+13,7.6667e-01,WAIT_W2,7.2754e-04,5.6419e-01,1.1580e+01,2.2724e+00,-8.7710e-01,7.7607e-02,7.5052e-03,2.7694e-01,1.0532e+01,-2.0140e-01,-7.6404e-01,2.0203e-02,4.9739e-03,1.0537e+01,7.6432e-01
+14,8.0000e-01,WAIT_W2,8.2940e-04,3.7086e-01,1.1005e+01,2.0826e+00,-8.3721e-01,6.4000e-02,1.2617e-02,8.3613e-02,9.9574e+00,-3.9115e-01,-7.2415e-01,6.5960e-03,1.0086e-02,9.9654e+00,7.2425e-01
+15,8.3333e-01,WAIT_W2,8.7358e-04,2.1764e-01,9.9982e+00,1.9372e+00,-7.6627e-01,5.3162e-02,1.2556e-02,-6.9612e-02,8.9503e+00,-5.3657e-01,-6.5321e-01,-4.2423e-03,1.0025e-02,8.9666e+00,6.5330e-01
+16,8.6667e-01,WAIT_W2,9.2731e-04,1.1517e-01,1.0388e+01,1.6393e+00,-7.9773e-01,4.6051e-02,1.2946e-02,-1.7208e-01,9.3397e+00,-8.3453e-01,-6.8467e-01,-1.1353e-02,1.0415e-02,9.3784e+00,6.8484e-01
+17,9.1667e-01,WAIT_W2,9.8524e-04,-8.4382e-02,9.9622e+00,1.3790e+00,-7.7132e-01,3.3136e-02,1.3158e-02,-3.7163e-01,8.9142e+00,-1.0948e+00,-6.5826e-01,-2.4268e-02,1.0626e-02,8.9889e+00,6.5880e-01
+18,9.8333e-01,WAIT_W2,1.0356e-03,-2.2760e-01,9.7508e+00,1.0454e+00,-7.6211e-01,2.2623e-02,1.7265e-02,-5.1485e-01,8.7029e+00,-1.4284e+00,-6.4905e-01,-3.4781e-02,1.4734e-02,8.8344e+00,6.5015e-01
+19,1.1167e+00,WAIT_W2,1.0933e-03,-2.4155e-01,9.6718e+00,1.0174e+00,-7.5710e-01,2.1703e-02,1.7289e-02,-5.2881e-01,8.6238e+00,-1.4564e+00,-6.4405e-01,-3.5701e-02,1.4758e-02,8.7619e+00,6.4520e-01
+20,1.3333e+00,WAIT_W2,1.1550e-03,-2.2099e-01,9.5526e+00,1.0295e+00,-7.4967e-01,2.3012e-02,1.7325e-02,-5.0824e-01,8.5047e+00,-1.4443e+00,-6.3661e-01,-3.4392e-02,1.4793e-02,8.6414e+00,6.3771e-01
+21,1.4833e+00,UP_FORCE_RAMP,1.2128e-03,-7.9380e-02,9.4137e+00,1.2194e+00,-7.4092e-01,3.2187e-02,1.7372e-02,-3.6663e-01,8.3657e+00,-1.2544e+00,-6.2786e-01,-2.5217e-02,1.4840e-02,8.4672e+00,6.2855e-01
+22,1.7000e+00,UP_FORCE_RAMP,1.2704e-03,7.0195e-02,9.4527e+00,1.4512e+00,-7.4282e-01,4.2351e-02,1.7315e-02,-2.1706e-01,8.4048e+00,-1.0226e+00,-6.2976e-01,-1.5053e-02,1.4784e-02,8.4695e+00,6.3012e-01
+23,1.9333e+00,UP_FORCE_RAMP,1.3246e-03,1.4476e-01,9.3954e+00,1.4490e+00,-7.3644e-01,4.8615e-02,1.5385e-02,-1.4249e-01,8.3475e+00,-1.0248e+00,-6.2338e-01,-8.7897e-03,1.2854e-02,8.4113e+00,6.2357e-01
+24,2.2000e+00,UP_FORCE_RAMP,1.3837e-03,1.5581e-01,9.1244e+00,1.4992e+00,-7.1696e-01,4.9997e-02,1.4747e-02,-1.3144e-01,8.0765e+00,-9.7458e-01,-6.0390e-01,-7.4068e-03,1.2215e-02,8.1362e+00,6.0407e-01
+25,2.4500e+00,UP_FORCE_RAMP,1.4412e-03,2.4054e-01,9.1700e+00,1.5992e+00,-7.1995e-01,5.6008e-02,1.3409e-02,-4.6710e-02,8.1220e+00,-8.7454e-01,-6.0689e-01,-1.3960e-03,1.0878e-02,8.1691e+00,6.0699e-01
+26,2.7667e+00,UP_FORCE_RAMP,1.4996e-03,3.8673e-01,9.1915e+00,1.6391e+00,-7.1993e-01,6.5811e-02,1.2073e-02,9.9480e-02,8.1436e+00,-8.3470e-01,-6.0687e-01,8.4066e-03,9.5420e-03,8.1869e+00,6.0700e-01
+27,3.0333e+00,UP_FORCE_RAMP,1.5554e-03,3.7501e-01,9.1434e+00,1.7303e+00,-7.1510e-01,6.5055e-02,1.1350e-02,8.7760e-02,8.0954e+00,-7.4347e-01,-6.0204e-01,7.6510e-03,8.8189e-03,8.1300e+00,6.0216e-01
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,3 @@
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+size 624640
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9818b30bcb2da08b8b6a78eca729e334c61a0538
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/fem_node.csv
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3cceb006e9707e4af9afadc9d747abd29dd1b56d
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
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+3619,1793350159708665404,11705827000000,1793350159705261902,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7510324745439897,-0.00634278591841051,0.10286113809783995,0.9999999848610763,9.249994944851331e-05,-0.00010882720015227993,3.634709654078918e-05,0.7511,-0.0065,0.1029071243732309,1.0,0.0,0.0,0.0,-0.043147592100314436,0.02187556520412215,-0.18064732741581002,0.002006020716353321,0.0024606645679629427,0.00020186325041979605,0.09254773566688973,-0.3788493086065639,2.092399477476736,-0.04010794420921209,0.0034569094879149647,-0.023652345525525434,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,2.1959735047008206,-0.896110792027122,-0.27575475128429605,0.6054197332706999,0.8339173645406723,-0.5777771471119331,1.5251891887594113,0.18064732741581002,1.8009439400437075,1.8009439400437075,1.8125971702049468,0,0,-1.545909831116165e-05,2.3618557068070482e-11
+3772,1793350160983628066,11707102000000,1793350160981251797,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7510361848850294,-0.006343623828563126,0.10285335092566275,0.9999999861319092,9.077003953774663e-05,-9.803485642399611e-05,3.645562465924107e-05,0.7511,-0.0065,0.10287001171210823,1.0,0.0,0.0,0.0,-0.06544607248395572,0.025345829435935052,-0.1613020340703626,0.003021479097858111,0.0024384790888403425,0.00019434946953426901,0.07024925528324845,-0.375379044374751,2.1117447708221833,-0.0390924858277073,0.003434724008792364,-0.02365985930641096,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,2.478779808284904,-0.9139257816709724,-0.3014560480574176,0.6099085845124533,0.9284198640474457,-0.5895025582288529,1.5251891887594113,0.1613020340703626,1.8266452368168289,1.8266452368168289,1.9400971702049328,0,0,-4.339472676614798e-05,-9.992016522376019e-05
+3941,1793350162391637335,11708510000000,1793350162389261686,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7510494139675467,-0.00634099878141837,0.10284575553565661,0.9999999881177265,9.553562693979073e-05,-6.84456355849116e-05,3.7357064041482575e-05,0.7511,-0.0065,0.10280930393562698,1.0,0.0,0.0,0.0,-0.10526029993107389,0.057763626958561076,-0.09829761999437547,0.006900244227969955,0.004372933867142045,0.0012426804056554254,0.030435027836130286,-0.342961246852125,2.1747491848981704,-0.03521372069759546,0.005369178787094067,-0.022611528370289805,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.0759095341561262,-0.9094912611969469,-0.6706062565174068,0.6153291500085053,1.354152536996297,-0.5822093025162486,1.5251891887594113,0.09829761999437547,2.195795445276818,2.195795445276818,2.080897170205097,0,0,-3.387295934434575e-05,9.980468815141136e-05
+4114,1793350163833582516,11709952000000,1793350163829260987,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7510565681214969,-0.006340932183720075,0.10283862379506115,0.9999999892970509,9.348675764056063e-05,-5.2593410042776476e-05,3.6645899033020277e-05,0.7511,-0.0065,0.10277964788398057,1.0,0.0,0.0,0.0,-0.12460887106173468,0.07267219734992614,-0.03779903467987333,0.008011614781144698,0.005350735258642249,0.0012202064067426133,0.011086456705469483,-0.3280526764607599,2.2352477702126725,-0.034102350144420715,0.006346980178594271,-0.022634002369202617,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.2427470372984573,-0.8864852053595252,-0.6728398818790559,0.6117998518007194,1.4016007921632134,-0.5656822324747691,1.5251891887594113,0.03779903467987333,2.198029070638467,2.198029070638467,2.225097170205401,0,0,-1.4480445699487037e-05,-9.999961555895993e-05
+4281,1793350165225644394,11711344000000,1793350165221261900,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7510615760732448,-0.006341977055648428,0.10282705149972862,0.9999999900455409,9.069334659973542e-05,-4.210226626216322e-05,3.679536155921987e-05,0.7511,-0.0065,0.10274900551175715,1.0,0.0,0.0,0.0,-0.1441946537954822,0.09131314848802413,0.03368152157840898,0.01000994702389299,0.0063117743664402965,0.0011988388618549804,-0.008499326028278038,-0.3094117253226619,2.306728326470955,-0.03210401790167242,0.0073080192863923185,-0.02265536991409025,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.4304250345827993,-0.9521712653624226,-0.8734568337097774,0.6320264125028684,1.594641241296033,-0.6113640893986368,1.5251891887594113,-0.03368152157840898,2.3986460224691886,2.3986460224691886,2.364297170205695,0,0,-2.6309251961705076e-05,9.999967107011116e-05
+4458,1793350166700548178,11712819000000,1793350166697262067,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7510708255115383,-0.006338513293178854,0.10281058848604178,0.9999999902562609,9.454611830883326e-05,-2.5401239049940914e-05,3.668993300878318e-05,0.7511,-0.0065,0.10271163627595083,1.0,0.0,0.0,0.0,-0.16621126486451288,0.12221444538687243,0.18627235199772407,0.011972217015839073,0.008264826802307716,0.001131639107566567,-0.030515937097308724,-0.2785104284238136,2.45931915689027,-0.03014174790972634,0.009261071722259737,-0.022722569668378663,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.510656742639241,-0.8727332827368672,-0.8944326231698962,0.6101579754809766,1.6280640817189735,-0.5502759471532644,1.5251891887594113,-0.18627235199772407,2.4196218119293076,2.4196218119293076,2.5117971702060062,0,0,-2.1798615561256736e-05,-9.998103320108526e-05
+4637,1793350168191561569,11714310000000,1793350168189251944,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7510818582715826,-0.0063411241678933495,0.10280641893637518,0.9999999910515642,8.962175199825828e-05,-5.822164263877873e-06,3.5690051678718785e-05,0.7511,-0.0065,0.10268266470671059,1.0,0.0,0.0,0.0,-0.19512920596371103,0.14315298632172563,0.28592228445453216,0.013927866888219766,0.010225799027924275,0.0021251443440323155,-0.05943387819650687,-0.2575718874889604,2.558969089347078,-0.028186098037345647,0.011222043947876296,-0.021729064431912914,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.6200337421637006,-0.9800633663859456,-1.139810814979279,0.6462019618023731,1.8329480951987378,-0.6317300448990465,1.5251891887594113,-0.28592228445453216,2.6650000037386903,2.6650000037386903,2.660897170206321,0,0,-2.674401901739542e-05,8.960913541600774e-05
+4810,1793350169633532718,11715752000000,1793350169629261394,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7510921333881092,-0.006345937727367292,0.10278934626394574,0.9999999906629278,9.163660125164816e-05,1.3223929546241012e-05,3.930483296226618e-05,0.7511,-0.0065,0.10264146148922698,1.0,0.0,0.0,0.0,-0.22438022273637595,0.17206157615639844,0.43466027006704255,0.015891121646822375,0.012181316623247479,0.002055099159187567,-0.08868489496917178,-0.2286632976542876,2.7077070749595884,-0.026222843278743038,0.0131775615431995,-0.021799109616757663,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.7214286642334953,-0.8710043642763614,-1.3080679817507959,0.6076697571045604,1.9766676597115582,-0.5484988038172335,1.5251891887594113,-0.43466027006704255,2.8332571705102074,2.8332571705102074,2.805097170206625,0,0,-2.7581792298699053e-05,9.921875407237763e-05
+4971,1793350170975558190,11717094000000,1793350170973261400,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511002855158301,-0.006342350853482181,0.10277635612353246,0.9999999902381002,9.277602708577279e-05,2.83570804412894e-05,3.943537631548503e-05,0.7511,-0.0065,0.10260542143132781,1.0,0.0,0.0,0.0,-0.25443930836702217,0.20378270517941852,0.5473514536227024,0.018839128621013234,0.014120868586000907,0.003054009687138714,-0.11874398059981799,-0.19694216863126754,2.8203982585152483,-0.02327483630455218,0.015117113505952929,-0.020800199088806516,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.7993468700626685,-0.9552942862348976,-1.4743875756442943,0.6324234859527827,2.1104240277130364,-0.6119706610908712,1.5251891887594113,-0.5473514536227024,2.999576764403706,2.999576764403706,2.9392971702069084,0,0,-3.11259429660885e-05,9.974762268794563e-05
+5132,1793350172316619148,11718435000000,1793350172313261662,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7511132023355307,-0.006341401664751871,0.10276001888156906,0.9999999890256182,9.557689014404202e-05,5.1936749274670214e-05,3.948746672673895e-05,0.7511,-0.0065,0.1025601278522545,1.0,0.0,0.0,0.0,-0.28432889275312134,0.23755101542474405,0.6801014986025335,0.021851964481525186,0.016060252567288845,0.0030094567429480926,-0.14863356498591715,-0.163173858385942,2.9531483034950794,-0.020262000444040227,0.017056497487240866,-0.020844752032997137,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.897538566393531,-0.9638822644090715,-1.4363558687938645,0.6389484450001208,2.10443100015107,-0.6171594111026204,1.5251891887594113,-0.6801014986025335,2.961545057553276,2.961545057553276,3.0733971702071914,0,0,-3.1742063806598726e-05,-9.997982583354598e-05
+5298,1793350173700599718,11719819000000,1793350173697262130,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511221565691932,-0.006342916786589628,0.10274148547692699,0.9999999880811328,9.532278108787657e-05,6.788615121255641e-05,3.982005242549383e-05,0.7511,-0.0065,0.10252146302803751,1.0,0.0,0.0,0.0,-0.3067147236449827,0.2718832075969838,0.8116521929434413,0.023807575737889743,0.018091560274163487,0.0037841296913805923,-0.17101939587777854,-0.12884166621370222,3.084698997835987,-0.01830638918767567,0.019087805194115508,-0.020070079084564638,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.8758169489421257,-0.9888681670180002,-1.6458111919306253,0.6486279853481299,2.2408004207541325,-0.6354895600611115,1.5251891887594113,-0.8116521929434413,3.1710003806900366,3.1710003806900366,3.2117971702074835,0,0,-2.845201679399357e-05,-8.452546581961257e-05
+5467,1793350175108609753,11721227000000,1793350175105252498,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511311788327547,-0.006340599871910429,0.1027302879383537,0.9999999870771539,9.314497800524398e-05,8.422911708957418e-05,3.8961846341645084e-05,0.7511,-0.0065,0.10248633561211973,1.0,0.0,0.0,0.0,-0.334206366800544,0.2966764194960588,0.9290677569558081,0.02577294018705359,0.01997593227436653,0.003938467217977984,-0.19851103903333983,-0.10404845431462728,3.202114561848354,-0.016341024738511824,0.020972177194318552,-0.019915741557967246,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,3.9688754248329214,-0.9189169250545142,-1.777191288502428,0.6287605956997789,2.3570339034283614,-0.5832942336392318,1.5251891887594113,-0.9290677569558081,3.3023804772618393,3.3023804772618393,3.3525971702077806,0,0,-2.7207205095829086e-05,-9.997954827778983e-05
+5637,1793350176525524451,11722644000000,1793350176525252389,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.751141155235337,-0.006342211609740032,0.10271225490902575,0.9999999854329362,9.119021816101379e-05,0.00010393628739840664,3.819141427184934e-05,0.7511,-0.0065,0.10244216958550684,1.0,0.0,0.0,0.0,-0.364336877453616,0.3393335044566252,1.060552877631192,0.028756696086182667,0.021915767412244172,0.0039381721554280595,-0.22864154968641184,-0.061391369354060865,3.333599682523738,-0.013357268839382746,0.022912012332196193,-0.01991603662051717,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.028783845869886,-0.9507743658386633,-1.9051603506531596,0.6351761848127393,2.458580516728001,-0.6096953908896885,1.5251891887594113,-1.060552877631192,3.430349539412571,3.430349539412571,3.4942971702080796,0,0,-3.4308741510306835e-05,-9.934126718314502e-05
+5819,1793350178041601802,11724160000000,1793350178041252024,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511553620636053,-0.006345494284521804,0.10269388266115818,0.9999999825765333,9.13626064565648e-05,0.00012782268683809897,4.0050373539394834e-05,0.7511,-0.0065,0.10239212372986864,1.0,0.0,0.0,0.0,-0.4040028489691169,0.36754067469485563,1.2160860972857264,0.03172807272025533,0.024858093101940773,0.0048784722511819,-0.26830752120191276,-0.03318419911583044,3.489132902178272,-0.01038589220531008,0.025854338021892794,-0.01897573652476333,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.135073428195011,-0.9958437091699803,-2.0679741914239838,0.6526878385791419,2.5999653314836517,-0.6376948213672431,1.5251891887594113,-1.2160860972857264,3.593163380183395,3.593163380183395,3.6458971702083995,0,0,-3.0631299034770916e-05,-9.999801961336203e-05
+6003,1793350179575587871,11725694000000,1793350179573261635,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511660687900832,-0.0063393157233321345,0.10267398894593278,0.9999999795423212,9.41386716197915e-05,0.00014844572673334942,3.820992094065663e-05,0.7511,-0.0065,0.10234643739469783,1.0,0.0,0.0,0.0,-0.4341479003678234,0.40680798890100645,1.3575545460328642,0.034682027737234555,0.0267960085423915,0.0048210922667123735,-0.29845257260061925,0.0060831150903204005,3.63060135092541,-0.007431937188330854,0.02779225346234352,-0.019033116509232857,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.276029300108095,-0.9549553078721822,-2.270710507112232,0.6416007920958733,2.781027460913439,-0.6088073790133299,1.5251891887594113,-1.3575545460328642,3.7958996958716433,3.7958996958716433,3.7992971702087233,0,0,-3.121967410005399e-05,9.999994862586731e-05
+6182,1793350181066588367,11727185000000,1793350181065261131,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511767052935224,-0.006343566001565759,0.10265600815838612,0.999999976559183,9.332485681749738e-05,0.0001670278387480123,4.1432718521093676e-05,0.7511,-0.0065,0.10230069560565605,1.0,0.0,0.0,0.0,-0.4575857803922348,0.4340116116095396,1.486746283144015,0.03564361641544896,0.027805124555696593,0.005768233114978611,-0.32189045262503063,0.03328673779885352,3.759793088036561,-0.0064703485101164524,0.028801369475648615,-0.01808597566096662,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.27859120352005,-0.919186493800832,-2.3812619079882986,0.6329146921646465,2.8532753346074062,-0.5816951047902521,1.5251891887594113,-1.486746283144015,3.90645109674771,3.90645109674771,3.948397170209038,0,0,-3.3908150533250254e-05,-8.774013046520252e-05
+6341,1793350182391544747,11728510000000,1793350182389261752,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511858938341391,-0.006347005647700811,0.10263390977834896,0.9999999734583523,9.298344564500316e-05,0.00018443744910224416,4.316323841795029e-05,0.7511,-0.0065,0.10225907114003165,1.0,0.0,0.0,0.0,-0.4821018850501945,0.4640846785126984,1.617675248567049,0.03760809027571001,0.02971503881737875,0.005713395540057713,-0.34640655728299036,0.06335980470201236,3.8907220534595948,-0.004505874649855407,0.030711283737330772,-0.018140813235887517,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.402448514600113,-0.9503882261698288,-2.596446142354939,0.6414671746500435,3.0359765376936196,-0.6005500017217047,1.5251891887594113,-1.617675248567049,4.1216353311143505,4.1216353311143505,4.080897170208958,0,0,-3.049202286911778e-05,9.939995634778426e-05
+6510,1793350183800536682,11729919000000,1793350183797263175,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7511973757464714,-0.006340215545105469,0.10261604794092245,0.9999999696351984,9.312522186362887e-05,0.00020460565927558395,4.045594919226812e-05,0.7511,-0.0065,0.10221511883560931,1.0,0.0,0.0,0.0,-0.5041169134111314,0.5006737067165764,1.7453445011598308,0.04058294944237384,0.03164884983112496,0.006701466959356847,-0.3684215856439272,0.09994883290589032,4.018391306052377,-0.0015310154831915752,0.032645094751076985,-0.017152741816588383,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.4770332477587065,-0.9105639589786017,-2.708317606535442,0.6306844126836646,3.139422127664503,-0.5703736816065946,1.5251891887594113,-1.7453445011598308,4.233506795294853,4.233506795294853,4.22179717020863,0,0,-3.066199955462234e-05,9.772707229427908e-05
+6666,1793350185100571615,11731219000000,1793350185093261985,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7512065803185367,-0.006343130933909344,0.1025947560573054,0.9999999659939575,9.432324956643156e-05,0.0002213183036756164,3.970241020359879e-05,0.7511,-0.0065,0.1021685716280247,1.0,0.0,0.0,0.0,-0.5338302678496303,0.5377407466582976,1.8729782367622003,0.04287614113566712,0.033603871022824416,0.006652953554653021,-0.3981349400824261,0.13701587284761158,4.146025041654746,0.0007621762101017133,0.03460011594277644,-0.01720125522129221,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.55942656692386,-0.8831112685729161,-2.7993353130273295,0.6200319147548211,3.21993287488383,-0.55242401215583,1.5251891887594113,-1.8729782367622003,4.32452450178674,4.32452450178674,4.351797170208327,0,0,-4.139613639782886e-05,8.756499284772803e-05
+6823,1793350186408535024,11732527000000,1793350186405262227,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7512169141081352,-0.006344648084172574,0.1025716707218924,0.9999999620360459,9.207052430835077e-05,0.00023918633637738814,4.103274589161222e-05,0.7511,-0.0065,0.10212111510831982,1.0,0.0,0.0,0.0,-0.5597669484994654,0.5786234791601039,2.0040792383872224,0.0455396446392767,0.035325078216259076,0.006612218168933936,-0.4240716207322612,0.17789860534941793,4.277126043279768,0.003425679713711284,0.0363213231362111,-0.017241990607011294,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.563622095184922,-0.9758454617918703,-2.953036482291953,0.6515976075029442,3.324175889803873,-0.620505396732478,1.5251891887594113,-2.0040792383872224,4.478225671051364,4.478225671051364,4.482597170208022,0,0,-2.99246173160198e-05,9.2155182122805e-05
+7004,1793350187916519021,11734035000000,1793350187913251625,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7512285878758864,-0.006344858320974482,0.10254977126016257,0.9999999563477291,9.366304438562803e-05,0.00026102692392873596,4.2890364095556836e-05,0.7511,-0.0065,0.10206837597120974,1.0,0.0,0.0,0.0,-0.5750575215319624,0.6024733067215254,2.1162468689643013,0.04853798050301074,0.036475597004698594,0.007591256046975903,-0.43936219376475827,0.20174843291083938,4.389293673856847,0.006424015577445325,0.03747184192465062,-0.016262952728969327,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.575571241022088,-0.9428898540231758,-3.0591591819958364,0.6480254338986737,3.395332219827652,-0.5963761685143798,1.5251891887594113,-2.1162468689643013,4.584348370755247,4.584348370755247,4.633397170207671,0,0,-4.249150429710825e-05,-9.990238777757838e-05
+7183,1793350189408550419,11735527000000,1793350189401261768,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7512406141251422,-0.00634416187772582,0.10251870197089916,0.9999999505886803,9.400179705655202e-05,0.0002820358966242571,4.341562454865072e-05,0.7511,-0.0065,0.10201043639057028,1.0,0.0,0.0,0.0,-0.5960862025628757,0.6559659692851233,2.2778801028821944,0.05151852569927767,0.03840747967945456,0.007524139583832041,-0.46039087479567153,0.25524109547443724,4.55092690777474,0.009404560773712257,0.03940372459940659,-0.01633006919211319,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.736122436368153,-0.9200428418641152,-3.2229719998951354,0.6409752731548195,3.5540999862836107,-0.5784538691548049,1.5251891887594113,-2.2778801028821944,4.748161188654547,4.748161188654547,4.782597170207323,0,0,-3.066581568819527e-05,-7.683939182013261e-05
+7350,1793350190800518776,11736919000000,1793350190793262156,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7512525425876014,-0.006343985594278196,0.10249209330485748,0.9999999436274526,9.47770791051453e-05,0.0003056345791447957,4.234105952556229e-05,0.7511,-0.0065,0.1019604937069002,1.0,0.0,0.0,0.0,-0.6161743203400083,0.6760537528218882,2.405773195654826,0.05349978790529678,0.03934932443299177,0.00848437113779309,-0.4804789925728042,0.2753288790112021,4.678820000547372,0.011385822979731368,0.0403455693529438,-0.01536983763815214,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.839126631714578,-0.9786839617721383,-3.4673754162042743,0.664428228419386,3.7560380006597067,-0.6173895285113027,1.5251891887594113,-2.405773195654826,4.992564604963686,4.992564604963686,4.9217971702069985,0,0,-3.7503850154581346e-05,9.999932412541596e-05
+7527,1793350192275546899,11738394000000,1793350192273252604,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7512606442586885,-0.006344124220721888,0.10245590850333763,0.9999999389160998,9.394781948367042e-05,0.0003205662916056376,4.4963549553301963e-05,0.7511,-0.0065,0.10190225037871894,1.0,0.0,0.0,0.0,-0.6370147983964638,0.7183323838423861,2.524847899950965,0.05648613015474004,0.04129044381408836,0.0084485385337199,-0.5013194706292596,0.3176075100317,4.797894704843511,0.014372165229174628,0.04228668873404039,-0.01540567024222533,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.984058354464856,-0.9721185974117762,-3.4786301830521578,0.658075172921301,3.80253675756417,-0.6164400465949827,1.5251891887594113,-2.524847899950965,5.003819371811569,5.003819371811569,5.069297170206655,0,0,-4.38472224737182e-05,-8.25720145299968e-05
+7690,1793350193633542632,11739752000000,1793350193633251875,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.751276171876146,-0.006349406511952059,0.10242501524151115,0.999999929931884,9.182748364403639e-05,0.0003478032031924088,4.6687649000037545e-05,0.7511,-0.0065,0.10184218864600136,1.0,0.0,0.0,0.0,-0.6579616868965421,0.7607643967625373,2.6528114210365703,0.059463181504779236,0.04322576989081416,0.009438956827580388,-0.5222663591293379,0.3600395229518512,4.925858225929116,0.017349216579213827,0.04422201481076619,-0.014415251948364842,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.9238654502111565,-0.8935543239514989,-3.5502817217111704,0.6418270069708856,3.8260910061806963,-0.558018663569941,1.5251891887594113,-2.6528114210365703,5.075470910470582,5.075470910470582,5.205097170206338,0,0,-3.967274283675349e-05,-9.999999025923074e-05
+7847,1793350194941519816,11741060000000,1793350194937251868,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7512878790244738,-0.006345790539209436,0.10239790691466624,0.9999999219338254,9.542005454955376e-05,0.000369264823885633,4.5975109926904825e-05,0.7511,-0.0065,0.10178645327340852,1.0,0.0,0.0,0.0,-0.6561212054016448,0.7776406928149382,2.774428502416908,0.06046208735230614,0.04317977183625255,0.009352464875473566,-0.5204258776344406,0.3769158190042522,5.047475307309454,0.018348122426740724,0.04417601675620458,-0.014501743900471663,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.9771176703338496,-0.8531897418371933,-3.816186278221316,0.6294865635081882,4.031061963687763,-0.5259868009875905,1.5251891887594113,-2.774428502416908,5.341375466980727,5.341375466980727,5.335897170206033,0,0,-4.638137482829296e-05,9.999999025923074e-05
+8022,1793350196400485066,11742519000000,1793350196393261649,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7512978579007112,-0.006351874995279651,0.10235211728191929,0.9999999151171598,9.067765999480153e-05,0.00038846339977963135,4.563207965613156e-05,0.7511,-0.0065,0.10171574951421372,1.0,0.0,0.0,0.0,-0.6726800185503027,0.8116708576528453,2.89515015019299,0.062419409709396176,0.04512845879713155,0.010334224103403556,-0.5369846907830985,0.4109459838421592,5.168196955085536,0.02030544478383076,0.046124703717083576,-0.013519984672541674,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.005705129629001,-0.9436388659708138,-3.7742569521035914,0.6539245720495065,4.005650255979278,-0.5966169658781251,1.5251891887594113,-2.89515015019299,5.299446140863003,5.299446140863003,5.481797170205693,0,0,-5.2703141721648035e-05,-9.999999025923074e-05
+8181,1793350197725441083,11743844000000,1793350197725251567,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7513093800430796,-0.006348312197365826,0.10230955287333678,0.9999999070631252,9.494250252152046e-05,0.00040751525230579974,4.726357606523531e-05,0.7511,-0.0065,0.10164554245927013,1.0,0.0,0.0,0.0,-0.6714477227688085,0.8418260468724446,3.0453991871760135,0.06442312808927961,0.04547390262598855,0.010236806343031441,-0.5357523950016043,0.4411011730617585,5.318445992068559,0.022309163163714202,0.046470147545940574,-0.013617402432913789,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.136552712159434,-0.8735788310757592,-4.1031247902128065,0.6370273744843372,4.279067866740725,-0.5415626398249571,1.5251891887594113,-3.0453991871760135,5.628313978972217,5.628313978972217,5.6142971702053845,0,0,-4.8059226991055464e-05,9.999999025923074e-05
+8340,1793350199050409465,11745169000000,1793350199049252259,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7513206688179828,-0.006345598670631493,0.10226802969892988,0.9999998978304064,9.690588536669575e-05,0.00042915418014343094,4.709543532683944e-05,0.7511,-0.0065,0.10157929573645416,1.0,0.0,0.0,0.0,-0.681334246760393,0.860680510567615,3.146086717812525,0.0654018045153615,0.04602964918073668,0.01108934147126294,-0.5456389189931888,0.45995563675692885,5.419133522705071,0.023287839589796088,0.047025894100688706,-0.01276486730468229,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.1461327624651565,-0.9734231552181989,-4.163739971242454,0.6692719976514866,4.321706561677189,-0.6164883013589975,1.5251891887594113,-3.146086717812525,5.688929160001866,5.688929160001866,5.746797170205076,0,0,-5.642145131243138e-05,-8.53909124228835e-05
+8511,1793350200475517280,11746594000000,1793350200473251408,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7513320795174775,-0.0063477585296063685,0.10221067326037372,0.9999998890477638,9.394254984868151e-05,0.0004496163194459165,4.865477576662955e-05,0.7511,-0.0065,0.10149399874847564,1.0,0.0,0.0,0.0,-0.6825748144243655,0.8850017979141962,3.278418488374595,0.06739001692397445,0.04697472170449598,0.011140060772265814,-0.5468794866571614,0.48427692410351014,5.551465293267141,0.02527605199840904,0.047970966624448004,-0.012714148003679416,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.139477092610958,-0.9446242124574293,-4.202565334987032,0.6661171519763605,4.347731800390128,-0.5921277091207182,1.5251891887594113,-3.278418488374595,5.727754523746443,5.727754523746443,5.889297170204744,0,0,-6.388164584400358e-05,-9.687500387845489e-05
+8667,1793350201775517419,11747894000000,1793350201773260854,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7513472853980351,-0.006353957336810559,0.10215613422409701,0.999999877173701,9.238737547843533e-05,0.000475440801733012,5.016038614678967e-05,0.7511,-0.0065,0.10140962400613039,1.0,0.0,0.0,0.0,-0.6838327751562132,0.9015965258312988,3.4100225643088797,0.0683813272492884,0.04696263464225795,0.012072995010724985,-0.548137447389009,0.5008716520206127,5.683069369201426,0.026267362323722985,0.047958879562209976,-0.011781213765220245,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.186051131009624,-0.8463802468546515,-4.362504991584446,0.6309431804490733,4.47476050048796,-0.5279124660102612,1.5251891887594113,-3.4100225643088797,5.887694180343857,5.887694180343857,6.019297170204441,0,0,-6.286835479571285e-05,-9.999391178817092e-05
+8840,1793350203216467356,11749335000000,1793350203213261136,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.751358754940507,-0.00635269438895084,0.10209296901862695,0.9999998666263415,9.287267045450088e-05,0.0004969483119261985,5.10608061012491e-05,0.7511,-0.0065,0.10131950603941989,1.0,0.0,0.0,0.0,-0.6649997764641948,0.9021966373301256,3.4995286158116516,0.06734128823700886,0.04691983643621525,0.011990644965552787,-0.5293044486969907,0.5014717635194395,5.7725754207041975,0.025227323311443443,0.047916081356167275,-0.011863563810392443,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.231797105588187,-0.9703823594027653,-4.537176699128451,0.680020488734363,4.6160928729184105,-0.6094557554383911,1.5251891887594113,-3.4995286158116516,6.062365887887863,6.062365887887863,6.163397170204105,0,0,-7.023728358232362e-05,-9.96289259688254e-05
+9007,1793350204608471514,11750727000000,1793350204605252169,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7513749349699267,-0.006356317220504919,0.10201991246640592,0.9999998517579721,9.267962544950172e-05,0.0005259014601786307,5.2583642285425835e-05,0.7511,-0.0065,0.10121289460971933,1.0,0.0,0.0,0.0,-0.6494672111106703,0.9206103014852569,3.66087525053613,0.06833238911958917,0.04686461081518364,0.011873898686729056,-0.5137718833434661,0.5198854276745708,5.933922055428676,0.02621842419402375,0.04786085573513566,-0.011980310089216174,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.277155656742697,-0.8261410668153647,-4.658598664073582,0.6408608329442317,4.717875789412578,-0.5044422661138844,1.5251891887594113,-3.66087525053613,6.183787852832994,6.183787852832994,6.30259717020378,0,0,-7.331705563082126e-05,-9.870083503139e-05
+9168,1793350205950387346,11752069000000,1793350205945251906,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7513868860955488,-0.0063493374211082785,0.10194672440402001,0.999999840489712,9.429832546988153e-05,0.0005469199980593737,4.949501402577932e-05,0.7511,-0.0065,0.1011172440188029,1.0,0.0,0.0,0.0,-0.6383967862406156,0.9235616190119973,3.7617739323982087,0.06830466692674467,0.04683354013509932,0.012820530600762636,-0.5027014584734114,0.5228367452013112,6.0348207372907545,0.02619070200117925,0.047829785055051345,-0.011033678175182594,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.343585526913607,-0.9193167561553968,-4.79266596207522,0.6736284110375765,4.8400966259452955,-0.5739176691639263,1.5251891887594113,-3.7617739323982087,6.317855150834632,6.317855150834632,6.436797170203468,0,0,-7.476281841808786e-05,-9.921893448361913e-05
+9321,1793350207225445476,11753344000000,1793350207225251782,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7514001442242977,-0.006352332452917835,0.10187684626476456,0.9999998266304971,9.681737509424221e-05,0.0005710282369968548,5.229711833863912e-05,0.7511,-0.0065,0.1010171372299483,1.0,0.0,0.0,0.0,-0.619394241594399,0.9149039759456159,3.882622663955393,0.06728891860320815,0.04579073431691956,0.01269849264673338,-0.4836989138271949,0.5141791021349299,6.155669468847939,0.025174953677642737,0.046786979236871584,-0.011155716129211849,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.326337328264201,-0.9045096492772834,-4.918162281983223,0.6712660450965161,4.934301435001973,-0.5660724621632156,1.5251891887594113,-3.882622663955393,6.443351470742634,6.443351470742634,6.5642971702031705,0,0,-8.224410489729295e-05,-9.999244074266329e-05
+9476,1793350208516460755,11754635000000,1793350208509252627,DOWN_FORCE_DETACH,8,0.0748,0.07480090111494064,0.7514135724942435,-0.006353319609015858,0.10179242957380144,0.9999998123152791,9.549224736525035e-05,0.0005956122439712292,5.42176771996426e-05,0.7511,-0.0065,0.10090501989238286,1.0,0.0,0.0,0.0,-0.6003592907507852,0.9056850438841881,3.992351674186215,0.0662648051694454,0.04479329365195429,0.013612151189744627,-0.46466396298358104,0.504960170073502,6.265398479078761,0.02415084024387999,0.04578953857190631,-0.010242057586200603,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.380720688043165,-0.9166472658242194,-5.011140055153122,0.6796680545538167,5.020135122336768,-0.5728577572198588,1.5251891887594113,-3.992351674186215,6.536329243912533,6.536329243912533,6.69339717020287,0,0,-9.272136742707738e-05,-9.999999025923074e-05
+9645,1793350209925434381,11756044000000,1793350209925251718,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7514306760436591,-0.0063577065945242235,0.10169755873775237,0.999999793084569,9.70274913558336e-05,0.0006266267251290752,5.65534861360925e-05,0.7511,-0.0065,0.10077261615637391,1.0,0.0,0.0,0.0,-0.5820548748570471,0.9103216599263266,4.120667051251358,0.06625033197402742,0.044395315952593654,0.013507244228040617,-0.4463595470898429,0.5095967861156405,6.393713856143904,0.024136367048462008,0.04539156087254568,-0.010346964547904612,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.407935363870005,-0.819343122087245,-5.240645876544292,0.6553286972576167,5.199530801872776,-0.49958324519381325,1.5251891887594113,-4.120667051251358,6.765835065303703,6.765835065303703,6.834297170202541,0,0,-9.627264869052776e-05,9.960937216580418e-05
+9815,1793350211341471295,11757460000000,1793350211337252740,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7514469470036489,-0.006362229268520143,0.10158874929780198,0.9999997735360268,9.2970288568277e-05,0.0006574656612998869,5.88743517043929e-05,0.7511,-0.0065,0.10063093384893558,1.0,0.0,0.0,0.0,-0.5622718972123144,0.8874891058717196,4.21512357760645,0.06422655228843686,0.042751273360345544,0.014409584230095128,-0.4265765694451103,0.48676423206103353,6.488170382498995,0.022112587362871455,0.04374751828029757,-0.009444624545850102,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.4563090059479045,-0.8965406032314283,-5.380482596605583,0.6889210859072935,5.323232838224448,-0.558194189285163,1.5251891887594113,-4.21512357760645,6.905671785364994,6.905671785364994,6.975897170202211,0,0,-0.00011152165943909142,5.000076327832943e-05
+9960,1793350212550485735,11758669000000,1793350212545251590,DOWN_FORCE_DETACH,8,0.0748,0.07480286806821823,0.7514654339185416,-0.006360717712798312,0.10148800341215168,0.9999997504700288,9.463804190212993e-05,0.0006914674774193068,5.8473186547881906e-05,0.7511,-0.0065,0.1004937778370386,1.0,0.0,0.0,0.0,-0.5445810630962898,0.8901958490349305,4.35122481080124,0.06420073688306098,0.042721359846916745,0.014302660142507825,-0.4088857353290857,0.4894709752242445,6.624271615693785,0.022086771957495564,0.04371760476686877,-0.009551548633437405,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.41311749229616,-0.8836382155556087,-5.4619859845631575,0.6860121636278788,5.374479132080904,-0.5477149761715249,1.5251891887594113,-4.35122481080124,6.987175173322569,6.987175173322569,7.0967971702019295,0,0,-0.00011366158694378482,-9.759229121908958e-05
+10109,1793350213791427485,11759910000000,1793350213789261161,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7514783052733566,-0.00636207148854591,0.10137355658706065,0.9999997351669893,9.334825727955498e-05,0.0007133384761508548,5.9524256126022926e-05,0.7511,-0.0065,0.10035181554106302,1.0,0.0,0.0,0.0,-0.4977984234136338,0.8448894627779504,4.433538875231903,0.06116567440433314,0.03971715029454768,0.01518666126648896,-0.3621030956464296,0.4441645889672643,6.706585680124449,0.01905170947876773,0.0407133952144997,-0.00866754750945627,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.396867452413342,-0.9243524847487762,-5.572631980520629,0.7011186747767599,5.466992238292457,-0.5747464541937388,1.5251891887594113,-4.433538875231903,7.09782116928004,7.09782116928004,7.22089717020164,0,0,-0.00012116915677348595,-9.512633322573123e-05
+10268,1793350215116419969,11761235000000,1793350215109252368,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7514984447358779,-0.006361228681460345,0.10123871535891459,0.9999997082026726,9.541064625202273e-05,0.000749787874343956,6.12567236931824e-05,0.7511,-0.0065,0.1001823590014333,1.0,0.0,0.0,0.0,-0.47618405129003644,0.807309753967222,4.5742039721133825,0.05916764184126275,0.03770481396883155,0.016048408869669302,-0.34048872352283227,0.40658488015653604,6.847250777005928,0.017053676915697334,0.03870105888878358,-0.007805799906275927,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.49366783214468,-0.8731813663666982,-5.673457781564268,0.6906133778459178,5.5826471708136,-0.5391872210468465,1.5251891887594113,-4.5742039721133825,7.198646970323679,7.198646970323679,7.353397170201331,0,0,-0.00012508240320871356,-9.999987923692828e-05
+10426,1793350216433404713,11762552000000,1793350216433261013,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7515152204734118,-0.0063634824473618075,0.10109669172007231,0.9999996842033605,9.458154673344296e-05,0.0007811835565846889,6.198891551386965e-05,0.7511,-0.0065,0.10000916216476406,1.0,0.0,0.0,0.0,-0.42227841197426913,0.7693825391418481,4.672787405558811,0.05616634998511158,0.034707123445059856,0.015888593936858507,-0.28658308420706496,0.36865766533116195,6.945834210451356,0.014052385059546165,0.03570336836501188,-0.007965614839086721,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.460762391289515,-0.8664255971654535,-5.859711016062451,0.6901309848142132,5.725235314728899,-0.5361900748148959,1.5251891887594113,-4.672787405558811,7.384900204821863,7.384900204821863,7.4850971702010245,0,0,-0.00014041840723924703,4.329157451821715e-05
+10591,1793350217808449030,11763927000000,1793350217801252474,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7515345388407392,-0.006357345749758773,0.1009287544481487,0.999999656753115,9.487271850500999e-05,0.0008155769400150244,6.139982657617336e-05,0.7511,-0.0065,0.09981344107686978,1.0,0.0,0.0,0.0,-0.3652391707637406,0.700138588439633,4.801669355719849,0.05113662816482273,0.0307209015856811,0.01670321035229785,-0.22954384299653638,0.29941371462894684,7.074716160612395,0.009022663239257319,0.03171714650563312,-0.007150998423647379,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.458763952116758,-0.8367538157954673,-5.995866295304206,0.6817985166345385,5.850108132371912,-0.5102967258351668,1.5251891887594113,-4.801669355719849,7.521055484063618,7.521055484063618,7.622597170200704,0,0,-0.00014556430278225984,7.214252392551685e-05
+10733,1793350218991396204,11765110000000,1793350218989251941,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7515512132953225,-0.0063574840711850805,0.1007688846592407,0.9999996325603405,9.989607150964873e-05,0.0008441004287795717,6.194585888172989e-05,0.7511,-0.0065,0.09962868600211967,1.0,0.0,0.0,0.0,-0.3205742460168985,0.6536768841368421,4.911241249511798,0.0481031778119769,0.02770576732679675,0.016533357668678847,-0.18487891824969432,0.2529520103261561,7.184288054404345,0.005989212886411488,0.02870201224674877,-0.007320851107266384,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.374665160693274,-0.9020264590253029,-6.069099535818364,0.7010721499508723,5.896242608223533,-0.5633490529669092,1.5251891887594113,-4.911241249511798,7.594288724577776,7.594288724577776,7.740897170200428,0,0,-0.0001665446944757162,-5.019622167881275e-09
+10878,1793350220200341354,11766319000000,1793350220197251613,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7515711556961706,-0.0063607711322818915,0.10058571613604804,0.999999603294772,9.623012347633122e-05,0.0008781608731453808,6.653124925106004e-05,0.7511,-0.0065,0.09941604676630082,1.0,0.0,0.0,0.0,-0.28660857817017193,0.6092651130037221,5.0572792581805714,0.04409648880283533,0.02472752878068368,0.01735748080083527,-0.15091325040296774,0.20854023919303608,7.330326063073118,0.001982523877269916,0.0257237737006357,-0.006496727975109959,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.25192409613398,-0.926664795232198,-6.140060056406521,0.7086203455226383,5.933687383428491,-0.5817512701327288,1.5251891887594113,-5.0572792581805714,7.665249245165933,7.665249245165933,7.861797170200147,0,0,-0.00017869084242424916,-8.621936084385879e-05
+11029,1793350221458399699,11767577000000,1793350221453261605,DOWN_FORCE_DETACH,8,0.0748,0.07480286806821823,0.7515924859398607,-0.0063615322804094175,0.1003888519816213,0.9999995669838565,0.00010074151546980699,0.0009180147404608604,6.76390954730603e-05,0.7511,-0.0065,0.09918102846600982,1.0,0.0,0.0,0.0,-0.2215321710008641,0.5302070929956278,5.159905532260144,0.039077686737250164,0.020717716396499643,0.01805393556252824,-0.08583684323365993,0.12948221918494182,7.43295233715269,-0.003036278188315252,0.021713961316451664,-0.005800273213416991,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.286767015759107,-0.868839750472818,-6.286815515934062,0.6926521120445466,6.079153961886522,-0.5402333501674389,1.5251891887594113,-5.159905532260144,7.812004704693473,7.812004704693473,7.987597170199853,0,0,-0.00019714933196665475,-9.940538256281712e-05
+11165,1793350222591437205,11768710000000,1793350222589261113,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7516149508400888,-0.006361724706814662,0.10018793743482295,0.9999995277791319,0.0001003584119615525,0.0009597940318823478,6.788212646143503e-05,0.7511,-0.0065,0.09894543366016807,1.0,0.0,0.0,0.0,-0.1744310796318562,0.47788228609077466,5.272963736908441,0.03606311164640956,0.01772957324148007,0.01802289306234177,-0.03873575186465202,0.07715741228008857,7.546010541800987,-0.006050853279155852,0.01872581816143209,-0.005831315713603462,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.1521777683139565,-0.9755622000418377,-6.3473973292151875,0.7233259332163596,6.10402507409889,-0.6239120323217513,1.5251891887594113,-5.272963736908441,7.872586517974598,7.872586517974598,8.10089717019959,0,0,-0.00021773982591541253,-9.999999025923074e-05
+11298,1793350223700317748,11769819000000,1793350223693251988,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7516372654572652,-0.006368749304626771,0.0999692201779908,0.9999994884493892,9.836535616347459e-05,0.0009999877382959375,6.994715178165803e-05,0.7511,-0.0065,0.09868776728370589,1.0,0.0,0.0,0.0,-0.12703362511447092,0.4315116408082523,5.408848251284496,0.034060492445043195,0.014675884129435286,0.01887519904021881,0.008661702652733243,0.030786766997566217,7.6818950561770425,-0.008053472480522222,0.015672129049387307,-0.0049790097357264185,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,5.054221649030801,-0.900891149844336,-6.5112179423540635,0.7147792863282274,6.2206958215050365,-0.5689511041897649,1.5251891887594113,-5.408848251284496,8.036407131113474,8.036407131113474,8.21179717019933,0,0,-0.00024114443528536344,7.502364981893379e-05
+11426,1793350224766426212,11770885000000,1793350224761251549,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7516570781371777,-0.0063625562711531365,0.09973774449095574,0.9999994542370988,0.00010370100955830182,0.0010329673007138376,7.20626481844095e-05,0.7511,-0.0065,0.09842027888266384,1.0,0.0,0.0,0.0,-0.06448924644223515,0.36340736441283106,5.528529091267192,0.029658445790898894,0.010688852985058336,0.018670460617761425,0.07120608132496901,-0.03731750939785497,7.801575896159738,-0.01245551913466652,0.011685097905010357,-0.0051837481581838065,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.875098077755814,-0.9065966856747034,-6.46699704513703,0.715759111566591,6.169991922917257,-0.5791325409598955,1.5251891887594113,-5.528529091267192,7.992186233896442,7.992186233896442,8.318397170199082,0,0,-0.0002563639558792171,-9.999924085868912e-05
+11542,1793350225733392397,11771852000000,1793350225733251703,DOWN_FORCE_DETACH,8,0.0748,0.07480286806821823,0.7516752703574586,-0.006364440183411263,0.09950486860391722,0.9999994200187668,0.00010147427998924999,0.0010656774266894705,7.375355699407273e-05,0.7511,-0.0065,0.09816415423075668,1.0,0.0,0.0,0.0,-0.01123718865749447,0.2974710085381732,5.630388508733883,0.026053018800302054,0.006757850762156479,0.0195224894447922,0.1244581391097097,-0.10325386527251283,7.90343531362643,-0.01606094612526336,0.007754095682108501,-0.004331719331153028,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.855706031615198,-0.85580129811384,-6.532511587970875,0.7019469450163828,6.235871063833986,-0.5370668815873393,1.5251891887594113,-5.630388508733883,8.057700776730286,8.057700776730286,8.415097170198857,0,0,-0.0002731820059151665,-9.999967107011116e-05
+11652,1793350226650319637,11772769000000,1793350226645252266,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7516964496684317,-0.0063658985050146985,0.09928046562577299,0.9999993781011404,0.00010292018239567897,0.0011041108034577946,7.47460148062625e-05,0.7511,-0.0065,0.09790202846724765,1.0,0.0,0.0,0.0,0.03982904167208792,0.22539481508545928,5.706630120227427,0.02101542299734257,0.0037168078692567256,0.01936005255663018,0.1755243694392921,-0.17533005872522678,7.979676925119973,-0.021098541928222844,0.0047130527892087475,-0.004494156219315051,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.779721340420536,-0.9548178813891078,-6.776372220369958,0.7257894205938493,6.411393773173339,-0.6135032750609073,1.5251891887594113,-5.706630120227427,8.30156140912937,8.30156140912937,8.506797170198643,0,0,-0.0003004649036700017,8.97795546502877e-05
+11768,1793350227616407122,11773735000000,1793350227609252145,DOWN_FORCE_DETACH,8,0.0748,0.0748022124171257,0.7517155188818104,-0.0063653678792662234,0.09901329088378191,0.9999993393936774,0.000101447533971584,0.0011387313230169518,7.519604480430204e-05,0.7511,-0.0065,0.09759469869746415,1.0,0.0,0.0,0.0,0.06758624862107551,0.1341463524268755,5.805573317122198,0.015958227806645294,0.0007515706603881426,0.020202743708794213,0.20328157638827968,-0.26657852138381055,8.078620122014744,-0.02615573711892012,0.0017478155803401644,-0.0036514650671510183,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.590380821384782,-0.8203349027982896,-6.638831834299582,0.6879995367460752,6.278832070002437,-0.5161539930599917,1.5251891887594113,-5.805573317122198,8.164021023058993,8.164021023058993,8.603397170198418,0,0,-0.0003333852927015198,-9.989827995238727e-05
+11877,1793350228525370626,11774644000000,1793350228525251843,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7517368429657467,-0.0063634078282603325,0.09873520409817,0.999999296596575,0.00010547131455270583,0.0011753497358953167,7.535263674083622e-05,0.7511,-0.0065,0.09728144584283244,1.0,0.0,0.0,0.0,0.10089575740609519,0.07861618023103206,5.910032606427265,0.010832919464726531,0.0008250470444715471,0.02006798020229252,0.23659108517329935,-0.322108693579654,8.183079411319811,-0.03128104546083888,0.0018212919644235688,-0.00378622857365271,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.473007269129956,-0.9399839700534873,-6.807247550061617,0.7132678580846002,6.387178828611099,-0.6073420038700268,1.5251891887594113,-5.910032606427265,8.332436738821029,8.332436738821029,8.694297170198206,0,0,-0.00035608198068889783,-9.999943514771843e-05
+11969,1793350229291398771,11775410000000,1793350229289251863,DOWN_FORCE_DETACH,8,0.0748,0.07480286806821823,0.7517484246790024,-0.006362854247651449,0.09847361207816904,0.9999992742457378,0.00010549745207974382,0.001194206467202372,7.544576459038339e-05,0.7511,-0.0065,0.09700237927532192,1.0,0.0,0.0,0.0,0.13304972933172632,0.0028305713674970367,5.99282216717865,0.005791303685400193,-0.0021339404309033308,0.0199002110722395,0.2687450570989305,-0.397894302443189,8.265868972071196,-0.03632266124016522,-0.001137695510951309,-0.003953997703705728,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.390790166077812,-0.8788574390579048,-6.933589698909059,0.6981651080104821,6.473424081056132,-0.5606986775496575,1.5251891887594113,-5.99282216717865,8.45877888766847,8.45877888766847,8.770897170198028,0,0,-0.0003727824004354502,-1.7773117171900445e-05
+12059,1793350230041298587,11776160000000,1793350230037251956,DOWN_FORCE_DETACH,8,0.0748,0.07480286806821823,0.7517609975314697,-0.006358496669507477,0.09820461601541143,0.9999992494776324,0.0001064705860125735,0.0012148225540602768,7.319298297309639e-05,0.7511,-0.0065,0.0967172270299757,1.0,0.0,0.0,0.0,0.15318034867615987,-0.07847807906330018,6.071307016621908,0.0009386945788758053,-0.0040851680698480025,0.020780034676804504,0.28887567644336404,-0.47920295287398623,8.344353821514455,-0.04117527034668961,-0.0030889231498959805,-0.0030741740991407245,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.235912116021071,-0.9562370577390847,-7.011733969091262,0.7096148936347552,6.502664694622203,-0.6176844180711016,1.5251891887594113,-6.071307016621908,8.536923157850673,8.536923157850673,8.845897170197853,0,0,-0.00038629839336082474,8.169800533164846e-05
+12152,1793350230816327698,11776935000000,1793350230809262259,DOWN_FORCE_DETACH,8,0.0748,0.07480155676603317,0.7517700588276677,-0.006359095381524549,0.09791099486118994,0.9999992306789265,0.00010642928352790942,0.0012301973949867431,7.329117718671662e-05,0.7511,-0.0065,0.09640717061096166,1.0,0.0,0.0,0.0,0.18404828603927714,-0.18304822534368342,6.11839370170131,-0.0043530918765709095,-0.006006252057776297,0.02064954020629776,0.3197436138064813,-0.5837730991543695,8.391440506593856,-0.04646705680213632,-0.005010007137824275,-0.0032046685696474693,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,4.067966181538514,-0.9370442353374242,-6.999217748796089,0.6845405957048837,6.46371987222834,-0.6119468540344161,1.5251891887594113,-6.11839370170131,8.5244069375555,8.5244069375555,8.923397170197672,0,0,-0.0004121368570683944,-9.99878471948989e-05
+12277,1793350231848359584,11777967000000,1793350231841252656,DOWN_PEAK_HOLD,8,0.0748,0.0748022124171257,0.7517330368526126,-0.0063507940537205375,0.09766856150651387,0.9999993228402665,0.00010960807886668164,0.0011529597540637872,6.657137107974032e-05,0.7511,-0.0065,0.09629461705182918,1.0,0.0,0.0,0.0,0.3293827508287518,-0.4791849827585682,5.272238118609259,-0.025072221429598508,-0.017546258029095402,0.018875683160023197,0.46507807859595596,-0.8799098565692542,7.5452849235018045,-0.06718618635516392,-0.01655001310914338,-0.004978525615922034,0.13569532776720417,-0.40072487381068606,2.273046804892546,-0.04211396492556541,0.0009962449199520218,-0.02385420877594523,1,2.924398225317752,-1.0051667829517141,-6.120974615554427,0.6705926800125829,5.551654378700283,-0.6700977354603319,1.5251891887594113,-5.272238118609259,7.646163804313838,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a90665310658c2bf0db0857490aa0f3e726d5b6c
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cbfebf2fc63c5b7923e0af43e8ac0c3230a6826d
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,6.833333333e+00,DOWN_FORCE_DETACH,1793350162394137568,3.863921777e-05,-1.219191422e-06,-9.855807746e-06,2.936096774e-05,6.356237053e-07,-9.452789176e-06,3.247811008e-05,3.648516378e-07,-8.996924224e-06,7.019943088e-01,-2.330710283e-05,8.601335900e-01,7.019850306e-01,-2.145228770e-05,8.601339931e-01,7.027787025e-01,-1.123084072e-04,8.303165798e-01
+6,8.266666667e+00,DOWN_FORCE_DETACH,1793350163835282644,4.305434765e-05,-2.571551463e-06,-2.307065125e-05,2.936096774e-05,6.356237053e-07,-9.452789176e-06,3.278032765e-05,3.520091053e-07,-9.264725743e-06,7.019987240e-01,-2.465946287e-05,8.601203752e-01,7.019850306e-01,-2.145228770e-05,8.601339931e-01,7.027790047e-01,-1.123212498e-04,8.303163120e-01
+7,9.666666667e+00,DOWN_FORCE_DETACH,1793350165227463687,4.969417448e-05,3.435517889e-07,-3.105843203e-05,4.628951850e-05,-7.500959135e-06,-1.630917745e-05,5.069272908e-05,-6.991563952e-06,-1.609137110e-05,7.020053638e-01,-2.174435962e-05,8.601123874e-01,7.020019591e-01,-2.958887054e-05,8.601271367e-01,7.027969171e-01,-1.196648228e-04,8.303094853e-01
+8,1.116666667e+01,DOWN_FORCE_DETACH,1793350166701503997,5.894361278e-05,3.807314258e-06,-4.752144572e-05,5.191244704e-05,6.132707212e-07,-3.369274823e-05,5.672201990e-05,2.669444283e-07,-3.322412789e-05,7.020146132e-01,-1.828059715e-05,8.600959244e-01,7.020075821e-01,-2.147464068e-05,8.601097531e-01,7.028029464e-01,-1.124063145e-04,8.302923526e-01
+9,1.261666667e+01,DOWN_FORCE_DETACH,1793350168193107206,6.826478720e-05,1.878238141e-06,-5.797577731e-05,6.211135428e-05,-1.211054190e-07,-5.152005589e-05,6.740147719e-05,-4.120925298e-07,-5.084884066e-05,7.020239344e-01,-2.020967326e-05,8.600854701e-01,7.020177810e-01,-2.220901682e-05,8.600919258e-01,7.028136259e-01,-1.130853514e-04,8.302747279e-01
+10,1.403333333e+01,DOWN_FORCE_DETACH,1793350169633533039,8.084710924e-05,-1.581670940e-06,-6.759809819e-05,7.328027274e-05,-1.015586834e-06,-6.826604172e-05,7.914486157e-05,-1.239010988e-06,-6.745630553e-05,7.020365167e-01,-2.366958235e-05,8.600758477e-01,7.020289499e-01,-2.310349824e-05,8.600751798e-01,7.028253693e-01,-1.139122699e-04,8.302581204e-01
+11,1.538333333e+01,DOWN_FORCE_DETACH,1793350170977231157,8.840361707e-05,-3.024604488e-08,-8.175380823e-05,8.580767097e-05,3.976972705e-06,-8.309078337e-05,9.217802358e-05,3.224214457e-06,-8.213604061e-05,7.020440732e-01,-2.211815745e-05,8.600616920e-01,7.020414773e-01,-1.811093870e-05,8.600603551e-01,7.028384024e-01,-1.094490444e-04,8.302434407e-01
+12,1.670000000e+01,DOWN_FORCE_DETACH,1793350172320218088,9.852683938e-05,1.635619028e-06,-1.038596931e-04,9.575635408e-05,1.880261191e-06,-9.978570358e-05,1.027678477e-04,1.274354758e-06,-9.874487357e-05,7.020541965e-01,-2.045229238e-05,8.600395862e-01,7.020514260e-01,-2.020765021e-05,8.600436601e-01,7.028489923e-01,-1.113989041e-04,8.302268318e-01
+13,1.805000000e+01,DOWN_FORCE_DETACH,1793350173696572041,1.092050091e-04,3.636945749e-06,-1.163534525e-04,1.070502307e-04,-4.417590740e-06,-1.161736558e-04,1.146830959e-04,-4.390760159e-06,-1.150935586e-04,7.020648746e-01,-1.845096566e-05,8.600270924e-01,7.020627199e-01,-2.650550215e-05,8.600272722e-01,7.028609075e-01,-1.170640190e-04,8.302104831e-01
+14,1.943333333e+01,DOWN_FORCE_DETACH,1793350175105013148,1.189624333e-04,-4.231383770e-06,-1.284738638e-04,1.070502307e-04,-4.417590740e-06,-1.161736558e-04,1.152878799e-04,-4.415121609e-06,-1.158295022e-04,7.020746321e-01,-2.631929518e-05,8.600149720e-01,7.020627199e-01,-2.650550215e-05,8.600272722e-01,7.028615123e-01,-1.170883805e-04,8.302097472e-01
+15,2.088333333e+01,DOWN_FORCE_DETACH,1793350176529523263,1.317199889e-04,-1.060915268e-06,-1.428126220e-04,1.285436170e-04,-3.701542826e-06,-1.486553671e-04,1.375644263e-04,-3.790339891e-06,-1.475068870e-04,7.020873896e-01,-2.314882667e-05,8.600006332e-01,7.020842132e-01,-2.578945423e-05,8.599947905e-01,7.028837888e-01,-1.164635988e-04,8.301780698e-01
+16,2.240000000e+01,DOWN_FORCE_DETACH,1793350178037617928,1.403214764e-04,2.089075883e-07,-1.686941077e-04,1.393226546e-04,8.915719920e-07,-1.648075579e-04,1.490788811e-04,2.732293793e-07,-1.638776828e-04,7.020959911e-01,-2.187900382e-05,8.599747517e-01,7.020949923e-01,-2.119633941e-05,8.599786383e-01,7.028953033e-01,-1.124000295e-04,8.301616990e-01
+17,2.393333333e+01,DOWN_FORCE_DETACH,1793350179577006079,1.507231687e-04,-2.246730073e-06,-1.865239937e-04,1.475136222e-04,-2.617849295e-06,-1.831251285e-04,1.580822755e-04,-2.934104865e-06,-1.823716038e-04,7.021063928e-01,-2.433464148e-05,8.599569219e-01,7.021031832e-01,-2.470576070e-05,8.599603207e-01,7.029043067e-01,-1.156073637e-04,8.301432051e-01
+18,2.538333333e+01,DOWN_FORCE_DETACH,1793350181067939940,1.648957941e-04,-2.871684270e-07,-2.013275949e-04,1.592743262e-04,4.348916255e-06,-1.980168542e-04,1.705402897e-04,3.318929618e-06,-1.974324659e-04,7.021205654e-01,-2.237507983e-05,8.599421183e-01,7.021149440e-01,-1.773899515e-05,8.599454290e-01,7.029167647e-01,-1.093543293e-04,8.301281442e-01
+19,2.671666667e+01,DOWN_FORCE_DETACH,1793350182395279111,1.739760006e-04,1.960767341e-06,-2.224391109e-04,1.673182673e-04,4.645034640e-07,-2.172323779e-04,1.791757125e-04,-2.324084030e-07,-2.165711764e-04,7.021296456e-01,-2.012714406e-05,8.599210067e-01,7.021229879e-01,-2.162340794e-05,8.599262135e-01,7.029254001e-01,-1.129056673e-04,8.301090055e-01
+20,2.813333333e+01,DOWN_FORCE_DETACH,1793350183803236050,1.828554089e-04,1.501637908e-06,-2.451687560e-04,1.787049369e-04,-1.422996014e-06,-2.336175701e-04,1.912010900e-04,-1.988242009e-06,-2.330070923e-04,7.021385250e-01,-2.058627350e-05,8.598982771e-01,7.021343746e-01,-2.351090742e-05,8.599098283e-01,7.029374255e-01,-1.146615009e-04,8.300925696e-01
+21,2.941666667e+01,DOWN_FORCE_DETACH,1793350185097261448,1.925299765e-04,-3.735704304e-06,-2.648250822e-04,1.867731910e-04,-4.881253643e-06,-2.530708177e-04,1.997750765e-04,-5.136705257e-06,-2.523780823e-04,7.021481996e-01,-2.582361571e-05,8.598786208e-01,7.021424428e-01,-2.696916505e-05,8.598903750e-01,7.029459995e-01,-1.178099641e-04,8.300731986e-01
+22,3.073333333e+01,DOWN_FORCE_DETACH,1793350186407135050,2.041406927e-04,3.380757349e-06,-2.875726433e-04,2.038978308e-04,3.298942442e-06,-2.875530883e-04,2.173021840e-04,2.136025245e-06,-2.858509104e-04,7.021598103e-01,-1.870715406e-05,8.598558732e-01,7.021595675e-01,-1.878896896e-05,8.598558928e-01,7.029635266e-01,-1.105372336e-04,8.300397258e-01
+23,3.221666667e+01,DOWN_FORCE_DETACH,1793350187913791420,2.159946871e-04,-2.600969551e-06,-3.093611424e-04,2.119680504e-04,-2.634201152e-06,-3.054548446e-04,2.262144593e-04,-3.188316362e-06,-3.041629835e-04,7.021716643e-01,-2.468888096e-05,8.598340847e-01,7.021676377e-01,-2.472211256e-05,8.598379910e-01,7.029724389e-01,-1.158615752e-04,8.300214137e-01
+24,3.368333333e+01,DOWN_FORCE_DETACH,1793350189404798491,2.281994107e-04,-3.744952296e-06,-3.410156735e-04,2.207349322e-04,-4.474474399e-06,-3.236503700e-04,2.355864121e-04,-4.923226655e-06,-3.224986760e-04,7.021838690e-01,-2.583286370e-05,8.598024302e-01,7.021764046e-01,-2.656238580e-05,8.598197955e-01,7.029818108e-01,-1.175964855e-04,8.300030780e-01
+25,3.505000000e+01,DOWN_FORCE_DETACH,1793350190802265942,2.386631730e-04,-5.517193308e-06,-3.707423467e-04,2.335711239e-04,-1.800613245e-06,-3.613878279e-04,2.488323785e-04,-2.588411967e-06,-3.595962136e-04,7.021943328e-01,-2.760510471e-05,8.597727035e-01,7.021892407e-01,-2.388852465e-05,8.597820580e-01,7.029950568e-01,-1.152616709e-04,8.299659805e-01
+26,3.650000000e+01,DOWN_FORCE_DETACH,1793350192271119330,2.507582034e-04,-6.653638687e-06,-3.995849261e-04,2.497094916e-04,-5.634275264e-06,-3.982658841e-04,2.654223359e-04,-6.075577784e-06,-3.958046357e-04,7.022064278e-01,-2.874155009e-05,8.597438609e-01,7.022053791e-01,-2.772218667e-05,8.597451800e-01,7.030116468e-01,-1.187488367e-04,8.299297721e-01
+27,3.786666667e+01,DOWN_FORCE_DETACH,1793350193630927222,2.648577860e-04,-5.225789524e-06,-4.288547059e-04,2.558171932e-04,-1.763146755e-06,-4.171969708e-04,2.721314573e-04,-2.653999877e-06,-4.151916016e-04,7.022205274e-01,-2.731370093e-05,8.597145911e-01,7.022114868e-01,-2.385105816e-05,8.597262489e-01,7.030183559e-01,-1.153272588e-04,8.299103851e-01
+28,3.916666667e+01,DOWN_FORCE_DETACH,1793350194940624532,2.720986801e-04,-9.613871139e-06,-4.673155393e-04,2.690828653e-04,-4.755359397e-06,-4.574968811e-04,2.857052409e-04,-5.407670404e-06,-4.549189241e-04,7.022277683e-01,-3.170178254e-05,8.596761303e-01,7.022247525e-01,-2.684327080e-05,8.596859490e-01,7.030319297e-01,-1.180809293e-04,8.298706578e-01
+29,4.060000000e+01,DOWN_FORCE_DETACH,1793350196398643462,2.860669690e-04,-8.718241710e-06,-5.057329266e-04,2.845822426e-04,-6.207394528e-06,-4.961093731e-04,3.017423894e-04,-6.726144395e-06,-4.933813473e-04,7.022417366e-01,-3.080615312e-05,8.596377129e-01,7.022402519e-01,-2.829530593e-05,8.596473365e-01,7.030479668e-01,-1.193994033e-04,8.298321953e-01
+30,4.191666667e+01,DOWN_FORCE_DETACH,1793350197725990126,2.981067410e-04,-8.362617435e-06,-5.482205769e-04,2.922873584e-04,-8.496750373e-06,-5.392546139e-04,3.096836469e-04,-8.844936674e-06,-5.363268932e-04,7.022537764e-01,-3.045052884e-05,8.595952253e-01,7.022479570e-01,-3.058466178e-05,8.596041912e-01,7.030559081e-01,-1.215181956e-04,8.297892498e-01
+31,4.321666667e+01,DOWN_FORCE_DETACH,1793350199052047266,3.083194176e-04,-6.050277018e-06,-5.928557489e-04,3.027376543e-04,-8.739587230e-06,-5.805294848e-04,3.204737949e-04,-9.050887378e-06,-5.777023891e-04,7.022639890e-01,-2.813818842e-05,8.595505901e-01,7.022584073e-01,-3.082749864e-05,8.595629164e-01,7.030666982e-01,-1.217241463e-04,8.297478743e-01
+32,4.463333333e+01,DOWN_FORCE_DETACH,1793350200477107741,3.212009361e-04,-8.533221865e-06,-6.474443093e-04,3.188237231e-04,-1.290342846e-05,-6.406819144e-04,3.367944305e-04,-1.284879854e-05,-6.374767854e-04,7.022768706e-01,-3.062113327e-05,8.594960015e-01,7.022744933e-01,-3.499133987e-05,8.595027639e-01,7.030830188e-01,-1.255220574e-04,8.296880999e-01
+33,4.595000000e+01,DOWN_FORCE_DETACH,1793350201771295146,3.340258504e-04,-7.502558464e-06,-7.027076207e-04,3.346235228e-04,-8.414251870e-06,-7.010725945e-04,3.528530858e-04,-8.855971473e-06,-6.973325998e-04,7.022896955e-01,-2.959046987e-05,8.594407382e-01,7.022902931e-01,-3.050216328e-05,8.594423733e-01,7.030990775e-01,-1.215292304e-04,8.296282441e-01
+34,4.738333333e+01,DOWN_FORCE_DETACH,1793350203215350525,3.485345747e-04,-1.035280605e-05,-7.644058762e-04,3.451140992e-04,-8.360241365e-06,-7.605483549e-04,3.637460673e-04,-8.828923548e-06,-7.568920183e-04,7.023042042e-01,-3.244071745e-05,8.593790400e-01,7.023007837e-01,-3.044815277e-05,8.593828975e-01,7.031099705e-01,-1.215021824e-04,8.295686847e-01
+35,4.878333333e+01,DOWN_FORCE_DETACH,1793350204605300760,3.621354333e-04,-1.335278857e-05,-8.404456890e-04,3.569542930e-04,-8.065366759e-06,-8.219835608e-04,3.758917753e-04,-8.642467280e-06,-8.183495289e-04,7.023178051e-01,-3.544069998e-05,8.593030002e-01,7.023126239e-01,-3.015327816e-05,8.593214623e-01,7.031221162e-01,-1.213157262e-04,8.295072272e-01
+36,5.010000000e+01,DOWN_FORCE_DETACH,1793350205948064206,3.761431126e-04,-1.459962206e-05,-9.081070295e-04,3.757425225e-04,-1.356480576e-05,-9.003131531e-04,3.950334440e-04,-1.367279505e-05,-8.959108012e-04,7.023318127e-01,-3.668753347e-05,8.592353388e-01,7.023314121e-01,-3.565271716e-05,8.592431327e-01,7.031412579e-01,-1.263460539e-04,8.294296659e-01
+37,5.140000000e+01,DOWN_FORCE_DETACH,1793350207225400050,3.884716225e-04,-1.028321616e-05,-9.811582703e-04,3.880789044e-04,-1.039631719e-05,-9.811387653e-04,4.074077389e-04,-1.085054957e-05,-9.758813694e-04,7.023441412e-01,-3.237112757e-05,8.591622876e-01,7.023437485e-01,-3.248422860e-05,8.591623071e-01,7.031536322e-01,-1.235238085e-04,8.293496953e-01
+38,5.268333333e+01,DOWN_FORCE_DETACH,1793350208519458003,4.030879229e-04,-1.356042624e-05,-1.063897074e-03,4.016707057e-04,-1.404905789e-05,-1.063088577e-03,4.210506917e-04,-1.414569775e-05,-1.057749944e-03,7.023587575e-01,-3.564833764e-05,8.590795488e-01,7.023573403e-01,-3.613696930e-05,8.590803573e-01,7.031672751e-01,-1.268189566e-04,8.292678268e-01
+39,5.408333333e+01,DOWN_FORCE_DETACH,1793350209928130543,4.161135593e-04,-1.472620250e-05,-1.165709156e-03,4.160828674e-04,-1.449892751e-05,-1.165320552e-03,4.354343918e-04,-1.462595952e-05,-1.159457527e-03,7.023717832e-01,-3.681411391e-05,8.589777367e-01,7.023717525e-01,-3.658683891e-05,8.589781253e-01,7.031816588e-01,-1.272992184e-04,8.291661192e-01
+40,5.545000000e+01,DOWN_FORCE_DETACH,1793350211337797364,4.364639791e-04,-1.434368842e-05,-1.268028104e-03,4.323958883e-04,-1.530887370e-05,-1.267240138e-03,4.516569125e-04,-1.545164868e-05,-1.261133871e-03,7.023921336e-01,-3.643159982e-05,8.588754177e-01,7.023880655e-01,-3.739678511e-05,8.588762057e-01,7.031978813e-01,-1.281249076e-04,8.290644428e-01
+41,5.668333333e+01,DOWN_FORCE_DETACH,1793350212549107663,4.540424201e-04,-1.567867725e-05,-1.367361984e-03,4.528476194e-04,-1.437410161e-05,-1.369307184e-03,4.722699195e-04,-1.466398961e-05,-1.362454563e-03,7.024097120e-01,-3.776658865e-05,8.587760839e-01,7.024085172e-01,-3.646201301e-05,8.587741387e-01,7.032184943e-01,-1.273372485e-04,8.289631221e-01
+42,5.786666667e+01,DOWN_FORCE_DETACH,1793350213794566530,4.659858118e-04,-2.021467355e-05,-1.486979174e-03,4.650097471e-04,-1.752312072e-05,-1.479433987e-03,4.843352402e-04,-1.751807154e-05,-1.472191483e-03,7.024216554e-01,-4.230258495e-05,8.586564667e-01,7.024206794e-01,-3.961103212e-05,8.586640119e-01,7.032305597e-01,-1.301913304e-04,8.288533852e-01
+43,5.913333333e+01,DOWN_FORCE_DETACH,1793350215113531506,4.860494542e-04,-2.088706164e-05,-1.617870338e-03,4.841554952e-04,-1.661865537e-05,-1.607469279e-03,5.034763140e-04,-1.680860957e-05,-1.600290110e-03,7.024417191e-01,-4.297497305e-05,8.585255755e-01,7.024398251e-01,-3.870656678e-05,8.585359766e-01,7.032497007e-01,-1.294818685e-04,8.287252866e-01
+44,6.040000000e+01,DOWN_FORCE_DETACH,1793350216431356520,5.043590353e-04,-1.849391502e-05,-1.759971731e-03,5.045383901e-04,-2.081067255e-05,-1.754053240e-03,5.235806284e-04,-2.070046428e-05,-1.746210120e-03,7.024600287e-01,-4.058182643e-05,8.583834741e-01,7.024602080e-01,-4.289858396e-05,8.583893926e-01,7.032698050e-01,-1.333737232e-04,8.285793666e-01
+45,6.175000000e+01,DOWN_FORCE_DETACH,1793350217808269322,5.208039021e-04,-1.590390037e-05,-1.932827780e-03,5.223866783e-04,-1.821511606e-05,-1.921242098e-03,5.409202683e-04,-1.833727038e-05,-1.912561592e-03,7.024764735e-01,-3.799181178e-05,8.582106181e-01,7.024780563e-01,-4.030302747e-05,8.582222037e-01,7.032871447e-01,-1.310105293e-04,8.284130151e-01
+46,6.295000000e+01,DOWN_FORCE_DETACH,1793350218987515414,5.406037130e-04,-1.801070066e-05,-2.085906237e-03,5.368418790e-04,-2.408589065e-05,-2.078731198e-03,5.544887081e-04,-2.365277386e-05,-2.069998379e-03,7.024962733e-01,-4.009861207e-05,8.580575396e-01,7.024925115e-01,-4.617380206e-05,8.580647146e-01,7.033007131e-01,-1.363260327e-04,8.282555783e-01
+47,6.415000000e+01,DOWN_FORCE_DETACH,1793350220198325853,5.595318381e-04,-2.212302170e-05,-2.270912348e-03,5.593471296e-04,-2.205421419e-05,-2.271066477e-03,5.761772465e-04,-2.192295159e-05,-2.260520984e-03,7.025152015e-01,-4.421093311e-05,8.578725335e-01,7.025150168e-01,-4.414212560e-05,8.578723794e-01,7.033224017e-01,-1.345962105e-04,8.280650557e-01
+48,6.540000000e+01,DOWN_FORCE_DETACH,1793350221460158267,5.815566103e-04,-1.925136839e-05,-2.466947179e-03,5.798872361e-04,-2.278641927e-05,-2.448021999e-03,5.962642629e-04,-2.269901171e-05,-2.437875662e-03,7.025372262e-01,-4.133927980e-05,8.576764987e-01,7.025355569e-01,-4.487433068e-05,8.576954238e-01,7.033424887e-01,-1.353722706e-04,8.278877010e-01
+49,6.653333333e+01,DOWN_FORCE_DETACH,1793350222590285559,6.007076472e-04,-1.886120355e-05,-2.673161197e-03,6.007863179e-04,-2.057933313e-05,-2.661792180e-03,6.163219201e-04,-2.084646652e-05,-2.650269603e-03,7.025563773e-01,-4.094911495e-05,8.574702846e-01,7.025564559e-01,-4.266724453e-05,8.574816537e-01,7.033625463e-01,-1.335197254e-04,8.276753071e-01
+50,6.765000000e+01,DOWN_FORCE_DETACH,1793350223704028798,6.233853470e-04,-2.193861141e-05,-2.892870671e-03,6.228153332e-04,-2.266542237e-05,-2.881638710e-03,6.376173124e-04,-2.258350844e-05,-2.868998999e-03,7.025790550e-01,-4.402652282e-05,8.572505752e-01,7.025784850e-01,-4.475333378e-05,8.572618071e-01,7.033838417e-01,-1.352567673e-04,8.274565777e-01
+51,6.868333333e+01,DOWN_FORCE_DETACH,1793350224768902199,6.452661614e-04,-1.934613866e-05,-3.120656916e-03,6.442265270e-04,-2.066755432e-05,-3.108949230e-03,6.580902444e-04,-2.079454802e-05,-3.095362088e-03,7.026009358e-01,-4.143405006e-05,8.570227889e-01,7.025998962e-01,-4.275546573e-05,8.570344966e-01,7.034043147e-01,-1.334678069e-04,8.272302146e-01
+52,6.965000000e+01,DOWN_FORCE_DETACH,1793350225735267134,6.632158025e-04,-2.207233993e-05,-3.351823009e-03,6.644560690e-04,-2.224718451e-05,-3.346770500e-03,6.770724021e-04,-2.237925711e-05,-3.331777651e-03,7.026188854e-01,-4.416025134e-05,8.567916228e-01,7.026201257e-01,-4.433509591e-05,8.567966753e-01,7.034232968e-01,-1.350525160e-04,8.269937990e-01
+53,7.056666667e+01,DOWN_FORCE_DETACH,1793350226652028822,6.847487836e-04,-2.051415039e-05,-3.576691647e-03,6.834382824e-04,-2.017790848e-05,-3.570755290e-03,6.947160235e-04,-2.065838147e-05,-3.555568367e-03,7.026404184e-01,-4.260206180e-05,8.565667542e-01,7.026391079e-01,-4.226581989e-05,8.565726906e-01,7.034409404e-01,-1.333316404e-04,8.267700083e-01
+54,7.150000000e+01,DOWN_FORCE_DETACH,1793350227618713090,7.036361704e-04,-2.059961542e-05,-3.847206140e-03,7.029024467e-04,-2.075144606e-05,-3.841042385e-03,7.124852987e-04,-2.116116463e-05,-3.824225377e-03,7.026593058e-01,-4.268752682e-05,8.562962397e-01,7.026585721e-01,-4.283935747e-05,8.563024035e-01,7.034587097e-01,-1.338344235e-04,8.265013513e-01
+55,7.238333333e+01,DOWN_FORCE_DETACH,1793350228521172068,7.245603520e-04,-2.083567847e-05,-4.120511669e-03,7.222678534e-04,-2.222473462e-05,-4.111326988e-03,7.301103056e-04,-2.281790459e-05,-4.093350820e-03,7.026802300e-01,-4.292358987e-05,8.560229342e-01,7.026779375e-01,-4.431264602e-05,8.560321189e-01,7.034763347e-01,-1.354911635e-04,8.262322259e-01
+56,7.315000000e+01,DOWN_FORCE_DETACH,1793350229289484871,7.389074480e-04,-2.294054555e-05,-4.379323577e-03,7.385882539e-04,-2.296564096e-05,-4.379544318e-03,7.444404978e-04,-2.344063862e-05,-4.360181280e-03,7.026945771e-01,-4.502845695e-05,8.557641223e-01,7.026942579e-01,-4.505355236e-05,8.557639015e-01,7.034906649e-01,-1.361138975e-04,8.259653954e-01
+57,7.390000000e+01,DOWN_FORCE_DETACH,1793350230043227506,7.492702044e-04,-1.635325374e-05,-4.653417873e-03,7.497214507e-04,-1.520483100e-05,-4.640162163e-03,7.536198604e-04,-1.645482263e-05,-4.620447145e-03,7.027049398e-01,-3.844116515e-05,8.554900280e-01,7.027053911e-01,-3.729274241e-05,8.555032837e-01,7.034998443e-01,-1.291280815e-04,8.257051295e-01
+58,7.466666667e+01,DOWN_FORCE_DETACH,1793350230813097893,7.591804641e-04,-1.582980123e-05,-4.940865119e-03,7.582087422e-04,-1.393374273e-05,-4.932064889e-03,7.596913434e-04,-1.508738497e-05,-4.911393191e-03,7.027148501e-01,-3.791771264e-05,8.552025807e-01,7.027138784e-01,-3.602165413e-05,8.552113810e-01,7.035059158e-01,-1.277606439e-04,8.254141835e-01
+59,7.570000000e+01,DOWN_PEAK_HOLD,1793350231844984445,7.222469347e-04,-9.905196429e-06,-5.189912470e-03,7.272276943e-04,-1.328427054e-05,-5.171744132e-03,7.251881551e-04,-1.451048434e-05,-5.155793431e-03,7.026779166e-01,-3.199310783e-05,8.549535334e-01,7.026828973e-01,-3.537218194e-05,8.549717017e-01,7.034714126e-01,-1.271837432e-04,8.251697833e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..261279552d5c40ffac3e1cc2cf23ddebb757b938
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,3.2759e-01,1.1203e+00,2.4740e+00,-1.1848e-01,6.0083e-02,2.7511e-03,3.8356e-05,-1.2994e-05,2.3842e-07,1.2144e-06,3.1888e-06,-5.0291e-08,4.0497e-05,3.4126e-06
+1,1.4833e+00,DOWN_FORCE_DETACH,3.2639e-04,4.8504e-01,1.1048e+00,2.4744e+00,-1.1714e-01,7.1612e-02,1.6131e-03,1.5749e-01,-1.5476e-02,4.4560e-04,1.3439e-03,1.1532e-02,-1.1380e-03,1.5825e-01,1.1666e-02
+2,2.8667e+00,DOWN_FORCE_DETACH,6.5317e-04,5.3769e-01,1.0997e+00,2.4705e+00,-1.1664e-01,7.5359e-02,1.1055e-03,2.1014e-01,-2.0547e-02,-3.4487e-03,1.8376e-03,1.5280e-02,-1.6456e-03,2.1117e-01,1.5477e-02
+3,4.1500e+00,DOWN_FORCE_DETACH,9.8088e-04,4.5465e-01,1.1231e+00,2.4333e+00,-1.1841e-01,6.9443e-02,1.0682e-03,1.2711e-01,2.7969e-03,-4.0704e-02,7.3403e-05,9.3638e-03,-1.6829e-03,1.3350e-01,9.5141e-03
+4,5.4333e+00,DOWN_FORCE_DETACH,1.3051e-03,5.2665e-01,1.1208e+00,2.4520e+00,-1.1823e-01,7.4614e-02,8.3275e-04,1.9910e-01,4.9722e-04,-2.1964e-02,2.5482e-04,1.4535e-02,-1.9184e-03,2.0031e-01,1.4663e-02
+5,6.8333e+00,DOWN_FORCE_DETACH,1.6300e-03,4.9506e-01,1.0706e+00,2.5495e+00,-1.1444e-01,7.2165e-02,7.2406e-04,1.6751e-01,-4.9699e-02,7.5545e-02,4.0432e-03,1.2085e-02,-2.0271e-03,1.9036e-01,1.2904e-02
+6,8.2667e+00,DOWN_FORCE_DETACH,1.9557e-03,5.4865e-01,1.0695e+00,2.5023e+00,-1.1439e-01,7.6059e-02,6.2001e-04,2.2111e-01,-5.0793e-02,2.8300e-02,4.0945e-03,1.5979e-02,-2.1311e-03,2.2862e-01,1.6632e-02
+7,9.6667e+00,DOWN_FORCE_DETACH,2.2828e-03,4.9751e-01,1.2341e+00,2.5087e+00,-1.2629e-01,7.2362e-02,7.5766e-04,1.6996e-01,1.1385e-01,3.4738e-02,-7.8122e-03,1.2282e-02,-1.9935e-03,2.0750e-01,1.4692e-02
+8,1.1167e+01,DOWN_FORCE_DETACH,2.6095e-03,5.2867e-01,1.0575e+00,2.5472e+00,-1.1348e-01,7.4544e-02,5.3964e-04,2.0112e-01,-6.2775e-02,7.3258e-02,5.0058e-03,1.4465e-02,-2.2115e-03,2.2306e-01,1.5465e-02
+9,1.2617e+01,DOWN_FORCE_DETACH,2.9351e-03,5.1195e-01,1.0697e+00,2.5754e+00,-1.1433e-01,7.3361e-02,4.8765e-04,1.8440e-01,-5.0583e-02,1.0144e-01,4.1569e-03,1.3282e-02,-2.2635e-03,2.1646e-01,1.4100e-02
+10,1.4033e+01,DOWN_FORCE_DETACH,3.2594e-03,4.8585e-01,1.0839e+00,2.5998e+00,-1.1533e-01,7.1386e-02,4.4343e-04,1.5830e-01,-3.6411e-02,1.2583e-01,3.1503e-03,1.1306e-02,-2.3077e-03,2.0547e-01,1.1961e-02
+11,1.5383e+01,DOWN_FORCE_DETACH,3.5870e-03,4.4068e-01,9.7250e-01,2.6156e+00,-1.0731e-01,6.8117e-02,3.3940e-04,1.1313e-01,-1.4778e-01,1.4162e-01,1.1168e-02,8.0373e-03,-2.4117e-03,2.3387e-01,1.3969e-02
+12,1.6700e+01,DOWN_FORCE_DETACH,3.9175e-03,4.4418e-01,1.0141e+00,2.6363e+00,-1.1030e-01,6.8288e-02,3.0071e-04,1.1663e-01,-1.0622e-01,1.6232e-01,8.1827e-03,8.2085e-03,-2.4504e-03,2.2635e-01,1.1847e-02
+13,1.8050e+01,DOWN_FORCE_DETACH,4.2428e-03,4.3935e-01,1.1459e+00,2.6252e+00,-1.1984e-01,6.8065e-02,3.2952e-04,1.1180e-01,2.5570e-02,1.5122e-01,-1.3533e-03,7.9850e-03,-2.4216e-03,1.8979e-01,8.4532e-03
+14,1.9433e+01,DOWN_FORCE_DETACH,4.5686e-03,5.5069e-01,1.1399e+00,2.5017e+00,-1.1961e-01,7.6423e-02,2.2216e-04,2.2314e-01,1.9574e-02,2.7718e-02,-1.1266e-03,1.6343e-02,-2.5290e-03,2.2571e-01,1.6576e-02
+15,2.0883e+01,DOWN_FORCE_DETACH,4.8917e-03,4.3824e-01,1.1195e+00,2.6619e+00,-1.1804e-01,6.8186e-02,1.2571e-04,1.1070e-01,-8.2040e-04,1.8798e-01,4.4586e-04,8.1060e-03,-2.6254e-03,2.1815e-01,8.5323e-03
+16,2.2400e+01,DOWN_FORCE_DETACH,5.2201e-03,4.6188e-01,1.0115e+00,2.6087e+00,-1.1032e-01,6.9873e-02,2.8325e-05,1.3434e-01,-1.0877e-01,1.3478e-01,8.1624e-03,9.7929e-03,-2.7228e-03,2.1919e-01,1.3036e-02
+17,2.3933e+01,DOWN_FORCE_DETACH,5.5471e-03,5.2449e-01,1.0803e+00,2.5655e+00,-1.1541e-01,7.4546e-02,6.8769e-06,1.9694e-01,-3.9944e-02,9.1501e-02,3.0770e-03,1.4466e-02,-2.7443e-03,2.2080e-01,1.5042e-02
+18,2.5383e+01,DOWN_FORCE_DETACH,5.8721e-03,5.1751e-01,9.2429e-01,2.5367e+00,-1.0430e-01,7.4127e-02,-1.3226e-04,1.8997e-01,-1.9600e-01,6.2742e-02,1.4179e-02,1.4047e-02,-2.8834e-03,2.8007e-01,2.0166e-02
+19,2.6717e+01,DOWN_FORCE_DETACH,6.1975e-03,5.5930e-01,9.9926e-01,2.5338e+00,-1.0978e-01,7.7166e-02,-1.5389e-04,2.3175e-01,-1.2103e-01,5.9795e-02,8.7060e-03,1.7086e-02,-2.9050e-03,2.6820e-01,1.9395e-02
+20,2.8133e+01,DOWN_FORCE_DETACH,6.5217e-03,5.5702e-01,1.0304e+00,2.5172e+00,-1.1209e-01,7.6998e-02,-1.7461e-04,2.2948e-01,-8.9892e-02,4.3244e-02,6.3925e-03,1.6919e-02,-2.9257e-03,2.5022e-01,1.8321e-02
+21,2.9417e+01,DOWN_FORCE_DETACH,6.8484e-03,5.6964e-01,1.0964e+00,2.5469e+00,-1.1685e-01,7.7964e-02,-2.1270e-04,2.4209e-01,-2.3888e-02,7.2969e-02,1.6331e-03,1.7885e-02,-2.9638e-03,2.5397e-01,1.8202e-02
+22,3.0733e+01,DOWN_FORCE_DETACH,7.1750e-03,5.8608e-01,1.0849e+00,2.5373e+00,-1.1605e-01,7.9163e-02,-3.0032e-04,2.5853e-01,-3.5424e-02,6.3387e-02,2.4328e-03,1.9083e-02,-3.0514e-03,2.6854e-01,1.9478e-02
+23,3.2217e+01,DOWN_FORCE_DETACH,7.5012e-03,5.4423e-01,1.0262e+00,2.6289e+00,-1.1168e-01,7.5727e-02,-3.6211e-04,2.1668e-01,-9.4060e-02,1.5495e-01,6.7985e-03,1.5647e-02,-3.1132e-03,2.8251e-01,1.7342e-02
+24,3.3683e+01,DOWN_FORCE_DETACH,7.8299e-03,5.6464e-01,1.0559e+00,2.6168e+00,-1.1375e-01,7.7294e-02,-3.4495e-04,2.3709e-01,-6.4383e-02,1.4288e-01,4.7337e-03,1.7215e-02,-3.0961e-03,2.8420e-01,1.8120e-02
+25,3.5050e+01,DOWN_FORCE_DETACH,8.1553e-03,5.4175e-01,9.8853e-01,2.7232e+00,-1.0859e-01,7.5274e-02,-3.6069e-04,2.1421e-01,-1.3175e-01,2.4926e-01,9.8934e-03,1.5195e-02,-3.1118e-03,3.5408e-01,1.8397e-02
+26,3.6500e+01,DOWN_FORCE_DETACH,8.4804e-03,4.7629e-01,1.0577e+00,2.8550e+00,-1.1318e-01,7.0376e-02,-2.5635e-04,1.4874e-01,-6.2539e-02,3.8101e-01,5.3023e-03,1.0297e-02,-3.0075e-03,4.1377e-01,1.1966e-02
+27,3.7867e+01,DOWN_FORCE_DETACH,8.8079e-03,5.2889e-01,9.6814e-01,2.7608e+00,-1.0651e-01,7.4099e-02,-2.0833e-04,2.0134e-01,-1.5215e-01,2.8682e-01,1.1969e-02,1.4019e-02,-2.9595e-03,3.8204e-01,1.8669e-02
+28,3.9167e+01,DOWN_FORCE_DETACH,9.1348e-03,5.0139e-01,1.0207e+00,2.8471e+00,-1.0983e-01,7.1908e-02,-1.0265e-04,1.7384e-01,-9.9551e-02,3.7311e-01,8.6496e-03,1.1829e-02,-2.8538e-03,4.2349e-01,1.4929e-02
+29,4.0600e+01,DOWN_FORCE_DETACH,9.4608e-03,4.5150e-01,1.0435e+00,2.8843e+00,-1.1107e-01,6.8121e-02,1.0688e-04,1.2396e-01,-7.6800e-02,4.1033e-01,7.4157e-03,8.0412e-03,-2.6443e-03,4.3547e-01,1.1254e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..14d03df04b50b984f6344fbfeb45b97bb4f809e8
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 634880
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8b2b5f598c20f98771e381aa9fdedd38522f19f1
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/fem_node.csv
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a2545f1145eff3ce9acf2199200575527871422d
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bb89d774146faa54f6fd182930a5b2890b1d8c70
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fc713116a74f61719e068ce3433bbb09448d5457
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+7,8.666666667e-01,WAIT_W2,1793350139380624603,1.332229296e-04,9.741613650e-06,2.219945478e-04,1.331207206e-04,9.578610555e-06,2.220735268e-04,1.385942145e-04,8.507236590e-06,2.114217960e-04,7.020888926e-01,-1.234629776e-05,8.603654404e-01,7.020887903e-01,-1.250930085e-05,8.603655194e-01,7.028848187e-01,-1.041658510e-04,8.305369985e-01
+8,9.000000000e-01,WAIT_W2,1793350139413054035,1.590012132e-04,1.007716506e-05,2.706301442e-04,1.588775184e-04,1.005808177e-05,2.704817807e-04,1.657268902e-04,8.937326091e-06,2.579623647e-04,7.021146708e-01,-1.201074634e-05,8.604140760e-01,7.021145471e-01,-1.202982964e-05,8.604139276e-01,7.029119514e-01,-1.037357615e-04,8.305835390e-01
+9,9.333333333e-01,WAIT_W2,1793350139446008455,1.952040834e-04,1.348957145e-05,3.413653603e-04,1.953849924e-04,1.338579015e-05,3.415882138e-04,2.041101696e-04,1.191612001e-05,3.262066985e-04,7.021508737e-01,-8.598339958e-06,8.604848112e-01,7.021510546e-01,-8.702121253e-06,8.604850341e-01,7.029503347e-01,-1.007569676e-04,8.306517834e-01
+10,9.500000000e-01,WAIT_W2,1793350139462384003,2.088496720e-04,9.505718408e-06,3.713476385e-04,2.088170033e-04,9.552483010e-06,3.711099346e-04,2.184330647e-04,8.461331696e-06,3.546853805e-04,7.021645193e-01,-1.258219300e-05,8.605147935e-01,7.021644866e-01,-1.253542840e-05,8.605145558e-01,7.029646576e-01,-1.042117559e-04,8.306802620e-01
+11,1.016666667e+00,WAIT_W2,1793350139527677354,2.452078839e-04,9.840103986e-06,4.420236191e-04,2.451082733e-04,9.692112031e-06,4.417408882e-04,2.572587973e-04,8.553656369e-06,4.234062703e-04,7.022008775e-01,-1.224780742e-05,8.605854695e-01,7.022007779e-01,-1.239579937e-05,8.605851867e-01,7.030034833e-01,-1.041194312e-04,8.307489829e-01
+12,1.116666667e+00,WAIT_W2,1793350139625546772,2.713330558e-04,1.196496183e-05,4.874100465e-04,2.667844254e-04,1.334047560e-05,4.798574763e-04,2.812948596e-04,1.178770491e-05,4.617850617e-04,7.022270027e-01,-1.012294958e-05,8.606308559e-01,7.022224541e-01,-8.747435805e-06,8.606233033e-01,7.030275193e-01,-1.008853827e-04,8.307873617e-01
+13,1.316666667e+00,WAIT_W2,1793350139822854650,2.913839647e-04,1.238806481e-05,5.272079304e-04,2.879527040e-04,1.356532936e-05,5.194043340e-04,3.059332890e-04,1.192572827e-05,5.028675652e-04,7.022470536e-01,-9.699846598e-06,8.606706538e-01,7.022436223e-01,-8.522582045e-06,8.606628502e-01,7.030521578e-01,-1.007473593e-04,8.308284442e-01
+14,1.616666667e+00,UP_FORCE_RAMP,1793350140117313605,2.969068566e-04,1.088745496e-05,5.400409026e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.180123117e-04,1.194136342e-05,5.238219209e-04,7.022525765e-01,-1.120045644e-05,8.606834867e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030642368e-01,-1.007317242e-04,8.308493986e-01
+15,1.816666667e+00,UP_FORCE_RAMP,1793350140314291071,2.976656804e-04,1.138053180e-05,5.408262705e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.195995624e-04,1.184679464e-05,5.256964691e-04,7.022533353e-01,-1.070737960e-05,8.606842721e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030658240e-01,-1.008262930e-04,8.308512731e-01
+16,2.100000000e+00,UP_FORCE_RAMP,1793350140608634027,2.971843714e-04,1.691956602e-05,5.407531616e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.213841433e-04,1.172251535e-05,5.278301333e-04,7.022528540e-01,-5.168345386e-06,8.606841990e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030676086e-01,-1.009505722e-04,8.308534068e-01
+17,2.433333333e+00,UP_FORCE_RAMP,1793350140936520309,3.007390051e-04,1.179029671e-05,5.480908176e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.229909752e-04,1.160829657e-05,5.298051082e-04,7.022564086e-01,-1.029761470e-05,8.606915367e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030692155e-01,-1.010647910e-04,8.308553818e-01
+18,2.633333333e+00,UP_FORCE_RAMP,1793350141132717867,3.007036356e-04,1.269286551e-05,5.542581892e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.237596079e-04,1.155093646e-05,5.308004939e-04,7.022563733e-01,-9.395045893e-06,8.606977040e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030699841e-01,-1.011221511e-04,8.308563772e-01
+19,2.833333333e+00,UP_FORCE_RAMP,1793350141329310638,3.005421721e-04,1.513339401e-05,5.547564572e-04,2.966680473e-04,1.374057127e-05,5.376725399e-04,3.244122315e-04,1.150630324e-05,5.316646766e-04,7.022562118e-01,-6.954517397e-06,8.606982023e-01,7.022523377e-01,-8.347340131e-06,8.606811184e-01,7.030706367e-01,-1.011667844e-04,8.308572413e-01
+20,3.100000000e+00,UP_FORCE_RAMP,1793350141591274486,2.977597023e-04,1.609731512e-05,5.586244367e-04,3.001011036e-04,1.132024652e-05,5.583459331e-04,3.288865905e-04,9.303894586e-06,5.524143854e-04,7.022534293e-01,-5.990596285e-06,8.607020703e-01,7.022557707e-01,-1.076766489e-05,8.607017918e-01,7.030751111e-01,-1.033691930e-04,8.308779911e-01
+21,3.450000000e+00,UP_FORCE_RAMP,1793350141935533460,2.966718835e-04,1.262373867e-05,5.698805203e-04,3.001011036e-04,1.132024652e-05,5.583459331e-04,3.296827328e-04,9.246423060e-06,5.537418050e-04,7.022523415e-01,-9.464172736e-06,8.607133264e-01,7.022557707e-01,-1.076766489e-05,8.607017918e-01,7.030759072e-01,-1.034266645e-04,8.308793185e-01
+22,3.716666667e+00,UP_FORCE_RAMP,1793350142213699979,2.961628318e-04,1.253030054e-05,5.813007886e-04,2.951479785e-04,1.704499209e-05,5.771659681e-04,3.252922988e-04,1.433741912e-05,5.724075809e-04,7.022518325e-01,-9.557610868e-06,8.607247466e-01,7.022508176e-01,-5.042919316e-06,8.607206118e-01,7.030715168e-01,-9.833566847e-05,8.308979842e-01
+23,3.950000000e+00,UP_FORCE_RAMP,1793350142443072179,2.885702894e-04,9.436501922e-06,5.838516724e-04,2.951479785e-04,1.704499209e-05,5.771659681e-04,3.255438710e-04,1.433547881e-05,5.732435693e-04,7.022442399e-01,-1.265140948e-05,8.607272975e-01,7.022508176e-01,-5.042919316e-06,8.607206118e-01,7.030717684e-01,-9.833760879e-05,8.308988202e-01
+24,4.166666667e+00,UP_FORCE_RAMP,1793350142656312068,2.904265735e-04,9.668355473e-06,6.019537364e-04,2.932951011e-04,1.068018300e-05,5.962476364e-04,3.241337250e-04,8.586507594e-06,5.920115474e-04,7.022460962e-01,-1.241955593e-05,8.607453996e-01,7.022489647e-01,-1.140772840e-05,8.607396935e-01,7.030703582e-01,-1.040865800e-04,8.309175882e-01
+25,4.383333333e+00,UP_FORCE_RAMP,1793350142868919658,2.861101137e-04,1.275865649e-05,6.065279501e-04,2.932951011e-04,1.068018300e-05,5.962476364e-04,3.243106403e-04,8.567028201e-06,5.926760688e-04,7.022417797e-01,-9.329254919e-06,8.607499738e-01,7.022489647e-01,-1.140772840e-05,8.607396935e-01,7.030705351e-01,-1.041060594e-04,8.309182527e-01
+26,4.633333333e+00,UP_FORCE_RAMP,1793350143115090040,2.850654605e-04,1.433542945e-05,6.250901716e-04,2.883575096e-04,1.284110945e-05,6.156046133e-04,3.196818021e-04,1.051050830e-05,6.117994348e-04,7.022407351e-01,-7.752481952e-06,8.607685360e-01,7.022440271e-01,-9.246801953e-06,8.607590505e-01,7.030659063e-01,-1.021625793e-04,8.309373761e-01
+27,4.833333333e+00,UP_FORCE_RAMP,1793350143312338363,2.808565059e-04,1.314990989e-05,6.363969027e-04,2.810616049e-04,1.322453393e-05,6.361380438e-04,3.126255913e-04,1.088884852e-05,6.316529865e-04,7.022365261e-01,-8.938001514e-06,8.607798427e-01,7.022367312e-01,-8.863377472e-06,8.607795839e-01,7.030588501e-01,-1.017842391e-04,8.309572297e-01
+28,4.966666667e+00,UP_FORCE_RAMP,1793350143442899924,2.382722431e-04,1.350467120e-05,6.356085763e-04,2.384656333e-04,1.351850289e-05,6.354572598e-04,2.696391189e-04,1.114512334e-05,6.315496276e-04,7.021939419e-01,-8.583240207e-06,8.607790544e-01,7.021941353e-01,-8.569408518e-06,8.607789031e-01,7.030158636e-01,-1.015279643e-04,8.309571263e-01
+29,5.216666667e+00,UP_FORCE_RAMP,1793350143704509733,2.435130762e-04,1.072221423e-05,6.580845583e-04,2.458685981e-04,1.427309197e-05,6.564588022e-04,2.764333968e-04,1.184951158e-05,6.521934563e-04,7.021991827e-01,-1.136569717e-05,8.608015304e-01,7.022015382e-01,-7.814819432e-06,8.607999046e-01,7.030226579e-01,-1.008235760e-04,8.309777701e-01
+30,5.483333333e+00,UP_FORCE_RAMP,1793350143966866738,2.382599547e-04,1.636514748e-05,6.768219263e-04,2.401999328e-04,1.516956723e-05,6.773022788e-04,2.706413387e-04,1.265229540e-05,6.727732533e-04,7.021939296e-01,-5.722763925e-06,8.608202678e-01,7.021958696e-01,-6.918344178e-06,8.608207481e-01,7.030168658e-01,-1.000207922e-04,8.309983499e-01
+31,5.716666667e+00,UP_FORCE_RAMP,1793350144195532827,2.306621732e-04,1.311880054e-05,6.961911475e-04,2.309398716e-04,1.329722586e-05,6.959702333e-04,2.612987175e-04,1.099266950e-05,6.911300109e-04,7.021863318e-01,-8.969110862e-06,8.608396370e-01,7.021866095e-01,-8.790685548e-06,8.608394161e-01,7.030075232e-01,-1.016804181e-04,8.310167067e-01
+32,5.983333333e+00,UP_FORCE_RAMP,1793350144458448812,2.164198809e-04,1.644042436e-05,7.150221332e-04,2.201415277e-04,1.225929056e-05,7.135526119e-04,2.500508736e-04,1.005854573e-05,7.087866194e-04,7.021720895e-01,-5.647487043e-06,8.608584680e-01,7.021758112e-01,-9.828620850e-06,8.608569985e-01,7.029962754e-01,-1.026145419e-04,8.310343633e-01
+33,6.183333333e+00,UP_FORCE_RAMP,1793350144654962621,2.065167590e-04,1.531898584e-05,7.340944482e-04,2.111043788e-04,1.477153326e-05,7.310280503e-04,2.407747686e-04,1.233837363e-05,7.261272080e-04,7.021621864e-01,-6.768925565e-06,8.608775403e-01,7.021667740e-01,-7.316378142e-06,8.608744739e-01,7.029869993e-01,-1.003347140e-04,8.310517039e-01
+34,6.383333333e+00,UP_FORCE_RAMP,1793350144851193799,1.949733534e-04,1.601324700e-05,7.531699937e-04,2.020615312e-04,1.550036255e-05,7.512500788e-04,2.314367832e-04,1.301820897e-05,7.460025262e-04,7.021506430e-01,-6.074664401e-06,8.608966158e-01,7.021577312e-01,-6.587548851e-06,8.608946959e-01,7.029776613e-01,-9.965487863e-05,8.310715792e-01
+35,6.633333333e+00,UP_FORCE_RAMP,1793350145097006196,1.762926810e-04,1.460856593e-05,7.736413299e-04,1.837167865e-04,1.468734465e-05,7.589301204e-04,2.123500287e-04,1.228629491e-05,7.541908276e-04,7.021319623e-01,-7.479345475e-06,8.609170872e-01,7.021393864e-01,-7.400566760e-06,8.609023760e-01,7.029585745e-01,-1.003867927e-04,8.310797675e-01
+36,6.866666667e+00,UP_FORCE_RAMP,1793350145342821207,1.586548638e-04,1.002211444e-05,7.975741489e-04,1.627563080e-04,1.265748079e-05,7.960086485e-04,1.908543480e-04,1.052239418e-05,7.902295435e-04,7.021143245e-01,-1.206579696e-05,8.609410200e-01,7.021184259e-01,-9.430430616e-06,8.609394545e-01,7.029370788e-01,-1.021506934e-04,8.311158062e-01
+37,7.116666667e+00,UP_FORCE_RAMP,1793350145588327296,1.401416018e-04,1.022684601e-05,8.238969192e-04,1.498861625e-04,9.804756938e-06,8.132774974e-04,1.772268971e-04,7.986545537e-06,8.076655723e-04,7.020958112e-01,-1.186106540e-05,8.609673428e-01,7.021055558e-01,-1.228315447e-05,8.609567233e-01,7.029234514e-01,-1.046865421e-04,8.311332422e-01
+38,7.383333333e+00,UP_FORCE_RAMP,1793350145850798403,1.189438802e-04,5.115824585e-06,8.508439295e-04,1.259906757e-04,1.014321624e-05,8.481262105e-04,1.525144306e-04,8.310929009e-06,8.417656248e-04,7.020746135e-01,-1.697208682e-05,8.609942898e-01,7.020816603e-01,-1.194469517e-05,8.609915721e-01,7.028987389e-01,-1.043621586e-04,8.311673423e-01
+39,7.633333333e+00,UP_FORCE_RAMP,1793350146096203332,1.019785633e-04,5.958487363e-06,8.786536809e-04,1.129185721e-04,7.442253186e-06,8.665883614e-04,1.385806756e-04,5.916273803e-06,8.604217289e-04,7.020576482e-01,-1.612942404e-05,8.610220995e-01,7.020685882e-01,-1.464565822e-05,8.610100342e-01,7.028848052e-01,-1.067568138e-04,8.311859984e-01
+40,7.816666667e+00,UP_FORCE_RAMP,1793350146275885263,8.965100098e-05,1.025144474e-05,8.969461189e-04,1.002783401e-04,4.099625528e-06,8.815907034e-04,1.252882110e-04,2.947739723e-06,8.755423167e-04,7.020453206e-01,-1.183646667e-05,8.610403920e-01,7.020559480e-01,-1.798828588e-05,8.610250365e-01,7.028715127e-01,-1.097253479e-04,8.312011190e-01
+41,8.066666667e+00,UP_FORCE_HOLD,1793350146522071621,7.404059441e-05,3.256918682e-06,9.202498749e-04,7.526882668e-05,4.954001195e-06,9.191178067e-04,9.944386775e-05,3.788539391e-06,9.121486489e-04,7.020297102e-01,-1.883099272e-05,8.610636957e-01,7.020309385e-01,-1.713391021e-05,8.610625637e-01,7.028456684e-01,-1.088845482e-04,8.312377253e-01
+42,8.316666667e+00,UP_SETTLE,1793350146783530382,5.761178298e-05,2.111524962e-06,9.414600541e-04,6.112251837e-05,4.100472891e-06,9.354231455e-04,8.428612440e-05,3.063293563e-06,9.288198171e-04,7.020132814e-01,-1.997638644e-05,8.610849059e-01,7.020167921e-01,-1.798743851e-05,8.610788690e-01,7.028305106e-01,-1.096097940e-04,8.312543965e-01
+43,8.550000000e+00,UP_SETTLE,1793350147013827317,4.520968339e-05,7.647705369e-06,9.626368420e-04,5.253010768e-05,4.755047553e-06,9.539180376e-04,7.488887250e-05,3.713187246e-06,9.474896661e-04,7.020008793e-01,-1.444020604e-05,8.611060827e-01,7.020081997e-01,-1.733286385e-05,8.610973639e-01,7.028211134e-01,-1.089599003e-04,8.312730663e-01
+44,8.766666667e+00,UP_SETTLE,1793350147226516856,3.357554013e-05,4.107934806e-06,9.779187122e-04,4.104471228e-05,4.844036162e-06,9.722719962e-04,6.263677728e-05,3.825138936e-06,9.658235834e-04,7.019892452e-01,-1.797997660e-05,8.611213646e-01,7.019967143e-01,-1.724387524e-05,8.611157178e-01,7.028088613e-01,-1.088479487e-04,8.312914003e-01
+45,9.016666667e+00,UP_SETTLE,1793350147471470293,2.378131149e-05,8.767083354e-07,9.967554469e-04,3.117014921e-05,5.931287521e-06,9.902200529e-04,5.196162840e-05,4.872959110e-06,9.840111433e-04,7.019794509e-01,-2.121120307e-05,8.611402013e-01,7.019868398e-01,-1.615662388e-05,8.611336659e-01,7.027981861e-01,-1.078001285e-04,8.313095878e-01
+46,9.266666667e+00,UP_SETTLE,1793350147718109983,1.571840954e-05,5.713411561e-06,1.018728190e-03,1.782515426e-05,4.007270459e-06,1.007724912e-03,3.772769143e-05,3.175435565e-06,1.001656001e-03,7.019713880e-01,-1.637449984e-05,8.611621740e-01,7.019734948e-01,-1.808064095e-05,8.611511708e-01,7.027839522e-01,-1.094976520e-04,8.313272327e-01
+47,9.500000000e+00,UP_SETTLE,1793350147946527421,2.019866997e-06,5.723715250e-07,1.031247747e-03,6.880347848e-06,4.609605450e-06,1.025784309e-03,2.610127167e-05,3.773503543e-06,1.019755312e-03,7.019576895e-01,-2.151553988e-05,8.611746936e-01,7.019625500e-01,-1.747830596e-05,8.611692302e-01,7.027723258e-01,-1.088995841e-04,8.313453320e-01
+48,9.733333333e+00,UP_SETTLE,1793350148176366312,-8.705400488e-06,5.358615415e-06,1.043565381e-03,-2.075997967e-06,5.350372333e-06,1.043618761e-03,1.641106816e-05,4.499090039e-06,1.037623979e-03,7.019469642e-01,-1.672929599e-05,8.611870112e-01,7.019535936e-01,-1.673753907e-05,8.611870646e-01,7.027626356e-01,-1.081739976e-04,8.313632006e-01
+49,1.000000000e+01,UP_SETTLE,1793350148438337595,-2.464699718e-05,6.274523861e-06,1.058169738e-03,-2.062809642e-05,4.272442407e-06,1.052195687e-03,-3.153842302e-06,3.580106003e-06,1.046743961e-03,7.019310226e-01,-1.581338754e-05,8.612016156e-01,7.019350415e-01,-1.781546900e-05,8.611956415e-01,7.027430706e-01,-1.090929816e-04,8.313723206e-01
+50,1.026666667e+01,UP_SETTLE,1793350148717018513,-3.290207373e-05,8.423432503e-06,1.075267041e-03,-2.996208817e-05,3.416814437e-06,1.070504961e-03,-1.332836940e-05,2.878160590e-06,1.065018019e-03,7.019227676e-01,-1.366447890e-05,8.612187129e-01,7.019257075e-01,-1.867109697e-05,8.612139508e-01,7.027328961e-01,-1.097949270e-04,8.313905947e-01
+51,1.051666667e+01,UP_SETTLE,1793350148978430383,-4.253621248e-05,3.403037038e-06,1.086505478e-03,-3.709313157e-05,8.272197983e-06,1.088176038e-03,-2.113385441e-05,7.275035424e-06,1.082698625e-03,7.019131334e-01,-1.868487437e-05,8.612299513e-01,7.019185765e-01,-1.381571342e-05,8.612316219e-01,7.027250906e-01,-1.053980522e-04,8.314082753e-01
+52,1.078333333e+01,UP_SETTLE,1793350149241152246,-4.478343169e-05,3.733706561e-06,1.103362159e-03,-3.709313157e-05,8.272197983e-06,1.088176038e-03,-2.187964491e-05,7.324090564e-06,1.083633575e-03,7.019108862e-01,-1.835420484e-05,8.612468080e-01,7.019185765e-01,-1.381571342e-05,8.612316219e-01,7.027243448e-01,-1.053489970e-04,8.314092102e-01
+53,1.103333333e+01,UP_SETTLE,1793350149503358790,-5.314778375e-05,4.229494001e-06,1.110456797e-03,-4.434367694e-05,9.614295324e-07,1.107814313e-03,-2.960859990e-05,8.124611166e-07,1.103033316e-03,7.019025218e-01,-1.785841740e-05,8.612539026e-01,7.019113259e-01,-2.112648187e-05,8.612512602e-01,7.027166159e-01,-1.118606265e-04,8.314286100e-01
+54,1.128333333e+01,UP_SETTLE,1793350149749057688,-5.685671755e-05,2.711662410e-06,1.122094862e-03,-5.448911836e-05,4.678686279e-06,1.124448860e-03,-4.019791505e-05,4.203636969e-06,1.119473378e-03,7.018988129e-01,-1.937624900e-05,8.612655407e-01,7.019011805e-01,-1.740922513e-05,8.612678947e-01,7.027060266e-01,-1.084694506e-04,8.314450500e-01
+55,1.153333333e+01,UP_SETTLE,1793350149994335623,-6.090497825e-05,5.587649278e-06,1.129529822e-03,-5.448911836e-05,4.678686279e-06,1.124448860e-03,-4.079542364e-05,4.251366285e-06,1.120251665e-03,7.018947646e-01,-1.650026213e-05,8.612729757e-01,7.019011805e-01,-1.740922513e-05,8.612678947e-01,7.027054291e-01,-1.084217213e-04,8.314458283e-01
+56,1.176666667e+01,UP_SETTLE,1793350150224044858,-6.248273486e-05,2.348670839e-06,1.138695462e-03,-5.448911836e-05,4.678686279e-06,1.124448860e-03,-4.120906130e-05,4.278675082e-06,1.120785345e-03,7.018931869e-01,-1.973924057e-05,8.612821413e-01,7.019011805e-01,-1.740922513e-05,8.612678947e-01,7.027050154e-01,-1.083944125e-04,8.314463620e-01
+57,1.200000000e+01,UP_SETTLE,1793350150469417040,-6.643980542e-05,1.588164337e-06,1.141115378e-03,-6.270140223e-05,6.336023148e-06,1.144497627e-03,-4.969892723e-05,5.767454049e-06,1.140241618e-03,7.018892298e-01,-2.049974707e-05,8.612845612e-01,7.018929682e-01,-1.575188826e-05,8.612879435e-01,7.026965256e-01,-1.069056335e-04,8.314658183e-01
+58,1.223333333e+01,UP_SETTLE,1793350150699309439,-6.700307346e-05,4.770667642e-06,1.148756981e-03,-6.270140223e-05,6.336023148e-06,1.144497627e-03,-5.008822137e-05,5.789057911e-06,1.140812853e-03,7.018886666e-01,-1.731724376e-05,8.612922028e-01,7.018929682e-01,-1.575188826e-05,8.612879435e-01,7.026961363e-01,-1.068840297e-04,8.314663895e-01
+59,1.251666667e+01,UP_SETTLE,1793350150977606062,-6.873089557e-05,6.533729674e-06,1.152867079e-03,-6.270140223e-05,6.336023148e-06,1.144497627e-03,-5.045336077e-05,5.811812010e-06,1.141334174e-03,7.018869387e-01,-1.555418173e-05,8.612963129e-01,7.018929682e-01,-1.575188826e-05,8.612879435e-01,7.026957711e-01,-1.068612756e-04,8.314669108e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..cf5a61bd46d6e1b96047266207105c7e01274fb9
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,3.3339e-01,1.1176e+00,2.4740e+00,-1.1822e-01,6.0581e-02,2.7536e-03,-1.6928e-05,-2.3842e-07,2.8610e-06,1.9372e-07,-6.9290e-07,-5.4017e-08,1.7169e-05,7.2150e-07
+1,2.8333e-01,WAIT_W2,6.3149e-05,3.6805e-01,1.1127e+00,2.4746e+00,-1.1781e-01,6.3264e-02,2.5051e-03,3.4640e-02,-4.8885e-03,6.7329e-04,4.1620e-04,2.6819e-03,-2.4852e-04,3.4990e-02,2.7254e-03
+2,5.5000e-01,WAIT_W2,1.2266e-04,4.1121e-01,1.1075e+00,2.4746e+00,-1.1733e-01,6.6331e-02,2.2300e-03,7.7804e-02,-1.0071e-02,6.2943e-04,8.9241e-04,5.7497e-03,-5.2358e-04,7.8455e-02,5.8421e-03
+3,7.1667e-01,WAIT_W2,1.7813e-04,3.5779e-01,6.8536e-01,2.3816e+00,-8.6950e-02,6.2564e-02,1.6355e-03,2.4381e-02,-4.3225e-01,-9.2324e-02,3.1272e-02,1.9826e-03,-1.1181e-03,4.4267e-01,3.1355e-02
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+5,8.0000e-01,WAIT_W2,3.0982e-04,-2.9859e-01,7.2266e-01,1.5057e+00,-9.0451e-02,1.7569e-02,1.7625e-03,-6.3200e-01,-3.9494e-01,-9.6823e-01,2.7771e-02,-4.3012e-02,-9.9110e-04,1.2218e+00,5.1208e-02
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+8,9.0000e-01,WAIT_W2,4.7914e-04,-1.0083e+00,8.6870e-01,4.2433e-01,-1.0188e-01,-3.4028e-02,2.0492e-03,-1.3417e+00,-2.4890e-01,-2.0496e+00,1.6337e-02,-9.4609e-02,-7.0437e-04,2.4623e+00,9.6012e-02
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+14,1.6167e+00,UP_FORCE_RAMP,8.4340e-04,-1.7446e+00,8.0970e-01,-7.9853e-01,-9.9648e-02,-8.6742e-02,2.5253e-03,-2.0780e+00,-3.0790e-01,-3.2725e+00,1.8574e-02,-1.4732e-01,-2.2830e-04,3.8887e+00,1.4849e-01
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+16,2.1000e+00,UP_FORCE_RAMP,9.6188e-04,-1.0088e+00,7.2392e-01,1.8990e-01,-9.3837e-02,-3.8270e-02,2.6059e-03,-1.3422e+00,-3.9369e-01,-2.2841e+00,2.4385e-02,-9.8851e-02,-1.4766e-04,2.6783e+00,1.0181e-01
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+22,3.7167e+00,UP_FORCE_RAMP,1.3274e-03,2.3438e-01,5.3773e-01,1.3829e+00,-7.9495e-02,5.4213e-02,1.6681e-03,-9.9026e-02,-5.7987e-01,-1.0910e+00,3.8727e-02,-6.3688e-03,-1.0855e-03,1.2395e+00,3.9262e-02
+23,3.9500e+00,UP_FORCE_RAMP,1.3891e-03,2.6706e-01,5.7706e-01,1.6100e+00,-8.0786e-02,5.7988e-02,1.3407e-03,-6.6344e-02,-5.4055e-01,-8.6394e-01,3.7436e-02,-2.5931e-03,-1.4130e-03,1.0213e+00,3.7552e-02
+24,4.1667e+00,UP_FORCE_RAMP,1.4460e-03,3.3676e-01,6.6655e-01,1.5836e+00,-8.7361e-02,6.2468e-02,1.2803e-03,3.3566e-03,-4.5105e-01,-8.9038e-01,3.0861e-02,1.8869e-03,-1.4734e-03,9.9812e-01,3.0953e-02
+25,4.3833e+00,UP_FORCE_RAMP,1.5053e-03,3.8221e-01,6.9973e-01,1.6849e+00,-8.9683e-02,6.5403e-02,1.2430e-03,4.8806e-02,-4.1787e-01,-7.8904e-01,2.8539e-02,4.8218e-03,-1.5106e-03,8.9419e-01,2.8983e-02
+26,4.6333e+00,UP_FORCE_RAMP,1.5671e-03,4.3389e-01,6.6448e-01,1.6461e+00,-8.7465e-02,6.9200e-02,1.1580e-03,1.0048e-01,-4.5313e-01,-8.2786e-01,3.0757e-02,8.6185e-03,-1.5956e-03,9.4909e-01,3.1981e-02
+27,4.8333e+00,UP_FORCE_RAMP,1.6281e-03,4.6601e-01,6.5239e-01,1.7504e+00,-8.6658e-02,7.1387e-02,1.1045e-03,1.3260e-01,-4.6521e-01,-7.2352e-01,3.1564e-02,1.0805e-02,-1.6491e-03,8.7034e-01,3.3403e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/camera_frames_60hz.tar b/Part2/Fixed/digit/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/digit/cylinder_PLA_20/press_depth_09/down/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4e5f18b1f4a199267cca8e5d1ae116a3f033a504
--- /dev/null
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ba02c0ca386ae663270ea32e8bc08b6cf3f4b712
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+15620,1793350259625285256,11805744000000,1793350259625252205,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7510445388054522,-0.006333404858205081,0.1027672941063547,0.9999999868493138,9.858131219723124e-05,-8.86298877979044e-05,1.306539780612214e-05,0.7511,-0.0065,0.10275036401654082,1.0,0.0,0.0,0.0,-0.18470425170779897,0.11140998447332154,0.052079496578433915,0.009503879455398387,0.011107028069160925,0.0014592570729759788,-0.5255798095219508,-0.04074200337611217,2.4271403376266294,-0.01388353265276166,0.04534353079593755,-0.007618096910133995,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.0952124279825655,-0.9338141207340106,-0.5422667195614609,0.5082749316997522,0.8824722319962887,-0.6510355153524797,1.5251891887594113,-0.052079496578433915,2.067455908320872,2.067455908320872,2.0654838232187287,0,0,-2.682038627713356e-05,9.95371244024767e-05
+15773,1793350260900166999,11807019000000,1793350260897251667,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7510534085738128,-0.006335581740932759,0.10275089315504622,0.9999999882165205,9.81056733739614e-05,-7.234842796146009e-05,1.2280270645158519e-05,0.7511,-0.0065,0.10270937584776481,1.0,0.0,0.0,0.0,-0.21710183535766964,0.1452127746201903,0.19983932375569502,0.01245581353038533,0.014057072856921371,0.0014176272676555994,-0.5579773931718215,-0.006939213229243415,2.5749001648038905,-0.010931598577774716,0.048293575583698,-0.007659726715454374,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.270776553941292,-0.9249049475657969,-0.7317949521309769,0.5069949540352616,1.0595956811914617,-0.6481495726592281,1.5251891887594113,-0.19983932375569502,2.2569841408903883,2.2569841408903883,2.1929838232189978,0,0,-3.438701396266263e-05,9.960937216580418e-05
+15962,1793350262475251784,11808594000000,1793350262469253102,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.751063767829003,-0.006333862138115761,0.10273670282456832,0.999999989404713,9.806023131443869e-05,-5.319708841202908e-05,1.370031883324853e-05,0.7511,-0.0065,0.1026727888107584,1.0,0.0,0.0,0.0,-0.2486079773164666,0.1841352767927243,0.3290808550300879,0.014413588599419986,0.01601002065314451,0.0023863188640909838,-0.5894835351306185,0.03198328894329059,2.7041416960782834,-0.008973823508740061,0.05024652337992114,-0.00669103511901899,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.3384879927889646,-0.7833506223390527,-0.8619978846590759,0.4611593835582375,1.1640592855090794,-0.5446596237509508,1.5251891887594113,-0.3290808550300879,2.3871870734184872,2.3871870734184872,2.35048382321933,0,0,-1.9234715255252215e-05,9.779161788537322e-05
+16133,1793350263900256997,11810019000000,1793350263893251952,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7510748840634552,-0.006334995902655333,0.1027260545151257,0.9999999900937084,0.0001001577224300351,-3.248531695067258e-05,1.2983928090620429e-05,0.7511,-0.0065,0.10263011369694114,1.0,0.0,0.0,0.0,-0.28482161760243246,0.20274455206147274,0.4655592449002266,0.01535460031283804,0.01798819198862394,0.0023194456547047868,-0.6256971754165843,0.05059256421203902,2.840620085948422,-0.008032811795322007,0.05222469471540057,-0.006757908328405187,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.3631999399938013,-0.9008996675350047,-0.9378039966536132,0.49857280462840053,1.2181919204228189,-0.6283937039232266,1.5251891887594113,-0.4655592449002266,2.4629931854130245,2.4629931854130245,2.492983823219631,0,0,-3.641867435147499e-05,4.342514985326688e-06
+16288,1793350265191152087,11811310000000,1793350265185251910,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7510812059432517,-0.006339080284619959,0.10270344940452932,0.9999999907874051,9.617211840861687e-05,-2.0640459618054776e-05,1.3890619536817041e-05,0.7511,-0.0065,0.10259187117393023,1.0,0.0,0.0,0.0,-0.3134733410869827,0.2295479331489613,0.6068243958833852,0.017315866182335708,0.019945501685595342,0.0022563035996260895,-0.6543488989011346,0.07739594529952759,2.9818852369315807,-0.0060715459258243384,0.05418200441237197,-0.006821050383483884,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.422477646949475,-0.8623951544456622,-1.0329524665342888,0.48083271084528295,1.3008225128167277,-0.6032897099529014,1.5251891887594113,-0.6068243958833852,2.5581416552937,2.5581416552937,2.6220838232199033,0,0,-2.38485686019071e-05,-9.670505648896039e-05
+16451,1793350266550252691,11812669000000,1793350266549252610,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7510907419250179,-0.006342455606479098,0.10269888306625545,0.9999999909426756,9.603338660573021e-05,-3.0701577296810667e-06,1.8046500443162597e-05,0.7511,-0.0065,0.1025619727307353,1.0,0.0,0.0,0.0,-0.3344551506646813,0.251262552477154,0.7102225319181454,0.019284607364313762,0.020893043337637425,0.00323592299750668,-0.6753307084788331,0.09911056462772033,3.085283372966341,-0.004102804743846285,0.05512954606441405,-0.005841430985603293,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.4708196433516725,-0.8757404908175133,-1.193007920150522,0.49153881793059606,1.427116118430855,-0.6134149611842493,1.5251891887594113,-0.7102225319181454,2.7181971089099335,2.7181971089099335,2.75798382322019,0,0,-2.5817808303767127e-05,-8.549947835690403e-05
+16625,1793350268000159567,11814119000000,1793350267993252326,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7511003429314844,-0.006334893271031117,0.1026767551863694,0.9999999904478314,0.00010074013904069854,1.4882397131724855e-05,1.3309403466908765e-05,0.7511,-0.0065,0.10251760469046102,1.0,0.0,0.0,0.0,-0.37411326472362344,0.2947677787304269,0.8561151446526534,0.022256337582949617,0.023841649551351693,0.0031952660315110685,-0.7149888225377753,0.1426157908809932,3.231175985700849,-0.0011310745252104287,0.05807815227812832,-0.005882087951598905,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.5743350371847895,-0.8811159620115526,-1.3774707439022538,0.49112055913199404,1.5756902817907328,-0.619840211696903,1.5251891887594113,-0.8561151446526534,2.902659932661665,2.902659932661665,2.902983823220496,0,0,-2.8377949411158336e-05,9.999999025923074e-05
+16782,1793350269308175376,11815427000000,1793350269301252416,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7511097197000025,-0.0063347907950617255,0.1026634037331693,0.9999999903497087,9.734301096871275e-05,3.2948011623894064e-05,1.3498661850071312e-05,0.7511,-0.0065,0.10248117194118586,1.0,0.0,0.0,0.0,-0.4036564718207331,0.32164129226586713,0.9707818624082774,0.024223035896508198,0.02580514360527511,0.0031535116722499106,-0.744532029634885,0.1694893044164334,3.345842703456473,0.0008356237883481528,0.06004164633205174,-0.005923842310860063,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.5437491272255017,-0.8707337987376653,-1.4383042844626523,0.49261929640737295,1.6055447852789562,-0.6073400831090144,1.5251891887594113,-0.9707818624082774,2.963493473222064,2.963493473222064,3.033783823220772,0,0,-2.872074271051262e-05,-9.99961877453714e-05
+16947,1793350270683157839,11816802000000,1793350270681251273,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.751117755793429,-0.00633347319453493,0.10264516481357554,0.9999999897841483,9.659105769881861e-05,4.869454995318925e-05,1.3174836311050886e-05,0.7511,-0.0065,0.10243978329937299,1.0,0.0,0.0,0.0,-0.440115052679004,0.35780144600926633,1.0934328100474655,0.027198932627801087,0.027740749571413717,0.0039413745550531225,-0.7809906104931559,0.20564945815983263,3.468493651095661,0.003811520519641042,0.061977252298190344,-0.005135979428056851,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.7341612651833587,-0.9670976691367998,-1.6321695875724855,0.519990047725454,1.7917255088462514,-0.6764744226083051,1.5251891887594113,-1.0934328100474655,3.157358776331897,3.157358776331897,3.1712838232210623,0,0,-2.884451866661119e-05,8.576369755897701e-05
+17124,1793350272158212358,11818277000000,1793350272157251101,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7511304959774875,-0.006333890544683773,0.10262862672970299,0.9999999881171522,0.00010005784935398327,7.050781464564269e-05,1.5021141786387775e-05,0.7511,-0.0065,0.10239383430686086,1.0,0.0,0.0,0.0,-0.4714629873679084,0.3876416706225506,1.2519600586573434,0.030177157935888523,0.02967679325900252,0.004077336771803614,-0.8123385451820603,0.23548968277311694,3.627020899705539,0.006789745827728478,0.06391329598577915,-0.005000017211306359,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.7425321908487286,-0.9202094312624727,-1.7202574383424607,0.5104449735981627,1.8492763144790383,-0.6420218076666739,1.5251891887594113,-1.2519600586573434,3.245446627101872,3.245446627101872,3.3187838232213736,0,0,-2.9119747234378164e-05,-9.99704444489879e-05
+17301,1793350273633222004,11819752000000,1793350273633252001,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7511388025444885,-0.006334252917086371,0.10261145451370786,0.9999999866947045,0.00010093859108814039,8.729652629480117e-05,1.5626028872546924e-05,0.7511,-0.0065,0.10235258598277032,1.0,0.0,0.0,0.0,-0.5031598392713528,0.42395579178539333,1.3652202561401285,0.032939423212087704,0.031624460021584366,0.004045276307038096,-0.8440353970855047,0.27180380393595965,3.740281097188324,0.009552011103927656,0.065860962748361,-0.0050320776760718776,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,2.9518448341198606,-0.8807030415060596,-2.0055023806803374,0.502219541558318,2.110766602614845,-0.6087726098651488,1.5251891887594113,-1.3652202561401285,3.5306915694397487,3.5306915694397487,3.466283823221685,0,0,-3.046255785535556e-05,9.990234614421496e-05
+17474,1793350275075106672,11821194000000,1793350275069252332,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7511496129858856,-0.006335030699639877,0.10258677789328695,0.9999999848417863,0.0001011297347411956,0.00010630754249099039,1.5191266481184547e-05,0.7511,-0.0065,0.10230347572148565,1.0,0.0,0.0,0.0,-0.5429421535687133,0.46791862000517803,1.5274731460409927,0.036107325557492215,0.03456119736810433,0.005021024192958318,-0.8838177113828651,0.3157666321557443,3.902533987089188,0.012719913449332166,0.06879770009488095,-0.004056329790151655,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.0134194128106992,-0.9602123010316866,-2.0387052088089894,0.5238289772647082,2.1420330057232078,-0.6684448189280167,1.5251891887594113,-1.5274731460409927,3.5638943975684008,3.5638943975684008,3.610483823221989,0,0,-3.035006556770104e-05,-8.096665979196444e-05
+17678,1793350276775201975,11822894000000,1793350276769253638,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7511649657217057,-0.006332885392355411,0.10257350766217764,0.9999999814987848,0.00010334576378269069,0.00013234085866541622,1.5838074429774223e-05,0.7511,-0.0065,0.1022582964022475,1.0,0.0,0.0,0.0,-0.5684842417479943,0.48856460159431925,1.6584767081719725,0.03809664377839986,0.0355464911305665,0.004950768944370268,-0.9093597995621462,0.33641261374488557,4.033537549220168,0.014709231670239813,0.06978299385734313,-0.004126585038739705,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.1283838824902626,-0.8756258303403609,-2.348570463924363,0.49406004332168096,2.39708007944593,-0.6084168911060576,1.5251891887594113,-1.6584767081719725,3.8737596526837743,3.8737596526837743,3.780483823222348,0,0,-2.8984448012499324e-05,9.998611247142292e-05
+17873,1793350278400194647,11824519000000,1793350278393252411,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7511752411522551,-0.006337765572533104,0.10254592033857875,0.9999999791776724,9.6370897780259e-05,0.00015329519187355756,1.7342241784197038e-05,0.7511,-0.0065,0.10219945960455548,1.0,0.0,0.0,0.0,-0.6085844762195014,0.532875799248713,1.8201605013766922,0.04104968138498501,0.0384541438728168,0.004897071837271832,-0.9494600340336532,0.38072381139927924,4.195221342424888,0.017662269276824957,0.07269064659959343,-0.0041802821458381415,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.1294490162897004,-0.933057733703848,-2.3389498431552083,0.516906521208873,2.3771211895021076,-0.6494365096521886,1.5251891887594113,-1.8201605013766922,3.8641390319146196,3.8641390319146196,3.942983823222691,0,0,-4.3656721622513335e-05,-7.599750970055936e-05
+18042,1793350279808142081,11825927000000,1793350279801252484,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7511887634881279,-0.006337196528553353,0.10252744406323719,0.9999999750030756,9.948611166276096e-05,0.0001766618509106435,1.81608577988211e-05,0.7511,-0.0065,0.10215092596369788,1.0,0.0,0.0,0.0,-0.632982912090782,0.566602186531753,1.9608886156896914,0.04403097861777365,0.04039194094946005,0.004896494784655692,-0.9738584699049337,0.4144501986823193,4.335949456737887,0.020643566509613607,0.07462844367623668,-0.004180859198454281,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.188304367949752,-0.9116986877901233,-2.486026279241876,0.5201446212898329,2.4932109990712528,-0.6302112249360543,1.5251891887594113,-1.9608886156896914,4.0112154680012875,4.0112154680012875,4.083783823222616,0,0,-3.297707097257708e-05,-6.922076386939863e-05
+18223,1793350281316152931,11827435000000,1793350281309251852,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7511996693840479,-0.0063363302297253215,0.10249930201107572,0.9999999713454149,0.00010011852488561421,0.0001958722891147895,1.90357837066599e-05,0.7511,-0.0065,0.10209702710356257,1.0,0.0,0.0,0.0,-0.67201774200662,0.5995166422352545,2.109934826856137,0.047002674829946356,0.04232345168083372,0.005814472954959257,-1.0128932998207718,0.4473646543858208,4.484995667904332,0.023615262721786306,0.07655995440761035,-0.003262881028150716,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.215691615381618,-0.8947146780697397,-2.604111367380396,0.5135550789859445,2.580041935620611,-0.615982029292837,1.5251891887594113,-2.109934826856137,4.129300556139807,4.129300556139807,4.234583823222264,0,0,-3.489477055504254e-05,-9.995116820172285e-05
+18415,1793350282916176244,11829035000000,1793350282909251962,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7512102082686248,-0.006334250738914873,0.10247253616488694,0.9999999675312241,0.00010049876975661176,0.0002143622929203566,1.8144416675270047e-05,0.7511,-0.0065,0.10204649238001864,1.0,0.0,0.0,0.0,-0.6833937955453417,0.6403935204193485,2.253437299851267,0.04896496240202597,0.044277652208986745,0.00575164978594553,-1.0242693533594935,0.4882415325699148,4.628498140899462,0.025577550293865926,0.07851415493576337,-0.003325704197164443,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.379411136478878,-0.9653031892023566,-2.8080312967847747,0.533023868448465,2.7734702049695397,-0.6661894908678838,1.5251891887594113,-2.253437299851267,4.333220485544186,4.333220485544186,4.3945838232218914,0,0,-3.143398120550168e-05,-7.511042762609605e-05
+18586,1793350284341120490,11830460000000,1793350284341252108,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7512211964190442,-0.006336960887225158,0.10244969822598231,0.9999999630982176,9.730371379969012e-05,0.00023541648837841593,1.890746885758331e-05,0.7511,-0.0065,0.10199634999653585,1.0,0.0,0.0,0.0,-0.7055207507468335,0.6679664121211409,2.3757061982627383,0.05095725622928822,0.04522684463967751,0.005688958164934529,-1.0463963085609853,0.5158144242717072,4.750767039310934,0.02756984412112817,0.07946334736645413,-0.003388395818175445,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.449343212848661,-0.9194706412152093,-2.9812152380340367,0.5216709589335699,2.9138788514423375,-0.6314149233599886,1.5251891887594113,-2.3757061982627383,4.506404426793448,4.506404426793448,4.537083823221559,0,0,-3.620949081209115e-05,-6.119039410524608e-06
+18749,1793350285700175188,11831819000000,1793350285697251109,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7512328407233653,-0.006336711035388402,0.10242540857879824,0.9999999573013745,0.00010032420163724066,0.00025771796194743043,1.8884397078161527e-05,0.7511,-0.0065,0.10194236367054335,1.0,0.0,0.0,0.0,-0.7223892390641335,0.6837569171797802,2.495640021666022,0.05294845253876411,0.04617598343686723,0.005628769012218009,-1.0632647968782853,0.5316049293303464,4.870700862714218,0.029561040430604067,0.08041248616364385,-0.0034485849708919642,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.4474053486647644,-0.8510812120334991,-3.1232185331749984,0.4981675390732869,3.0088069683991407,-0.5833622509412784,1.5251891887594113,-2.495640021666022,4.64840772193441,4.64840772193441,4.672983823221243,0,0,-4.6171649521727136e-05,9.999961555895993e-05
+18938,1793350287275056188,11833394000000,1793350287273251986,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7512479140281167,-0.006336608007338416,0.10238352355241219,0.999999950164987,0.00010157311209795162,0.00028361073761218764,1.8993167267367277e-05,0.7511,-0.0065,0.10186812486987881,1.0,0.0,0.0,0.0,-0.7415721325092068,0.7265841403739516,2.668764506907769,0.05591075288042164,0.048181253720656625,0.006580329542922333,-1.0824476903233586,0.5744321525245178,5.0438253479559645,0.03252334077226159,0.08241775644743325,-0.0024970244401876407,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.530285832831332,-0.9123313554230097,-3.3245337976908194,0.5235971974656809,3.1694475892023615,-0.6230632662430413,1.5251891887594113,-2.668764506907769,4.849722986450231,4.849722986450231,4.8304838232208755,0,0,-4.054300472147864e-05,9.999999025923074e-05
+19121,1793350288800136990,11834919000000,1793350288793251842,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7512618800011522,-0.00633497478854799,0.1023473586319815,0.9999999427129095,0.00010055511605609043,0.00030907407992448235,1.946596608414414e-05,0.7511,-0.0065,0.10180579749792305,1.0,0.0,0.0,0.0,-0.7362336855413087,0.7440674978451366,2.7684540979308507,0.0568830836545084,0.04828393924063766,0.006513187485939135,-1.0771092433554605,0.5919155099957029,5.143514938979046,0.03349567154634835,0.08252044196741429,-0.002564166497170838,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.6403032118804126,-0.9418477567016557,-3.4604801196683233,0.536209588260244,3.301350718858307,-0.64449289608091,1.5251891887594113,-2.7684540979308507,4.985669308427735,4.985669308427735,4.98298382322052,0,0,-4.685223040504371e-05,8.613845334093923e-05
+19278,1793350290108157314,11836227000000,1793350290105251630,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7512733278151005,-0.006338466586759291,0.10230715768347437,0.9999999353561837,9.962982984907534e-05,0.0003322120188316341,2.096578833195289e-05,0.7511,-0.0065,0.10173423902504984,1.0,0.0,0.0,0.0,-0.7557611885731352,0.7583391756122966,2.9001549911310875,0.05785329318116128,0.050033955798082314,0.006445017337196036,-1.096636746387287,0.6061871877628628,5.275215832179283,0.034465881073001234,0.08427045852485894,-0.002632336645913938,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.6853418944884417,-0.9112733199481293,-3.5162621007444814,0.5331545047286691,3.3542058415986076,-0.6176753510291721,1.5251891887594113,-2.9001549911310875,5.041451289503893,5.041451289503893,5.113783823220215,0,0,-6.228644671843331e-05,-9.999999025923074e-05
+19439,1793350291450139805,11837569000000,1793350291445252284,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7512866992366737,-0.006336730200406021,0.10226467947704365,0.9999999276544672,9.809691830484985e-05,0.00035507844636292394,2.0741654734826946e-05,0.7511,-0.0065,0.10166321547020496,1.0,0.0,0.0,0.0,-0.7524401563843228,0.7785418879342937,3.0309958884556623,0.057845274765323876,0.05000753097037762,0.006339013752302952,-1.0933157141984746,0.62638990008486,5.406056729503858,0.03445786265716383,0.08424403369715425,-0.002738340230807022,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.78023629109807,-0.86947513162728,-3.711620849994568,0.5208000857704655,3.524453722462446,-0.5878759254868027,1.5251891887594113,-3.0309958884556623,5.23681003875398,5.23681003875398,5.2479838232199025,0,0,-4.469199773174536e-05,9.406768006059991e-05
+19619,1793350292950089749,11839069000000,1793350292949251283,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7513020791745696,-0.0063419673066143776,0.10221954352874738,0.9999999168437926,9.838207033029026e-05,0.00038404006408995523,2.4278994786437365e-05,0.7511,-0.0065,0.10158519569542927,1.0,0.0,0.0,0.0,-0.7384698488769585,0.7903081499552331,3.1496445932408696,0.05883742805901687,0.04996217398626239,0.006225951417926576,-1.0793454066911103,0.6381561621057994,5.524705434289065,0.035450015950856825,0.08419867671303902,-0.0028514025651833973,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.8832572186837866,-0.951266660454973,-3.9422009793765342,0.5456664940308057,3.720740873639156,-0.6480483789024976,1.5251891887594113,-3.1496445932408696,5.467390168135946,5.467390168135946,5.397983823219553,0,0,-6.088143392615907e-05,9.687562837890624e-05
+19791,1793350294383064785,11840502000000,1793350294381251676,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7513140645824127,-0.006342256937539069,0.10216085352916059,0.999999907918479,9.965578380965113e-05,0.00040626539555637737,2.4960989874163792e-05,0.7511,-0.0065,0.10149872446901781,1.0,0.0,0.0,0.0,-0.7300808451190082,0.8075741133131614,3.282171869693576,0.0596176399576958,0.049921544884399496,0.0051344279866112055,-1.07095640293316,0.6554221254637277,5.657232710741772,0.03623022784953575,0.08415804761117612,-0.003942925996498768,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.8464373937069873,-0.920908125939862,-3.982746487130397,0.5395463105883821,3.739165962401478,-0.6236491384247755,1.5251891887594113,-3.282171869693576,5.507935675889808,5.507935675889808,5.541283823219219,0,0,-5.758125038305006e-05,9.999999025923074e-05
+19968,1793350295858118942,11841977000000,1793350295857251461,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7513291011249154,-0.006339171226612436,0.10210102401651214,0.9999998970558963,0.00010137434074424206,0.0004317801333155142,2.4904230632518428e-05,0.7511,-0.0065,0.10140898216220424,1.0,0.0,0.0,0.0,-0.7052081559140826,0.8005344007610393,3.412421323701061,0.05882600360104077,0.04889585851687754,0.005006561592777316,-1.0460837137282344,0.6483824129116056,5.787482164749257,0.03543859149288072,0.08313236124365417,-0.004070792390332658,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.884771545754795,-0.9473000184352118,-4.099422542378642,0.5558237067752371,3.8405260911286954,-0.6400540817948668,1.5251891887594113,-3.412421323701061,5.624611731138053,5.624611731138053,5.688783823218875,0,0,-6.123946277444692e-05,-8.642115775637222e-05
+20129,1793350297200024198,11843319000000,1793350297193251582,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7513404914439237,-0.00634037258427731,0.10204406239924516,0.999999887791965,9.873658064125656e-05,0.00045325767947317145,2.583573703390457e-05,0.7511,-0.0065,0.10132176466101696,1.0,0.0,0.0,0.0,-0.6925955839146289,0.8045634954958248,3.5226919486897867,0.0588320970474018,0.04786189669738626,0.004903345071609131,-1.0334711417287807,0.6524115076463911,5.897752789737982,0.03544468493924175,0.08209839942416289,-0.004174008911500843,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.9443273221124704,-0.8945756244295376,-4.23751110872417,0.5435626179912798,3.963166872854878,-0.5978389195363952,1.5251891887594113,-3.5226919486897867,5.7627002974835815,5.7627002974835815,5.8229838232185624,0,0,-6.804404229929085e-05,-3.40047115728936e-05
+20300,1793350298625065251,11844744000000,1793350298625252053,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7513573225426088,-0.00633974970740961,0.1019804009649598,0.9999998740583772,0.00010009867664486539,0.00048230652893748507,2.6206134630566304e-05,0.7511,-0.0065,0.10122596916019788,1.0,0.0,0.0,0.0,-0.6668147627926853,0.8008666178186692,3.6693884748776493,0.05786490118942956,0.047844802560800745,0.004775158060866602,-1.007690320606837,0.6487146299692355,6.044449315925845,0.03447748908126951,0.08208130528757737,-0.004302195922243371,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.9227774174488053,-0.9522935644697046,-4.37995318220851,0.5656132172371063,4.065699433760374,-0.6438249908571647,1.5251891887594113,-3.6693884748776493,5.905142370967921,5.905142370967921,5.96548382321823,0,0,-6.147190835112249e-05,-8.750000310276391e-05
+20475,1793350300083066714,11846202000000,1793350300077251949,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7513745895452177,-0.006340191488356061,0.10191720781887563,0.9999998580778916,0.00010008605154695453,0.0005143739245010127,2.625469903528021e-05,0.7511,-0.0065,0.1011275832569765,1.0,0.0,0.0,0.0,-0.636125261553949,0.7883971709022508,3.763077612885947,0.05679982577011029,0.0458180928366997,0.004535104606778442,-0.9770008193681008,0.6362451830528171,6.138138453934142,0.03341241366195025,0.08005459556347633,-0.004542249376331532,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.016354536713562,-0.9404461868723112,-4.429553356094604,0.5598988733478267,4.138243539529338,-0.6379749318397673,1.5251891887594113,-3.763077612885947,5.954742544854016,5.954742544854016,6.1112838232178905,0,0,-7.730107548095522e-05,-9.990294288909069e-05
+20654,1793350301575094761,11847694000000,1793350301569252304,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7513901418642115,-0.006342517076530445,0.10183502824370085,0.9999998432241786,9.768908882419247e-05,0.0005428399869090355,2.7858090247474997e-05,0.7511,-0.0065,0.10101397175554558,1.0,0.0,0.0,0.0,-0.6135138480445292,0.7892603852138644,3.9028850704573146,0.055789731679207,0.04479784742127001,0.0034971149333228773,-0.9543894058586812,0.6371083973644307,6.27794591150551,0.03240231957104695,0.07903435014804663,-0.005580239049787096,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.085009507537599,-0.896493342716493,-4.727822946028662,0.5541886976163549,4.375807457161824,-0.5997219219473829,1.5251891887594113,-3.9028850704573146,6.253012134788074,6.253012134788074,6.260483823217543,0,0,-7.262945410782683e-05,9.999389791038311e-05
+20841,1793350303133098770,11849252000000,1793350303129252236,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7514054700351279,-0.00634041855906157,0.10175183885580794,0.9999998269751559,0.00010305171120281706,0.0005709523097017368,2.977125366626697e-05,0.7511,-0.0065,0.10089785738000324,1.0,0.0,0.0,0.0,-0.5724341244779261,0.7526381841586809,4.002687724631718,0.052768252562369056,0.04280470177752009,0.0033553244092330613,-0.913309682292078,0.6004861963092472,6.377748565679913,0.02938084045420901,0.07704120450429672,-0.005722029573876912,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.079036972615592,-0.8379866290354534,-4.793665366388783,0.5369336618964516,4.43165348139957,-0.5553135509151876,1.5251891887594113,-4.002687724631718,6.318854555148194,6.318854555148194,6.41628382321718,0,0,-8.365228831438832e-05,-5.0000041633363426e-05
+21016,1793350304591032962,11850710000000,1793350304585252571,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7514221522591653,-0.006344456238756212,0.101661215461477,0.9999998095789412,9.847516615446109e-05,0.0006014672881458111,2.871739225032387e-05,0.7511,-0.0065,0.10076993310962043,1.0,0.0,0.0,0.0,-0.5408457103156972,0.7368762177354422,4.1323903443980115,0.051761504552726455,0.04077265042730559,0.0032113604924862444,-0.8817212681298491,0.5847242298860085,6.5074511854462065,0.028374092444566408,0.07500915315408221,-0.005865993490623729,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.141150853102373,-0.906241260005846,-4.989589371194713,0.553757081760777,4.597456606803624,-0.605257437538907,1.5251891887594113,-4.1323903443980115,6.514778559954124,6.514778559954124,6.56208382321684,0,0,-8.923910412431268e-05,9.999990699250389e-05
+21198,1793350306107975300,11852227000000,1793350306105251989,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7514406950942284,-0.006344076661119917,0.10155945489532744,0.9999997876755544,9.788613676372559e-05,0.0006368035497473494,3.148418269674151e-05,0.7511,-0.0065,0.10063216679385996,1.0,0.0,0.0,0.0,-0.5210524169662036,0.7098247766829551,4.242941417428121,0.049727137147953515,0.03963708518097228,0.0041119515446916026,-0.8619279747803555,0.5576727888335213,6.618002258476316,0.02633972503979347,0.07387358790774891,-0.004965402438418371,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.170874496978216,-0.9034541269239141,-5.131168002111595,0.5622181267900891,4.713803117701162,-0.5989555058572473,1.5251891887594113,-4.242941417428121,6.656357190871006,6.656357190871006,6.713783823216486,0,0,-9.536888777719887e-05,5.000019428902931e-05
+21362,1793350307475048569,11853594000000,1793350307473251971,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7514565542760743,-0.006343031691879052,0.10145867317228856,0.9999997698410976,9.970437230444024e-05,0.0006639594539556049,3.126496158118023e-05,0.7511,-0.0065,0.1005007435725425,1.0,0.0,0.0,0.0,-0.4646862898215905,0.6709361665607786,4.355885303646081,0.04672163207524825,0.03676296728249995,0.00394028789316836,-0.8055618476357423,0.5187841787113449,6.730946144694277,0.023334219967088208,0.07099947000927657,-0.005137066089941613,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.192038817254088,-0.9749141094697136,-5.185819025483626,0.5791203123805655,4.772407960690506,-0.6551220061031557,1.5251891887594113,-4.355885303646081,6.711008214243037,6.711008214243037,6.850483823216168,0,0,-9.817167733880273e-05,-9.702981060145106e-05
+21519,1793350308783065487,11854902000000,1793350308777251775,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7514714060699033,-0.006343578058978776,0.10135853493488692,0.9999997518556649,9.950887400969204e-05,0.0006905228244073727,3.1744068815641654e-05,0.7511,-0.0065,0.10036443676826827,1.0,0.0,0.0,0.0,-0.43383544371672506,0.6260090573722206,4.451541888404815,0.043720297633412036,0.0337614882695529,0.003791636449210733,-0.7747110015308769,0.47385706952278683,6.826602729453011,0.02033288552525199,0.06799799099632953,-0.0052857175338992405,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.202514196221041,-0.917632675607765,-5.431655492604028,0.5668242284548816,4.960358456643707,-0.6057741093285225,1.5251891887594113,-4.451541888404815,6.956844681363439,6.956844681363439,6.981283823215863,0,0,-0.00010987054133573958,9.825732868862786e-05
+21658,1793350309941032700,11856060000000,1793350309933251698,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7514893343940908,-0.006347118273892589,0.10126696884120988,0.9999997289137023,9.594720621505887e-05,0.0007233657059410327,3.393487180458604e-05,0.7511,-0.0065,0.10024288299124215,1.0,0.0,0.0,0.0,-0.3904132890717868,0.5911549853424645,4.5385714305484886,0.04078847984059459,0.03137188227645406,0.003646293333330328,-0.7312888468859386,0.4390029974930308,6.913632271596684,0.017401067732434543,0.06560838500323068,-0.005431060649779646,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.202646126627074,-0.8455003684912533,-5.563316750973363,0.5491532161920755,5.065403124572963,-0.5521742322211125,1.5251891887594113,-4.5385714305484886,7.088505939732775,7.088505939732775,7.097083823215593,0,0,-0.00010214441451408961,9.424370592115423e-05
+21825,1793350311333037928,11857452000000,1793350311325251696,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.751506049288013,-0.006344108038703071,0.1011425438564425,0.9999997057807481,9.692285150875644e-05,0.0007544671289595909,3.558923728551015e-05,0.7511,-0.0065,0.10008738157617884,1.0,0.0,0.0,0.0,-0.3404135268328237,0.5364133020220125,4.6399501676619135,0.03771879477148475,0.027758405326467138,0.0034872565942069677,-0.6812890846469756,0.38426131417257886,7.0150110087101085,0.014331382663324703,0.061994908053243765,-0.005590097388903006,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.204402608721822,-0.8772405380743487,-5.622541247303285,0.5563719292573118,5.121706275598037,-0.5794434664620345,1.5251891887594113,-4.6399501676619135,7.147730436062696,7.147730436062696,7.236283823215269,0,0,-0.00011989381622637551,5.00007077671782e-05
+21979,1793350312616045384,11858735000000,1793350312613251811,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7515213505651817,-0.006349252504066338,0.10101566579582946,0.9999996843097767,9.916908528025471e-05,0.0007820458080234594,3.732369143035226e-05,0.7511,-0.0065,0.09993344631721081,1.0,0.0,0.0,0.0,-0.27839404633654624,0.4722377309762943,4.748903824614722,0.033111477281776165,0.023764662374908395,0.0032964854587003807,-0.6192696041506981,0.3200857431268606,7.123964665662917,0.00972406517361612,0.05800116510168502,-0.005780868524409593,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.181029336450541,-0.8616025156302582,-5.737906304869939,0.5594595548777508,5.218983882981709,-0.5655710305986451,1.5251891887594113,-4.748903824614722,7.263095493629351,7.263095493629351,7.36458382321497,0,0,-0.00012050419346684572,-1.953118485886331e-07
+22134,1793350313907940279,11860027000000,1793350313901252282,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7515375776518806,-0.006347463431194456,0.100878499445623,0.9999996618544335,9.945483183702935e-05,0.0008101439170322344,3.8851682335416526e-05,0.7511,-0.0065,0.09976934176839822,1.0,0.0,0.0,0.0,-0.2209664326943152,0.4289860248539502,4.856238994621915,0.029492135133122405,0.02077179953069875,0.004012397258206924,-0.5618419905084671,0.27683403700451653,7.231299835670111,0.006104723024962356,0.055008302257475376,-0.00506495672490305,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.117517910099936,-0.9775670611945508,-5.86057422180458,0.5924323766569243,5.299888110047333,-0.6523941342057189,1.5251891887594113,-4.856238994621915,7.385763410563991,7.385763410563991,7.4937838232146685,0,0,-0.00012845557860049895,-2.8175658884350936e-07
+22272,1793350315058036959,11861177000000,1793350315057251513,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7515513059642606,-0.006345749013006034,0.10074700881919482,0.9999996408016022,0.00010092691251791636,0.0008355516864572234,3.8815829784633156e-05,0.7511,-0.0065,0.09961761399182603,1.0,0.0,0.0,0.0,-0.16717763887087916,0.359295912341857,4.934859434627951,0.024676240461014933,0.016796502295760615,0.003974627254676186,-0.508053196685031,0.20714392449242328,7.309920275676147,0.0012888283528548873,0.05103300502253724,-0.005102726728433787,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.155131438762595,-0.8503917585879064,-6.019445696699694,0.5554197119269939,5.447939128377892,-0.558318369336401,1.5251891887594113,-4.934859434627951,7.544634885459105,7.544634885459105,7.6087838232144005,0,0,-0.0001375845132308998,9.999990699250389e-05
+22433,1793350316399992347,11862519000000,1793350316393253134,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7515711111385756,-0.006342959074654398,0.1005838100538103,0.9999996108976131,0.000100091287697039,0.0008707400088897112,3.7961266486728156e-05,0.7511,-0.0065,0.09942602645223339,1.0,0.0,0.0,0.0,-0.10897332870598919,0.3127052263726231,5.062575072138763,0.020676844407962854,0.012792984003144763,0.003769866539309649,-0.44984888652014104,0.1605532385231894,7.437635913186958,-0.002710567700197191,0.04702948672992139,-0.005307487443800324,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.086813257081275,-0.9577515357370223,-6.085542809613479,0.6015380323064704,5.493698746592107,-0.6329997791648956,1.5251891887594113,-5.062575072138763,7.61073199837289,7.61073199837289,7.742983823214088,0,0,-0.00014849917475831387,-9.997557923047679e-05
+22574,1793350317574966251,11863694000000,1793350317573251266,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7515908432593106,-0.0063501817543315355,0.10043495721803755,0.9999995796406018,9.763969286985222e-05,0.0009060946798908639,4.025426107392888e-05,0.7511,-0.0065,0.09923940108243233,1.0,0.0,0.0,0.0,-0.05424082130857666,0.2540130293207154,5.133834485279095,0.016686627495076434,0.008802249281456266,0.0036064334593909784,-0.3951163791227285,0.1018610414712817,7.50889532632729,-0.006700784613083614,0.04303875200823289,-0.005470920523718995,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,4.040717415319993,-0.8266702499585974,-6.117423489864357,0.5641177635471608,5.52131374825638,-0.5354732053999534,1.5251891887594113,-5.133834485279095,7.6426126786237685,7.6426126786237685,7.860483823213814,0,0,-0.00017085251556167436,-9.998644553833031e-05
+22712,1793350318725026598,11864844000000,1793350318717252017,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7516106196151637,-0.006349521050432453,0.10027047498914278,0.9999995474093438,9.936395862251171e-05,0.0009407234716296383,4.230987410119139e-05,0.7511,-0.0065,0.0990402987322088,1.0,0.0,0.0,0.0,-0.010876474120540547,0.20241187569483238,5.257433241001079,0.014690136708516183,0.005771646599046429,0.004473403664486667,-0.3517520319346924,0.05025988784539866,7.632494082049275,-0.008697275399643864,0.040008149325823056,-0.0046039503186233064,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.948394713615604,-0.8361782408665842,-6.3422419374795185,0.5606688381022248,5.677348107693829,-0.5439388571740746,1.5251891887594113,-5.257433241001079,7.86743112623893,7.86743112623893,7.975483823213546,0,0,-0.00017590111038992694,9.243910778356507e-05
+22857,1793350319932972760,11866052000000,1793350319925251640,DOWN_FORCE_DETACH,9,0.0746,0.07460193336009979,0.7516284590788552,-0.006349928084445056,0.10008126374256071,0.9999995155543911,9.996153575829159e-05,0.000973887009046972,4.342386878200127e-05,0.7511,-0.0065,0.09881943045609541,1.0,0.0,0.0,0.0,0.0620890131751915,0.12317471812859983,5.354066293493288,0.00969978320954211,0.0007824570432510072,0.004266755778918282,-0.27878654463896035,-0.02897726972083388,7.729127134541483,-0.013687628898617937,0.035018959770027634,-0.0048105982041916915,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.951623318041155,-0.8844978274714288,-6.413604149362965,0.5800286831880733,5.756932296240915,-0.5803553096409331,1.5251891887594113,-5.354066293493288,7.938793338122377,7.938793338122377,8.096283823213264,0,0,-0.00019268062094871118,3.2923881702845395e-05
+23007,1793350321182910096,11867302000000,1793350321181251427,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7516560880339233,-0.006347693204545939,0.09987002452132009,0.9999994667331615,9.992838410529711e-05,0.001022715008776214,4.521709492391379e-05,0.7511,-0.0065,0.09856333292462177,1.0,0.0,0.0,0.0,0.10638850322649193,0.06871849665458693,5.493279548238503,0.006688872756561482,-0.002228047088240641,0.004128735619762863,-0.23448705458765992,-0.08343349119484678,7.868340389286699,-0.016698539351598565,0.032008455638535986,-0.00494861836334711,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.8949647210797025,-0.9279441049789682,-6.45359572317642,0.5981558043193995,5.792371000023592,-0.6094300051940609,1.5251891887594113,-5.493279548238503,7.978784911935831,7.978784911935831,8.221283823212973,0,0,-0.00021523870756132014,-9.999999025923074e-05
+23140,1793350322290936479,11868410000000,1793350322285251719,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7516745595308489,-0.006348092396290881,0.09965677483155065,0.9999994330154522,0.00010199469768427523,0.0010549039083588205,4.6759642831218144e-05,0.7511,-0.0065,0.09831982875218682,1.0,0.0,0.0,0.0,0.17808392855057575,-0.0022255968733576326,5.6227492587475005,0.0016579925721986223,-0.006215976896957465,0.004888835932325358,-0.1627916292635761,-0.15437758472279134,7.9978100997956965,-0.021729419535961424,0.028020525829819162,-0.004188518050784616,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.7940830028129313,-0.9548753331172162,-6.629156992704043,0.6034105583389364,5.9196512459604715,-0.6319679760903641,1.5251891887594113,-5.6227492587475005,8.154346181463454,8.154346181463454,8.332083823212715,0,0,-0.00022506600424046652,9.449117463334317e-05
+23252,1793350323224972442,11869344000000,1793350323221251716,DOWN_FORCE_DETACH,9,0.0746,0.07460258901119232,0.7516910096625973,-0.006348227471220218,0.09946484523803856,0.9999994006941483,0.0001031093746063039,0.0010849653376519284,4.76747465429309e-05,0.7511,-0.0065,0.09810134669170015,1.0,0.0,0.0,0.0,0.21817769075499188,-0.06982094996762198,5.7214933358728,-0.0027419587131628127,-0.01020479841091345,0.0047008353006251025,-0.12269786705915998,-0.22197293781705568,8.096554176920996,-0.02612937082132286,0.024031704315863177,-0.004376518682484871,-0.34087555781415185,-0.1521519878494337,2.3750608410481955,-0.023387412108160047,0.03423650272677663,-0.009077353983109973,1,3.6809388805005425,-0.8942149794492915,-6.716633050102835,0.5847839742023531,5.973644888387676,-0.5886798972466492,1.5251891887594113,-5.7214933358728,8.241822238862246,8.241822238862246,8.425483823212497,0,0,-0.00024307247798308206,8.75152686693525e-05
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a026004ebb2a14ca469470ce6ce888fac6ff77be
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..758095d27b644f863fad041a4580201ab5e32fc1
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,7.166666667e+00,DOWN_FORCE_DETACH,1793350258184166141,4.623140099e-05,5.147420005e-06,-2.216472700e-05,4.649945424e-05,7.107965353e-06,-2.132018842e-05,5.041570490e-05,6.085622287e-06,-2.048763699e-05,7.020019010e-01,-1.694049140e-05,8.601212811e-01,7.020021691e-01,-1.497994605e-05,8.601221257e-01,7.027967743e-01,-1.062019678e-04,8.303050010e-01
+6,8.550000000e+00,DOWN_FORCE_DETACH,1793350259625504438,5.231617948e-05,5.372268367e-06,-2.879372749e-05,4.649945424e-05,7.107965353e-06,-2.132018842e-05,5.107428210e-05,6.058570685e-06,-2.094493288e-05,7.020079858e-01,-1.671564304e-05,8.601146521e-01,7.020021691e-01,-1.497994605e-05,8.601221257e-01,7.027974329e-01,-1.062290194e-04,8.303045437e-01
+7,9.816666667e+00,DOWN_FORCE_DETACH,1793350260902618280,6.413221065e-05,3.901190219e-06,-4.270816591e-05,5.424903175e-05,2.239974644e-06,-4.000104299e-05,5.917673202e-05,1.682327095e-06,-3.923713442e-05,7.020198018e-01,-1.818672119e-05,8.601007377e-01,7.020099187e-01,-1.984793676e-05,8.601034448e-01,7.028055353e-01,-1.106052630e-04,8.302862515e-01
+8,1.135000000e+01,DOWN_FORCE_DETACH,1793350262475343987,7.195619229e-05,4.408976706e-06,-6.032447966e-05,6.904904647e-05,3.249844510e-06,-5.349843469e-05,7.477929987e-05,2.518214092e-06,-5.276524703e-05,7.020276258e-01,-1.767893470e-05,8.600831214e-01,7.020247187e-01,-1.883806690e-05,8.600899474e-01,7.028211379e-01,-1.097693760e-04,8.302727234e-01
+9,1.276666667e+01,DOWN_FORCE_DETACH,1793350263899979175,8.295044686e-05,4.142656855e-06,-7.139085568e-05,7.659521923e-05,3.889560213e-06,-7.259724143e-05,8.275976627e-05,3.063448258e-06,-7.150984669e-05,7.020386201e-01,-1.794525455e-05,8.600720550e-01,7.020322648e-01,-1.819835119e-05,8.600708486e-01,7.028291183e-01,-1.092241418e-04,8.302539788e-01
+10,1.406666667e+01,DOWN_FORCE_DETACH,1793350265194378545,8.958152044e-05,1.165021960e-08,-9.090883815e-05,8.756284600e-05,3.741435934e-06,-9.107549438e-05,9.416301879e-05,2.925877694e-06,-8.970013455e-05,7.020452511e-01,-2.207626119e-05,8.600525370e-01,7.020432325e-01,-1.834647547e-05,8.600523704e-01,7.028405216e-01,-1.093617124e-04,8.302357885e-01
+11,1.541666667e+01,DOWN_FORCE_DETACH,1793350266554003095,9.689256011e-05,1.841904751e-06,-1.035370335e-04,8.756284600e-05,3.741435934e-06,-9.107549438e-05,9.473306982e-05,2.906515162e-06,-9.051968474e-05,7.020525622e-01,-2.024600665e-05,8.600399088e-01,7.020432325e-01,-1.834647547e-05,8.600523704e-01,7.028410916e-01,-1.093810749e-04,8.302349690e-01
+12,1.685000000e+01,DOWN_FORCE_DETACH,1793350267995922458,1.068634530e-04,2.756010564e-06,-1.208772824e-04,9.869069757e-05,8.002151235e-06,-1.077017536e-04,1.064421724e-04,6.653456332e-06,-1.071047973e-04,7.020625331e-01,-1.933190084e-05,8.600225686e-01,7.020543603e-01,-1.408576017e-05,8.600357441e-01,7.028528008e-01,-1.056341337e-04,8.302183839e-01
+13,1.813333333e+01,DOWN_FORCE_DETACH,1793350269306628426,1.161048903e-04,5.876796203e-06,-1.359192268e-04,1.138960700e-04,6.868706157e-06,-1.374855182e-04,1.222246350e-04,5.643262330e-06,-1.362091139e-04,7.020717745e-01,-1.621111520e-05,8.600075266e-01,7.020695657e-01,-1.521920525e-05,8.600059603e-01,7.028685832e-01,-1.066443277e-04,8.301892795e-01
+14,1.953333333e+01,DOWN_FORCE_DETACH,1793350270682285077,1.280318665e-04,5.255712573e-06,-1.517011574e-04,1.240784551e-04,1.638282595e-06,-1.542384308e-04,1.328715590e-04,9.496586675e-07,-1.529679087e-04,7.020837015e-01,-1.683219883e-05,8.599917447e-01,7.020797481e-01,-2.044962881e-05,8.599892074e-01,7.028792301e-01,-1.113379314e-04,8.301725207e-01
+15,2.103333333e+01,DOWN_FORCE_DETACH,1793350272155832873,1.389844201e-04,7.485296335e-06,-1.670591378e-04,1.390839929e-04,1.032562156e-05,-1.641521133e-04,1.487004538e-04,8.637210176e-06,-1.633980810e-04,7.020946540e-01,-1.460261507e-05,8.599763867e-01,7.020947536e-01,-1.176228985e-05,8.599792937e-01,7.028950590e-01,-1.036503799e-04,8.301620906e-01
+16,2.251666667e+01,DOWN_FORCE_DETACH,1793350273630124158,1.481043627e-04,2.686352540e-06,-1.886094935e-04,1.443820598e-04,6.480822554e-07,-1.808222401e-04,1.548858132e-04,-1.692913510e-08,-1.801578377e-04,7.021037740e-01,-1.940155887e-05,8.599548364e-01,7.021000517e-01,-2.143982915e-05,8.599626236e-01,7.029012444e-01,-1.123045192e-04,8.301453308e-01
+17,2.396666667e+01,DOWN_FORCE_DETACH,1793350275071678455,1.593206521e-04,4.861292051e-06,-2.061723485e-04,1.526453120e-04,6.721836673e-07,-1.989011294e-04,1.636705368e-04,-4.707642328e-08,-1.982741335e-04,7.021149903e-01,-1.722661935e-05,8.599372735e-01,7.021083149e-01,-2.141572774e-05,8.599445447e-01,7.029100291e-01,-1.123346665e-04,8.301272145e-01
+18,2.563333333e+01,DOWN_FORCE_DETACH,1793350276775028429,1.729845561e-04,5.903318168e-06,-2.237015047e-04,1.616299001e-04,7.936731486e-06,-2.172136005e-04,1.733557969e-04,6.390090047e-06,-2.167477398e-04,7.021286542e-01,-1.618459324e-05,8.599197443e-01,7.021172995e-01,-1.415117992e-05,8.599262322e-01,7.029197144e-01,-1.058975000e-04,8.301087409e-01
+19,2.725000000e+01,DOWN_FORCE_DETACH,1793350278396871817,1.844955287e-04,5.827746910e-06,-2.497470488e-04,1.814466087e-04,2.657828677e-06,-2.522739392e-04,1.938082107e-04,1.623231553e-06,-2.509159261e-04,7.021401652e-01,-1.626016450e-05,8.598936988e-01,7.021371162e-01,-1.943008273e-05,8.598911719e-01,7.029401668e-01,-1.106643585e-04,8.300745727e-01
+20,2.866666667e+01,DOWN_FORCE_DETACH,1793350279804904792,1.945485316e-04,2.637313594e-06,-2.744395785e-04,1.924307324e-04,4.900772286e-06,-2.719450269e-04,2.055172952e-04,3.550358456e-06,-2.706862058e-04,7.021502182e-01,-1.945059781e-05,8.598690063e-01,7.021481004e-01,-1.718713912e-05,8.598715008e-01,7.029518759e-01,-1.087372316e-04,8.300548024e-01
+21,3.020000000e+01,DOWN_FORCE_DETACH,1793350281312551036,2.068691790e-04,2.290743005e-06,-2.986011606e-04,2.022951507e-04,4.487948190e-06,-2.893555153e-04,2.161328910e-04,3.166926075e-06,-2.882817373e-04,7.021625388e-01,-1.979716840e-05,8.598448447e-01,7.021579648e-01,-1.759996322e-05,8.598540903e-01,7.029624915e-01,-1.091206640e-04,8.300372069e-01
+22,3.178333333e+01,DOWN_FORCE_DETACH,1793350282917953046,2.192497317e-04,7.172631656e-08,-3.216167608e-04,2.110846863e-04,3.869648492e-06,-3.081481439e-04,2.255939252e-04,2.538948423e-06,-3.071288110e-04,7.021749194e-01,-2.201618509e-05,8.598218291e-01,7.021667543e-01,-1.821826291e-05,8.598352977e-01,7.029719525e-01,-1.097486416e-04,8.300183598e-01
+23,3.321666667e+01,DOWN_FORCE_DETACH,1793350284342112045,2.293904923e-04,1.915188200e-06,-3.473284346e-04,2.256962991e-04,7.351190180e-07,-3.490948873e-04,2.405669823e-04,-3.020890778e-07,-3.470585776e-04,7.021850601e-01,-2.017272321e-05,8.597961174e-01,7.021813659e-01,-2.135279239e-05,8.597943510e-01,7.029869256e-01,-1.125896791e-04,8.299784301e-01
+24,3.456666667e+01,DOWN_FORCE_DETACH,1793350285701915110,2.425966161e-04,6.132591960e-06,-3.703950675e-04,2.327984545e-04,3.320035499e-06,-3.673612064e-04,2.481407913e-04,1.983142412e-06,-3.655430576e-04,7.021982662e-01,-1.595531945e-05,8.597730508e-01,7.021884681e-01,-1.876787591e-05,8.597760846e-01,7.029944994e-01,-1.103044477e-04,8.299599456e-01
+25,3.613333333e+01,DOWN_FORCE_DETACH,1793350287274583389,2.577334986e-04,3.768411889e-06,-4.110865977e-04,2.490027744e-04,1.659751848e-06,-4.041795525e-04,2.649634465e-04,4.305417122e-07,-4.018229074e-04,7.022134031e-01,-1.831949952e-05,8.597323592e-01,7.022046724e-01,-2.042815956e-05,8.597392663e-01,7.030113220e-01,-1.118570484e-04,8.299236657e-01
+26,3.765000000e+01,DOWN_FORCE_DETACH,1793350288798167907,2.701339775e-04,4.266478894e-06,-4.494980356e-04,2.654863003e-04,-1.016072926e-07,-4.398014098e-04,2.820891331e-04,-1.209910673e-06,-4.372589060e-04,7.022258036e-01,-1.782143251e-05,8.596939478e-01,7.022211559e-01,-2.218951870e-05,8.597036444e-01,7.030284477e-01,-1.134975007e-04,8.298882297e-01
+27,3.898333333e+01,DOWN_FORCE_DETACH,1793350290107862049,2.810144479e-04,-3.362790093e-06,-4.909624111e-04,2.757313135e-04,-2.400650186e-07,-4.813170682e-04,2.926473981e-04,-1.371837133e-06,-4.782489741e-04,7.022366841e-01,-2.545070150e-05,8.596524834e-01,7.022314009e-01,-2.232797642e-05,8.596621288e-01,7.030390060e-01,-1.136594272e-04,8.298472397e-01
+28,4.031666667e+01,DOWN_FORCE_DETACH,1793350291452533797,2.948933099e-04,2.145875020e-06,-5.323471836e-04,2.899935276e-04,3.310989664e-06,-5.188048168e-04,3.074302229e-04,1.787750475e-06,-5.157356391e-04,7.022505629e-01,-1.994203639e-05,8.596110987e-01,7.022456632e-01,-1.877692174e-05,8.596246410e-01,7.030537888e-01,-1.104998396e-04,8.298097530e-01
+29,4.180000000e+01,DOWN_FORCE_DETACH,1793350292950275228,3.078601554e-04,-1.149321232e-06,-5.820755414e-04,3.053025855e-04,1.114945895e-06,-5.817056327e-04,3.230058552e-04,-1.804297074e-07,-5.777592525e-04,7.022635298e-01,-2.323723264e-05,8.595613703e-01,7.022609722e-01,-2.097296551e-05,8.595617402e-01,7.030693644e-01,-1.124680198e-04,8.297477294e-01
+30,4.325000000e+01,DOWN_FORCE_DETACH,1793350294383049366,3.224881786e-04,-1.647137545e-06,-6.392826128e-04,3.151038934e-04,7.360321908e-07,-6.225082970e-04,3.333078407e-04,-5.844428659e-07,-6.192886368e-04,7.022781578e-01,-2.373504895e-05,8.595041632e-01,7.022707735e-01,-2.135187921e-05,8.595209375e-01,7.030796664e-01,-1.128720329e-04,8.297062000e-01
+31,4.473333333e+01,DOWN_FORCE_DETACH,1793350295857809009,3.373743246e-04,-2.917550781e-07,-6.944591582e-04,3.309450735e-04,-3.210730143e-07,-6.823629262e-04,3.495330480e-04,-1.561059281e-06,-6.790203770e-04,7.022930439e-01,-2.237966648e-05,8.594489867e-01,7.022866147e-01,-2.240898442e-05,8.594610829e-01,7.030958916e-01,-1.138486493e-04,8.296464683e-01
+32,4.610000000e+01,DOWN_FORCE_DETACH,1793350297201363628,3.486855172e-04,-1.496508852e-06,-7.529642614e-04,3.491309497e-04,-5.560606516e-06,-7.439292723e-04,3.681328326e-04,-6.338138306e-06,-7.401536731e-04,7.023043551e-01,-2.358442026e-05,8.593904816e-01,7.023048006e-01,-2.764851792e-05,8.593995166e-01,7.031144914e-01,-1.186257284e-04,8.295853350e-01
+33,4.753333333e+01,DOWN_FORCE_DETACH,1793350298625881836,3.655166158e-04,-8.736319841e-07,-8.166256957e-04,3.622781113e-04,-5.838288523e-06,-8.041611741e-04,3.818211338e-04,-6.665065971e-06,-8.003379211e-04,7.023211862e-01,-2.296154339e-05,8.593268201e-01,7.023179477e-01,-2.792619993e-05,8.593392847e-01,7.031281797e-01,-1.189526560e-04,8.295251507e-01
+34,4.901666667e+01,DOWN_FORCE_DETACH,1793350300083831512,3.827836184e-04,-1.315412931e-06,-8.798188417e-04,3.766930133e-04,-6.560359793e-07,-8.653979468e-04,3.966424774e-04,-2.117011930e-06,-8.615590679e-04,7.023384532e-01,-2.340332434e-05,8.592636270e-01,7.023323626e-01,-2.274394738e-05,8.592780479e-01,7.031430011e-01,-1.144046020e-04,8.294639296e-01
+35,5.051666667e+01,DOWN_FORCE_DETACH,1793350301574992519,3.996309473e-04,-7.832264547e-06,-9.598257941e-04,3.958517298e-04,-3.202215586e-06,-9.504673534e-04,4.162881728e-04,-4.449417420e-06,-9.457938205e-04,7.023553006e-01,-2.992017595e-05,8.591836201e-01,7.023515214e-01,-2.529012699e-05,8.591929785e-01,7.031626468e-01,-1.167370075e-04,8.293796948e-01
+36,5.203333333e+01,DOWN_FORCE_DETACH,1793350303129948485,4.137016069e-04,-4.233375171e-06,-1.042076105e-03,4.116809141e-04,-3.411068434e-06,-1.031506112e-03,4.324240039e-04,-4.624603274e-06,-1.026842791e-03,7.023693712e-01,-2.632128658e-05,8.591013697e-01,7.023673505e-01,-2.549897984e-05,8.591119397e-01,7.031787826e-01,-1.169121933e-04,8.292986459e-01
+37,5.350000000e+01,DOWN_FORCE_DETACH,1793350304587992694,4.314424113e-04,-7.514377523e-06,-1.133658757e-03,4.287872455e-04,-5.767935402e-06,-1.133479928e-03,4.494813223e-04,-6.784887190e-06,-1.127945669e-03,7.023871120e-01,-2.960228893e-05,8.590097871e-01,7.023844569e-01,-2.785584681e-05,8.590099659e-01,7.031958399e-01,-1.190724773e-04,8.291975430e-01
+38,5.498333333e+01,DOWN_FORCE_DETACH,1793350306111220704,4.491295231e-04,-9.624346804e-06,-1.232624791e-03,4.478726274e-04,-1.082773196e-06,-1.235319755e-03,4.686943657e-04,-2.694829033e-06,-1.229133886e-03,7.024047991e-01,-3.171225821e-05,8.589108211e-01,7.024035423e-01,-2.317068460e-05,8.589081261e-01,7.032150529e-01,-1.149824191e-04,8.290963548e-01
+39,5.636666667e+01,DOWN_FORCE_DETACH,1793350307470717103,4.653445909e-04,-8.589073614e-06,-1.335440654e-03,4.619431070e-04,-4.300555454e-06,-1.319592468e-03,4.830673107e-04,-5.594251197e-06,-1.313645536e-03,7.024210142e-01,-3.067698502e-05,8.588080052e-01,7.024176127e-01,-2.638846686e-05,8.588238534e-01,7.032294259e-01,-1.178818413e-04,8.290118431e-01
+40,5.766666667e+01,DOWN_FORCE_DETACH,1793350308780977651,4.819279637e-04,-1.046018227e-05,-1.435517640e-03,4.787782132e-04,-7.882647610e-06,-1.421747565e-03,5.000220671e-04,-8.853235192e-06,-1.415205154e-03,7.024375976e-01,-3.254809368e-05,8.587079282e-01,7.024344478e-01,-2.997055902e-05,8.587216983e-01,7.032463806e-01,-1.211408253e-04,8.289102835e-01
+41,5.883333333e+01,DOWN_FORCE_DETACH,1793350309943985574,4.958262036e-04,-1.856750052e-06,-1.533854619e-03,4.932028337e-04,-1.116258569e-05,-1.527560298e-03,5.144390490e-04,-1.184471791e-05,-1.520519522e-03,7.024514958e-01,-2.394466146e-05,8.586095912e-01,7.024488725e-01,-3.325049710e-05,8.586158855e-01,7.032607976e-01,-1.241323080e-04,8.288049691e-01
+42,6.016666667e+01,DOWN_FORCE_DETACH,1793350311336618281,5.133027859e-04,-7.361181800e-06,-1.654957204e-03,5.128744430e-04,-4.688262024e-06,-1.654457034e-03,5.340077638e-04,-6.180524763e-06,-1.646933175e-03,7.024689724e-01,-2.944909321e-05,8.584884886e-01,7.024685441e-01,-2.677617343e-05,8.584889888e-01,7.032803663e-01,-1.184681148e-04,8.286785555e-01
+43,6.143333333e+01,DOWN_FORCE_DETACH,1793350312614384691,5.295446384e-04,-1.037642864e-05,-1.781360865e-03,5.252941366e-04,-7.987149025e-06,-1.779081861e-03,5.461657539e-04,-9.272591627e-06,-1.771090128e-03,7.024852143e-01,-3.246434005e-05,8.583620850e-01,7.024809638e-01,-3.007506043e-05,8.583643640e-01,7.032925243e-01,-1.215601817e-04,8.285543985e-01
+44,6.273333333e+01,DOWN_FORCE_DETACH,1793350313908652609,5.457717251e-04,-8.587355769e-06,-1.918527215e-03,5.434822322e-04,-6.304498516e-06,-1.904259501e-03,5.641130827e-04,-7.710698199e-06,-1.896262347e-03,7.025014413e-01,-3.067526717e-05,8.582249186e-01,7.024991519e-01,-2.839240992e-05,8.582391863e-01,7.033104717e-01,-1.199982883e-04,8.284292263e-01
+45,6.388333333e+01,DOWN_FORCE_DETACH,1793350315056060482,5.604935438e-04,-9.017278106e-06,-2.048444180e-03,5.570255609e-04,-1.192396149e-05,-2.030783751e-03,5.771566917e-04,-1.273308470e-05,-2.022727582e-03,7.025161632e-01,-3.110518951e-05,8.580950017e-01,7.025126952e-01,-3.401187290e-05,8.581126621e-01,7.033235153e-01,-1.250206748e-04,8.283027611e-01
+46,6.521666667e+01,DOWN_FORCE_DETACH,1793350316398853325,5.814538060e-04,-8.433242381e-06,-2.209440353e-03,5.768259891e-04,-9.393954992e-06,-2.202733360e-03,5.961844693e-04,-1.062637424e-05,-2.193426501e-03,7.025371234e-01,-3.052115379e-05,8.579340055e-01,7.025324956e-01,-3.148186640e-05,8.579407125e-01,7.033425430e-01,-1.229139643e-04,8.281320622e-01
+47,6.640000000e+01,DOWN_FORCE_DETACH,1793350317578514905,5.990373325e-04,-1.130567891e-05,-2.362069443e-03,5.977337298e-04,-8.246744601e-06,-2.354443737e-03,6.166320516e-04,-9.668664185e-06,-2.344211592e-03,7.025547070e-01,-3.339359031e-05,8.577813764e-01,7.025534034e-01,-3.033465601e-05,8.577890021e-01,7.033629906e-01,-1.219562542e-04,8.279812771e-01
+48,6.755000000e+01,DOWN_FORCE_DETACH,1793350318723627897,6.178751068e-04,-1.313348506e-05,-2.528484149e-03,6.148744163e-04,-6.959803795e-06,-2.511433514e-03,6.334814966e-04,-8.606172792e-06,-2.501117852e-03,7.025735447e-01,-3.522139646e-05,8.576149617e-01,7.025705440e-01,-2.904771520e-05,8.576320123e-01,7.033798401e-01,-1.208937629e-04,8.278243708e-01
+49,6.876666667e+01,DOWN_FORCE_DETACH,1793350319935877082,6.371104477e-04,-1.252254919e-05,-2.716201307e-03,6.371743836e-04,-5.247698000e-06,-2.712304299e-03,6.550828821e-04,-7.182773150e-06,-2.700448949e-03,7.025927801e-01,-3.461046060e-05,8.574272445e-01,7.025928440e-01,-2.733560941e-05,8.574311415e-01,7.034014415e-01,-1.194703632e-04,8.276250397e-01
+50,7.001666667e+01,DOWN_FORCE_DETACH,1793350321181808704,6.642821072e-04,-8.817129120e-06,-2.927002139e-03,6.608556767e-04,-1.010271771e-05,-2.926646860e-03,6.782472512e-04,-1.143438667e-05,-2.913697720e-03,7.026199517e-01,-3.090504053e-05,8.572164437e-01,7.026165253e-01,-3.219062912e-05,8.572167990e-01,7.034246058e-01,-1.237219767e-04,8.274117909e-01
+51,7.111666667e+01,DOWN_FORCE_DETACH,1793350322295079530,6.817482703e-04,-1.726474651e-05,-3.143588369e-03,6.790949933e-04,-1.258090822e-05,-3.128144276e-03,6.958330384e-04,-1.372392014e-05,-3.114667045e-03,7.026374179e-01,-3.935265792e-05,8.569998575e-01,7.026347646e-01,-3.466881962e-05,8.570153016e-01,7.034421916e-01,-1.260115102e-04,8.272108216e-01
+52,7.203333333e+01,DOWN_FORCE_DETACH,1793350323228914135,6.994156979e-04,-8.940055845e-06,-3.334757508e-03,6.984050565e-04,-1.143796696e-05,-3.327244667e-03,7.141444607e-04,-1.284253146e-05,-3.312312662e-03,7.026550853e-01,-3.102796725e-05,8.568086883e-01,7.026540747e-01,-3.352587837e-05,8.568162012e-01,7.034605030e-01,-1.251301215e-04,8.270131760e-01
+53,7.310000000e+01,DOWN_FORCE_DETACH,1793350324311974499,7.220116240e-04,-1.108339564e-05,-3.567837865e-03,7.176094056e-04,-6.337185015e-06,-3.555048260e-03,7.320475984e-04,-8.433922185e-06,-3.540055964e-03,7.026776812e-01,-3.317130705e-05,8.565756080e-01,7.026732790e-01,-2.842509642e-05,8.565883976e-01,7.034784062e-01,-1.207215122e-04,8.267854327e-01
+54,7.411666667e+01,DOWN_FORCE_DETACH,1793350325324708755,7.434688891e-04,-1.460461229e-05,-3.831191138e-03,7.425826664e-04,-1.002706992e-05,-3.827858129e-03,7.555086239e-04,-1.176473345e-05,-3.810546877e-03,7.026991385e-01,-3.669252369e-05,8.563122547e-01,7.026982523e-01,-3.211498133e-05,8.563155877e-01,7.035018672e-01,-1.240523235e-04,8.265149418e-01
+55,7.501666667e+01,DOWN_FORCE_DETACH,1793350326210056316,7.585449624e-04,-9.381149088e-06,-4.083937564e-03,7.597773703e-04,-1.113450341e-05,-4.067309265e-03,7.711788764e-04,-1.298851002e-05,-4.049439580e-03,7.027142146e-01,-3.146906049e-05,8.560595083e-01,7.027154470e-01,-3.322241482e-05,8.560761366e-01,7.035175375e-01,-1.252761001e-04,8.262760491e-01
+56,7.588333333e+01,DOWN_FORCE_DETACH,1793350327175704777,7.797579350e-04,-7.601965784e-06,-4.379434927e-03,7.804342955e-04,-1.087246760e-05,-4.361631426e-03,7.898172207e-04,-1.277258622e-05,-4.341547901e-03,7.027354276e-01,-2.968987719e-05,8.557640109e-01,7.027361039e-01,-3.296037900e-05,8.557818144e-01,7.035361758e-01,-1.250601763e-04,8.259839408e-01
+57,7.668333333e+01,DOWN_FORCE_DETACH,1793350327978533018,7.943046869e-04,-1.098201385e-05,-4.648162071e-03,7.932239064e-04,-7.316747549e-06,-4.643717649e-03,8.005356024e-04,-9.689462036e-06,-4.622041056e-03,7.027499743e-01,-3.306992526e-05,8.554952838e-01,7.027488935e-01,-2.940465895e-05,8.554997282e-01,7.035468942e-01,-1.219770521e-04,8.257034476e-01
+58,7.748333333e+01,DOWN_FORCE_DETACH,1793350328764777280,8.086730231e-04,-8.400010596e-06,-4.928665066e-03,8.102186305e-04,-3.991614417e-06,-4.920224240e-03,8.155720840e-04,-6.445739888e-06,-4.897924526e-03,7.027643426e-01,-3.048792200e-05,8.552147808e-01,7.027658883e-01,-2.607952582e-05,8.552232216e-01,7.035619307e-01,-1.187333300e-04,8.254275641e-01
+59,7.858333333e+01,DOWN_PEAK_HOLD,1793350329845589866,7.721706192e-04,-2.269939250e-06,-5.182193953e-03,7.718736145e-04,9.452890301e-07,-5.183172089e-03,7.737314616e-04,-2.022717094e-06,-5.164611627e-03,7.027278402e-01,-2.435785066e-05,8.549612519e-01,7.027275432e-01,-2.114262238e-05,8.549602738e-01,7.035200900e-01,-1.143103072e-04,8.251608770e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..88dd303ea26f11d104660a1c59a501185cee2a84
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,3.8098e-01,1.1912e+00,2.4737e+00,-1.2362e-01,6.4292e-02,2.9927e-03,1.8054e-02,3.3572e-03,-2.1446e-03,-4.0077e-04,1.2964e-03,-3.5876e-04,1.8488e-02,1.4036e-03
+1,1.4667e+00,DOWN_FORCE_DETACH,3.3216e-04,5.3498e-01,1.1744e+00,2.4745e+00,-1.2220e-01,7.5225e-02,1.9363e-03,1.7205e-01,-1.3488e-02,-1.2765e-03,1.0235e-03,1.2229e-02,-1.4151e-03,1.7258e-01,1.2353e-02
+2,2.9000e+00,DOWN_FORCE_DETACH,6.7005e-04,5.9781e-01,1.1698e+00,2.4735e+00,-1.2176e-01,7.9700e-02,1.3545e-03,2.3488e-01,-1.8127e-02,-2.3468e-03,1.4592e-03,1.6705e-02,-1.9970e-03,2.3559e-01,1.6887e-02
+3,4.4333e+00,DOWN_FORCE_DETACH,1.0043e-03,5.4125e-01,1.1041e+00,2.4421e+00,-1.1708e-01,7.5702e-02,1.1476e-03,1.7832e-01,-8.3765e-02,-3.3728e-02,6.1435e-03,1.2707e-02,-2.2039e-03,1.9988e-01,1.4285e-02
+4,5.8667e+00,DOWN_FORCE_DETACH,1.3357e-03,5.0633e-01,1.0833e+00,2.5453e+00,-1.1543e-01,7.2965e-02,9.9180e-04,1.4340e-01,-1.0464e-01,6.9510e-02,7.7881e-03,9.9700e-03,-2.3596e-03,1.9064e-01,1.2869e-02
+5,7.1667e+00,DOWN_FORCE_DETACH,1.6723e-03,4.5562e-01,9.8336e-01,2.6156e+00,-1.0812e-01,6.9103e-02,8.3950e-04,9.2693e-02,-2.0453e-01,1.3980e-01,1.5103e-02,6.1076e-03,-2.5119e-03,2.6452e-01,1.6484e-02
+6,8.5500e+00,DOWN_FORCE_DETACH,2.0035e-03,5.7505e-01,9.8159e-01,2.5315e+00,-1.0803e-01,7.7932e-02,7.2501e-04,2.1213e-01,-2.0630e-01,5.5727e-02,1.5192e-02,1.4937e-02,-2.6264e-03,3.0111e-01,2.1466e-02
+7,9.8167e+00,DOWN_FORCE_DETACH,2.3395e-03,5.6374e-01,1.0873e+00,2.6099e+00,-1.1556e-01,7.6975e-02,7.0302e-04,2.0082e-01,-1.0059e-01,1.3406e-01,7.6635e-03,1.3980e-02,-2.6484e-03,2.6157e-01,1.6161e-02
+8,1.1350e+01,DOWN_FORCE_DETACH,2.6710e-03,5.3395e-01,1.0574e+00,2.5904e+00,-1.1340e-01,7.4822e-02,6.1542e-04,1.7102e-01,-1.3046e-01,1.1461e-01,9.8263e-03,1.1827e-02,-2.7360e-03,2.4373e-01,1.5618e-02
+9,1.2767e+01,DOWN_FORCE_DETACH,3.0053e-03,5.4179e-01,1.0390e+00,2.6532e+00,-1.1203e-01,7.5330e-02,4.9051e-04,1.7886e-01,-1.4888e-01,1.7740e-01,1.1196e-02,1.2335e-02,-2.8609e-03,2.9262e-01,1.6902e-02
+10,1.4067e+01,DOWN_FORCE_DETACH,3.3409e-03,4.9653e-01,1.0380e+00,2.7059e+00,-1.1192e-01,7.2001e-02,4.0161e-04,1.3360e-01,-1.4991e-01,2.3005e-01,1.1306e-02,9.0055e-03,-2.9498e-03,3.0536e-01,1.4752e-02
+11,1.5417e+01,DOWN_FORCE_DETACH,3.6758e-03,6.0591e-01,1.0363e+00,2.5474e+00,-1.1196e-01,8.0272e-02,3.4402e-04,2.4298e-01,-1.5162e-01,7.1572e-02,1.1264e-02,1.7277e-02,-3.0074e-03,2.9522e-01,2.0843e-02
+12,1.6850e+01,DOWN_FORCE_DETACH,4.0081e-03,5.8919e-01,9.3564e-01,2.5458e+00,-1.0474e-01,7.9064e-02,2.4140e-04,2.2626e-01,-2.5225e-01,7.0031e-02,1.8483e-02,1.6068e-02,-3.1100e-03,3.4602e-01,2.4688e-02
+13,1.8133e+01,DOWN_FORCE_DETACH,4.3437e-03,5.5061e-01,9.5458e-01,2.6762e+00,-1.0594e-01,7.6091e-02,2.6845e-04,1.8769e-01,-2.3332e-01,2.0040e-01,1.7280e-02,1.3096e-02,-3.0830e-03,3.6031e-01,2.1900e-02
+14,1.9533e+01,DOWN_FORCE_DETACH,4.6761e-03,5.1558e-01,1.0704e+00,2.6799e+00,-1.1446e-01,7.3753e-02,1.4242e-04,1.5265e-01,-1.1749e-01,2.0412e-01,8.7604e-03,1.0758e-02,-3.2090e-03,2.8066e-01,1.4240e-02
+15,2.1033e+01,DOWN_FORCE_DETACH,5.0085e-03,4.7696e-01,8.6257e-01,2.5769e+00,-9.9626e-02,7.1068e-02,2.8050e-05,1.1403e-01,-3.2532e-01,1.0111e-01,2.3596e-02,8.0726e-03,-3.3234e-03,3.5925e-01,2.5159e-02
+16,2.2517e+01,DOWN_FORCE_DETACH,5.3461e-03,5.8785e-01,1.0744e+00,2.5609e+00,-1.1500e-01,7.9166e-02,5.8076e-05,2.2492e-01,-1.1345e-01,8.5099e-02,8.2247e-03,1.6171e-02,-3.2933e-03,2.6590e-01,1.8439e-02
+17,2.3967e+01,DOWN_FORCE_DETACH,5.6783e-03,6.1422e-01,1.0661e+00,2.5568e+00,-1.1453e-01,8.1130e-02,-3.3692e-05,2.5129e-01,-1.2177e-01,8.1015e-02,8.6911e-03,1.8135e-02,-3.3851e-03,2.9076e-01,2.0393e-02
+18,2.5633e+01,DOWN_FORCE_DETACH,6.0132e-03,6.4558e-01,8.9591e-01,2.5196e+00,-1.0247e-01,8.3571e-02,-2.2256e-04,2.8265e-01,-2.9198e-01,4.3745e-02,2.0754e-02,2.0575e-02,-3.5740e-03,4.0873e-01,2.9442e-02
+19,2.7250e+01,DOWN_FORCE_DETACH,6.3482e-03,5.6021e-01,1.0014e+00,2.6748e+00,-1.1005e-01,7.7144e-02,-2.0896e-04,1.9728e-01,-1.8646e-01,1.9900e-01,1.3169e-02,1.4149e-02,-3.5604e-03,3.3658e-01,1.9654e-02
+20,2.8667e+01,DOWN_FORCE_DETACH,6.6832e-03,5.7563e-01,9.4052e-01,2.6425e+00,-1.0572e-01,7.8054e-02,-2.6241e-04,2.1270e-01,-2.4737e-01,1.6669e-01,1.7498e-02,1.5058e-02,-3.6138e-03,3.6636e-01,2.3367e-02
+21,3.0200e+01,DOWN_FORCE_DETACH,7.0173e-03,6.0900e-01,9.3984e-01,2.6140e+00,-1.0571e-01,8.0498e-02,-3.1307e-04,2.4607e-01,-2.4805e-01,1.3822e-01,1.7516e-02,1.7502e-02,-3.6645e-03,3.7575e-01,2.5032e-02
+22,3.1783e+01,DOWN_FORCE_DETACH,7.3509e-03,6.4424e-01,9.4452e-01,2.5940e+00,-1.0605e-01,8.3020e-02,-3.4304e-04,2.8131e-01,-2.4337e-01,1.1821e-01,1.7177e-02,2.0025e-02,-3.6945e-03,3.9030e-01,2.6640e-02
+23,3.3217e+01,DOWN_FORCE_DETACH,7.6825e-03,5.8870e-01,1.0072e+00,2.7858e+00,-1.1033e-01,7.8582e-02,-3.2333e-04,2.2578e-01,-1.8068e-01,3.0995e-01,1.2895e-02,1.5587e-02,-3.6747e-03,4.2390e-01,2.0560e-02
+24,3.4567e+01,DOWN_FORCE_DETACH,8.0141e-03,6.1292e-01,9.3918e-01,2.7411e+00,-1.0527e-01,8.0331e-02,-3.0875e-04,2.5000e-01,-2.4871e-01,2.6533e-01,1.7957e-02,1.7336e-02,-3.6602e-03,4.4131e-01,2.5226e-02
+25,3.6133e+01,DOWN_FORCE_DETACH,8.3526e-03,5.7367e-01,9.6457e-01,2.8281e+00,-1.0671e-01,7.7242e-02,-2.0584e-04,2.1074e-01,-2.2333e-01,3.5228e-01,1.6508e-02,1.4246e-02,-3.5573e-03,4.6732e-01,2.2094e-02
+26,3.7650e+01,DOWN_FORCE_DETACH,8.6884e-03,5.3794e-01,9.9389e-01,2.8762e+00,-1.0836e-01,7.4721e-02,-3.8723e-05,1.7502e-01,-1.9400e-01,4.0035e-01,1.4866e-02,1.1726e-02,-3.3901e-03,4.7807e-01,1.9235e-02
+27,3.8983e+01,DOWN_FORCE_DETACH,9.0181e-03,5.4234e-01,9.8990e-01,2.9691e+00,-1.0759e-01,7.4755e-02,5.1542e-05,1.7942e-01,-1.9800e-01,4.9331e-01,1.5634e-02,1.1760e-02,-3.2999e-03,5.6103e-01,1.9840e-02
+28,4.0317e+01,DOWN_FORCE_DETACH,9.3536e-03,5.1274e-01,9.0811e-01,2.9629e+00,-1.0145e-01,7.2380e-02,1.9666e-04,1.4981e-01,-2.7978e-01,4.8705e-01,2.1770e-02,9.3846e-03,-3.1548e-03,5.8133e-01,2.3916e-02
+29,4.1800e+01,DOWN_FORCE_DETACH,9.6858e-03,4.8678e-01,9.5114e-01,3.1378e+00,-1.0360e-01,7.0729e-02,5.2624e-04,1.2385e-01,-2.3675e-01,6.6202e-01,1.9618e-02,7.7343e-03,-2.8252e-03,7.1390e-01,2.1276e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1990b39f854bcd6df135269af38a18cdffa7484c
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:306acfb39abf7196dfa0633f312dc8978a3499681b35e39f468b4d70620f6990
+size 624640
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..86cb0850221fa3e8a2eec481dd98f9a3733b61c2
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/fem_node.csv
@@ -0,0 +1,31741 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd64e872deab719278d5c22b4a23b05278ad4959
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..429a968d51dbaa11740408459afc3753bcedeb29
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..319d5a06467d897f41e1168934de671af8716d7c
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+52,9.316666667e+00,UP_SETTLE,1793350245064036213,-9.555789840e-05,1.772914283e-05,7.759098869e-04,-8.535279357e-05,1.668507156e-05,7.663558173e-04,-7.739704981e-05,1.492871735e-05,7.611428994e-04,7.018601117e-01,-4.358768575e-06,8.609193557e-01,7.018703168e-01,-5.402839845e-06,8.609098017e-01,7.026689616e-01,-9.735847856e-05,8.310866315e-01
+53,9.533333333e+00,UP_SETTLE,1793350245276176625,-9.975491844e-05,1.704872368e-05,7.845140237e-04,-9.871214647e-05,1.493649848e-05,7.815949134e-04,-9.118817958e-05,1.340722758e-05,7.761728440e-04,7.018559147e-01,-5.039187727e-06,8.609279599e-01,7.018569575e-01,-7.151412923e-06,8.609250408e-01,7.026551705e-01,-9.887996832e-05,8.311016615e-01
+54,9.716666667e+00,UP_SETTLE,1793350245456232670,-1.056190102e-04,1.706956643e-05,7.880245017e-04,-9.871214647e-05,1.493649848e-05,7.815949134e-04,-9.167836862e-05,1.342378529e-05,7.766925485e-04,7.018500506e-01,-5.018344974e-06,8.609314703e-01,7.018569575e-01,-7.151412923e-06,8.609250408e-01,7.026546803e-01,-9.886341061e-05,8.311021812e-01
+55,9.916666667e+00,UP_SETTLE,1793350245653220161,-1.097004864e-04,2.780514110e-05,7.939871129e-04,-1.092809092e-04,2.789490949e-05,7.941075075e-04,-1.025903102e-04,2.488507075e-05,7.888825216e-04,7.018459691e-01,5.717229698e-06,8.609374330e-01,7.018463887e-01,5.806998086e-06,8.609375534e-01,7.026437683e-01,-8.740212516e-05,8.311143711e-01
+56,1.011666667e+01,UP_SETTLE,1793350245866119601,-1.137427552e-04,1.824398644e-05,7.957332152e-04,-1.092809092e-04,2.789490949e-05,7.941075075e-04,-1.031850873e-04,2.497453314e-05,7.895052263e-04,7.018419269e-01,-3.843924965e-06,8.609391791e-01,7.018463887e-01,5.806998086e-06,8.609375534e-01,7.026431736e-01,-8.731266277e-05,8.311149938e-01
+57,1.028333333e+01,UP_SETTLE,1793350246030191552,-1.144910350e-04,2.435119353e-05,8.054272534e-04,-1.092809092e-04,2.789490949e-05,7.941075075e-04,-1.035386179e-04,2.498935692e-05,7.898798844e-04,7.018411786e-01,2.263282124e-06,8.609488731e-01,7.018463887e-01,5.806998086e-06,8.609375534e-01,7.026428200e-01,-8.729783899e-05,8.311153685e-01
+58,1.051666667e+01,UP_SETTLE,1793350246260139337,-1.192567206e-04,2.477494206e-05,8.064258043e-04,-1.092809092e-04,2.789490949e-05,7.941075075e-04,-1.039549916e-04,2.500515681e-05,7.903284324e-04,7.018364129e-01,2.687030657e-06,8.609498716e-01,7.018463887e-01,5.806998086e-06,8.609375534e-01,7.026424037e-01,-8.728203909e-05,8.311158170e-01
+59,1.080000000e+01,UP_SETTLE,1793350246554359360,-1.219107522e-04,2.193377954e-05,8.116907924e-04,-1.195068722e-04,2.039345715e-05,8.106215761e-04,-1.146334134e-04,1.837261729e-05,8.065193279e-04,7.018337589e-01,-1.541318627e-07,8.609551366e-01,7.018361628e-01,-1.694454257e-06,8.609540674e-01,7.026317252e-01,-9.391457862e-05,8.311320079e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4d41fa59428699d9c0e131a6f474377cb83451c
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,3.7967e-01,1.1860e+00,2.4734e+00,-1.2308e-01,6.4141e-02,2.9792e-03,1.6028e-02,-3.7354e-03,-2.4776e-03,3.2905e-04,1.0747e-03,-3.6643e-04,1.6643e-02,1.1821e-03
+1,2.6667e-01,WAIT_W2,5.1471e-05,4.1499e-01,1.1850e+00,2.4724e+00,-1.2302e-01,6.6855e-02,2.8609e-03,5.1350e-02,-4.7582e-03,-3.4413e-03,3.8779e-04,3.7886e-03,-4.8471e-04,5.1684e-02,3.8392e-03
+2,4.8333e-01,WAIT_W2,1.0280e-04,4.4174e-01,1.1804e+00,2.4819e+00,-1.2266e-01,6.8507e-02,2.5698e-03,7.8093e-02,-9.3683e-03,6.0449e-03,7.5073e-04,5.4413e-03,-7.7582e-04,7.8885e-02,5.5473e-03
+3,6.5000e-01,WAIT_W2,1.5640e-04,4.5958e-01,1.1800e+00,2.4746e+00,-1.2264e-01,6.9685e-02,2.5625e-03,9.5932e-02,-9.7456e-03,-1.2360e-03,7.6736e-04,6.6189e-03,-7.8314e-04,9.6433e-02,6.7091e-03
+4,7.8333e-01,WAIT_W2,2.1302e-04,4.7911e-01,1.1786e+00,2.4769e+00,-1.2252e-01,7.1268e-02,2.3911e-03,1.1546e-01,-1.1164e-02,1.0607e-03,8.8717e-04,8.2025e-03,-9.5448e-04,1.1600e-01,8.3053e-03
+5,8.3333e-01,WAIT_W2,2.5639e-04,2.0139e-01,1.4343e+00,1.9826e+00,-1.4161e-01,5.1728e-02,2.5237e-03,-1.6226e-01,2.4453e-01,-4.9323e-01,-1.8203e-02,-1.1338e-02,-8.2188e-04,5.7393e-01,2.1461e-02
+6,8.6667e-01,WAIT_W2,3.0206e-04,4.0711e-02,1.4958e+00,1.6632e+00,-1.4654e-01,4.0488e-02,2.6513e-03,-3.2293e-01,3.0609e-01,-8.1270e-01,-2.3127e-02,-2.2578e-02,-6.9434e-04,9.2653e-01,3.2328e-02
+7,9.0000e-01,WAIT_W2,3.5120e-04,-1.4931e-01,1.3486e+00,1.2864e+00,-1.3637e-01,2.7721e-02,2.7122e-03,-5.1295e-01,1.5889e-01,-1.1895e+00,-1.2958e-02,-3.5345e-02,-6.3336e-04,1.3051e+00,3.7651e-02
+8,9.3333e-01,WAIT_W2,4.1083e-04,-4.0668e-01,1.3233e+00,8.0099e-01,-1.3561e-01,1.0006e-02,2.8244e-03,-7.7033e-01,1.3357e-01,-1.6749e+00,-1.2196e-02,-5.3060e-02,-5.2120e-04,1.8484e+00,5.4446e-02
+9,9.8333e-01,WAIT_W2,4.7448e-04,-5.8516e-01,1.2851e+00,3.7319e-01,-1.3297e-01,-2.2239e-03,2.8690e-03,-9.4880e-01,9.5409e-02,-2.1027e+00,-9.5578e-03,-6.5290e-02,-4.7663e-04,2.3088e+00,6.5987e-02
+10,1.0333e+00,WAIT_W2,5.1624e-04,-7.3884e-01,1.3546e+00,6.5814e-02,-1.3774e-01,-1.2623e-02,2.9122e-03,-1.1025e+00,1.6488e-01,-2.4101e+00,-1.4326e-02,-7.5689e-02,-4.3336e-04,2.6554e+00,7.7034e-02
+11,1.1500e+00,WAIT_W2,5.6694e-04,-9.0278e-01,1.1003e+00,-2.0331e-01,-1.2121e-01,-2.5151e-02,3.0633e-03,-1.2664e+00,-8.9455e-02,-2.6792e+00,2.1986e-03,-8.8217e-02,-2.8227e-04,2.9648e+00,8.8245e-02
+12,1.3167e+00,WAIT_W2,6.1892e-04,-8.6736e-01,1.0709e+00,-1.1499e-01,-1.1831e-01,-2.2769e-02,3.1317e-03,-1.2310e+00,-1.1878e-01,-2.5909e+00,5.1000e-03,-8.5835e-02,-2.1392e-04,2.8709e+00,8.5987e-02
+13,1.5333e+00,UP_FORCE_RAMP,6.7379e-04,-6.8821e-01,1.0164e+00,1.5572e-01,-1.1474e-01,-1.1134e-02,3.1382e-03,-1.0519e+00,-1.7336e-01,-2.3202e+00,8.6685e-03,-7.4200e-02,-2.0737e-04,2.5533e+00,7.4704e-02
+14,1.7333e+00,UP_FORCE_RAMP,7.2541e-04,-4.5479e-01,8.2159e-01,5.3190e-01,-1.0173e-01,4.3766e-03,3.1284e-03,-8.1844e-01,-3.6814e-01,-1.9440e+00,2.1680e-02,-5.8689e-02,-2.1723e-04,2.1411e+00,6.2566e-02
+15,1.9500e+00,UP_FORCE_RAMP,7.7627e-04,-4.4815e-01,8.2946e-01,5.4877e-01,-1.0215e-01,4.8992e-03,3.1258e-03,-8.1179e-01,-3.6027e-01,-1.9271e+00,2.1257e-02,-5.8167e-02,-2.1980e-04,2.1219e+00,6.1930e-02
+16,2.1167e+00,UP_FORCE_RAMP,8.2753e-04,-2.7090e-01,8.7386e-01,8.5994e-01,-1.0420e-01,1.7307e-02,3.0984e-03,-6.3455e-01,-3.1587e-01,-1.6159e+00,1.9214e-02,-4.5759e-02,-2.4724e-04,1.7646e+00,4.9630e-02
+17,2.3500e+00,UP_FORCE_RAMP,8.7791e-04,-9.1592e-02,7.9247e-01,1.1039e+00,-9.8265e-02,3.0392e-02,3.0393e-03,-4.5524e-01,-3.9726e-01,-1.3720e+00,2.5146e-02,-3.2674e-02,-3.0633e-04,1.4991e+00,4.1231e-02
+18,2.6167e+00,UP_FORCE_RAMP,9.3003e-04,3.0282e-02,8.6116e-01,1.2731e+00,-1.0208e-01,3.9574e-02,2.9563e-03,-3.3336e-01,-3.2857e-01,-1.2028e+00,2.1336e-02,-2.3492e-02,-3.8934e-04,1.2907e+00,3.1738e-02
+19,2.8333e+00,UP_FORCE_RAMP,9.8062e-04,1.3574e-01,7.5593e-01,1.4078e+00,-9.5186e-02,4.7100e-02,2.8791e-03,-2.2790e-01,-4.3380e-01,-1.0680e+00,2.8226e-02,-1.5966e-02,-4.6650e-04,1.1751e+00,3.2432e-02
+20,3.0500e+00,UP_FORCE_RAMP,1.0355e-03,1.9430e-01,7.8978e-01,1.2296e+00,-9.6973e-02,5.2663e-02,2.0352e-03,-1.6934e-01,-3.9995e-01,-1.2463e+00,2.6439e-02,-1.0403e-02,-1.3104e-03,1.3198e+00,2.8442e-02
+21,3.2333e+00,UP_FORCE_RAMP,1.0871e-03,2.1059e-01,7.9029e-01,1.2716e+00,-9.6995e-02,5.3713e-02,2.0340e-03,-1.5305e-01,-3.9944e-01,-1.2043e+00,2.6417e-02,-9.3532e-03,-1.3116e-03,1.2780e+00,2.8055e-02
+22,3.4167e+00,UP_FORCE_RAMP,1.1382e-03,2.6121e-01,7.9091e-01,1.3952e+00,-9.6989e-02,5.6996e-02,2.0280e-03,-1.0243e-01,-3.9882e-01,-1.0807e+00,2.6422e-02,-6.0700e-03,-1.3176e-03,1.1565e+00,2.7143e-02
+23,3.6667e+00,UP_FORCE_RAMP,1.1873e-03,3.5374e-01,8.1166e-01,1.5137e+00,-9.8224e-02,6.3157e-02,2.0078e-03,-9.9076e-03,-3.7807e-01,-9.6217e-01,2.5187e-02,9.1128e-05,-1.3378e-03,1.0338e+00,2.5223e-02
+24,3.8667e+00,UP_FORCE_RAMP,1.2421e-03,4.9158e-01,8.8527e-01,1.4919e+00,-1.0353e-01,7.3909e-02,1.9090e-03,1.2793e-01,-3.0446e-01,-9.8394e-01,1.9886e-02,1.0843e-02,-1.4366e-03,1.0379e+00,2.2696e-02
+25,4.0667e+00,UP_FORCE_RAMP,1.2934e-03,5.9366e-01,8.7525e-01,1.3906e+00,-1.0277e-01,8.1489e-02,1.3610e-03,2.3001e-01,-3.1448e-01,-1.0853e+00,2.0639e-02,1.8423e-02,-1.9846e-03,1.1531e+00,2.7737e-02
+26,4.2833e+00,UP_FORCE_RAMP,1.3426e-03,6.0202e-01,8.7533e-01,1.5215e+00,-1.0275e-01,8.1984e-02,1.3548e-03,2.3838e-01,-3.1440e-01,-9.5439e-01,2.0664e-02,1.8918e-02,-1.9908e-03,1.0327e+00,2.8087e-02
+27,4.5333e+00,UP_FORCE_RAMP,1.3976e-03,7.8791e-01,8.1954e-01,1.5049e+00,-9.8473e-02,9.5578e-02,1.2419e-03,4.2427e-01,-3.7019e-01,-9.7097e-01,2.4938e-02,3.2512e-02,-2.1037e-03,1.1224e+00,4.1029e-02
+28,4.7333e+00,UP_FORCE_RAMP,1.4477e-03,7.8074e-01,8.1903e-01,1.6044e+00,-9.8435e-02,9.5026e-02,1.2191e-03,4.1709e-01,-3.7070e-01,-8.7152e-01,2.4977e-02,3.1960e-02,-2.1265e-03,1.0349e+00,4.0618e-02
+29,4.9500e+00,UP_FORCE_RAMP,1.4988e-03,8.6778e-01,8.8134e-01,1.5637e+00,-1.0277e-01,1.0112e-01,1.1591e-03,5.0413e-01,-3.0839e-01,-9.1221e-01,2.0646e-02,3.8049e-02,-2.1864e-03,1.0869e+00,4.3345e-02
+30,5.1667e+00,UP_FORCE_RAMP,1.5486e-03,1.0175e+00,7.8808e-01,1.4708e+00,-9.5820e-02,1.1250e-01,9.3227e-04,6.5387e-01,-4.0165e-01,-1.0050e+00,2.7592e-02,4.9439e-02,-2.4133e-03,1.2645e+00,5.6669e-02
+31,5.4167e+00,UP_FORCE_RAMP,1.6012e-03,1.0677e+00,8.5318e-01,1.4720e+00,-1.0020e-01,1.1558e-01,8.6686e-04,7.0409e-01,-3.3655e-01,-1.0039e+00,2.3210e-02,5.2515e-02,-2.4787e-03,1.2715e+00,5.7469e-02
+32,5.7000e+00,UP_FORCE_RAMP,1.6544e-03,1.1244e+00,8.9069e-01,1.4114e+00,-1.0354e-01,1.2010e-01,2.9279e-04,7.6075e-01,-2.9904e-01,-1.0645e+00,1.9871e-02,5.7033e-02,-3.0528e-03,1.3421e+00,6.0472e-02
+33,5.8667e+00,UP_FORCE_RAMP,1.7069e-03,1.1157e+00,8.8037e-01,1.5008e+00,-1.0286e-01,1.1945e-01,2.8490e-04,7.5208e-01,-3.0936e-01,-9.7510e-01,2.0551e-02,5.6383e-02,-3.0607e-03,1.2697e+00,6.0089e-02
+34,6.0667e+00,UP_FORCE_RAMP,1.7552e-03,1.2924e+00,7.6474e-01,1.3830e+00,-9.5230e-02,1.3110e-01,2.5863e-04,9.2877e-01,-4.2499e-01,-1.0929e+00,2.8181e-02,6.8036e-02,-3.0870e-03,1.4959e+00,7.3706e-02
+35,6.2333e+00,UP_FORCE_RAMP,1.8069e-03,1.2325e+00,8.2843e-01,1.4370e+00,-9.9149e-02,1.2752e-01,2.3498e-04,8.6884e-01,-3.6129e-01,-1.0389e+00,2.4263e-02,6.4452e-02,-3.1106e-03,1.4017e+00,6.8938e-02
+36,6.4167e+00,UP_FORCE_RAMP,1.8584e-03,1.2373e+00,8.4840e-01,1.4341e+00,-1.0045e-01,1.2785e-01,2.3182e-04,8.7368e-01,-3.4133e-01,-1.0418e+00,2.2966e-02,6.4786e-02,-3.1138e-03,1.4018e+00,6.8806e-02
+37,6.6167e+00,UP_FORCE_RAMP,1.9096e-03,1.2882e+00,8.2069e-01,1.4082e+00,-9.8655e-02,1.3126e-01,2.1963e-04,9.2458e-01,-3.6903e-01,-1.0677e+00,2.4757e-02,6.8191e-02,-3.1260e-03,1.4598e+00,7.2613e-02
+38,6.8000e+00,UP_FORCE_RAMP,1.9616e-03,1.3180e+00,7.9609e-01,1.3855e+00,-9.7045e-02,1.3331e-01,2.0662e-04,9.5434e-01,-3.9364e-01,-1.0904e+00,2.6366e-02,7.0242e-02,-3.1390e-03,1.5015e+00,7.5093e-02
+39,6.9833e+00,UP_FORCE_RAMP,2.0144e-03,1.4666e+00,8.6676e-01,1.3615e+00,-1.0217e-01,1.4529e-01,1.3751e-05,1.1029e+00,-3.2297e-01,-1.1144e+00,2.1246e-02,8.2227e-02,-3.3318e-03,1.6008e+00,8.4993e-02
+40,7.1167e+00,UP_FORCE_RAMP,2.0671e-03,1.4736e+00,8.3661e-01,1.3627e+00,-1.0019e-01,1.4573e-01,2.1011e-06,1.1099e+00,-3.5312e-01,-1.1132e+00,2.3217e-02,8.2664e-02,-3.3435e-03,1.6112e+00,8.5927e-02
+41,7.3167e+00,UP_FORCE_HOLD,2.1189e-03,1.4832e+00,8.0983e-01,1.3616e+00,-9.8423e-02,1.4635e-01,-1.1433e-05,1.1195e+00,-3.7990e-01,-1.1143e+00,2.4989e-02,8.3280e-02,-3.3570e-03,1.6246e+00,8.7013e-02
+42,7.4833e+00,UP_SETTLE,2.1748e-03,1.4830e+00,8.0510e-01,1.3652e+00,-9.8103e-02,1.4632e-01,-1.5641e-05,1.1193e+00,-3.8463e-01,-1.1107e+00,2.5309e-02,8.3258e-02,-3.3612e-03,1.6231e+00,8.7084e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/camera_frames_60hz.tar
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/fem_node.csv
new file mode 100644
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2b02c26e0351bffb478ae176be712a72cec9cc70
--- /dev/null
+++ b/Part2/Fixed/digit/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
+26406,1793350349437891155,11895557000000,1793350349437261312,XJC_ZERO_HOLD_BEFORE_DOWN,10,0.0744,0.07440033555030823,0.7509944716026818,-0.006319111841170091,0.10280706666385246,0.9999999699564606,9.667389142450828e-05,-0.00020525803083616502,-7.296698488484333e-06,0.7511,-0.0065,0.103,1.0,0.0,0.0,0.0,0.01725894783045412,-0.030417866126660947,-0.06988756645694938,-0.0023188669822148227,-0.0014477133593479921,8.251129702410188e-06,-0.5879956587344896,-0.14509057905846365,2.4222905489961524,-0.02633717438758545,0.05280031549051938,-0.006620716826682285,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,0.49085117149926877,-0.9823561624665026,0.13474394870841114,0.46666042011398196,-0.051826127220588054,-0.7079983601983013,1.5251891887594113,0.06988756645694938,1.3904452400510001,0.0,0.0,0,0,0.0,0.0
+26576,1793350350848847171,11896968000000,1793350350845261328,DOWN_FORCE_DETACH,10,0.0744,0.07440099120140076,0.750997599241996,-0.006318057044460867,0.10280645455056951,0.9999999711176447,9.986958002573645e-05,-0.00019794112876308657,-7.2767195147117995e-06,0.7511,-0.0065,0.10297957219805656,1.0,0.0,0.0,0.0,0.019049068648453016,-0.056739539021655266,-0.14058835688964155,-0.00332342201724185,-0.0015452600397691668,5.7119652428520504e-05,-0.5862055379164907,-0.17141225195345797,2.35158975856346,-0.02734172942261248,0.05270276881009821,-0.006571848303956174,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,0.6262524205236554,-0.9615647397354316,0.10351241366713775,0.452234836828791,0.011590550192765756,-0.6941562211895134,1.5251891887594113,0.14058835688964155,1.4216767750922736,1.4216767750922736,1.5203182158681772,0,0,-3.843690267043976e-05,-9.999999025923074e-05
+26745,1793350352256816493,11898376000000,1793350352253251360,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7510092780515494,-0.006317623920405151,0.10280252474534331,0.9999999770399458,9.62458263328379e-05,-0.00016745101672401122,-7.737598205579287e-06,0.7511,-0.0065,0.10291001486958577,1.0,0.0,0.0,0.0,-0.03743507183252914,-0.009211071066495352,-0.1793258221243157,-0.0003430790991291316,0.0014373418353973363,0.0011848781559678275,-0.6426896783974728,-0.12388378399829805,2.312852293328786,-0.02436138650449976,0.05568537068526471,-0.005444089800416867,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,1.274132842084113,-0.9924770308973359,-0.10106492608883776,0.46670627299385015,0.32330139786432244,-0.711455595951484,1.5251891887594113,0.1793258221243157,1.626254114848249,1.626254114848249,1.6611182158681617,0,0,-4.7058337897228124e-05,3.714782234454646e-05
+26937,1793350353856826509,11899976000000,1793350353853261546,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7510221094124256,-0.006318415300226742,0.10279270302177046,0.9999999817157066,9.637287174666385e-05,-0.00013655583406985928,-8.730670319062313e-06,0.7511,-0.0065,0.10284080919930609,1.0,0.0,0.0,0.0,-0.10331115861203921,0.0432236115070538,-0.14799860365183015,0.0036000091386005836,0.006389343077078363,0.0012758512738145966,-0.7085657651769829,-0.0714491014247489,2.3441795118012716,-0.020418298266770045,0.06063737192694574,-0.005353116682570098,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,1.6813323411451713,-0.9343300719708107,-0.29176852881830717,0.44698912310959704,0.5599313994464258,-0.6694157638618304,1.5251891887594113,0.14799860365183015,1.8169577175777185,1.8169577175777185,1.821118215868144,0,0,-3.8746776957727984e-05,7.576658331143733e-05
+27120,1793350355381789342,11901501000000,1793350355377260827,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7510341252271809,-0.006312443904644024,0.10278318754764303,0.9999999842922522,0.00010200594049738637,-0.00011139914519567281,-6.586207877070561e-06,0.7511,-0.0065,0.10278515481968667,1.0,0.0,0.0,0.0,-0.14465379523286714,0.08697966761840972,-0.05694778192568517,0.006609921726982139,0.009379568853760775,0.0016488869890054622,-0.7499084017978108,-0.027693045313392978,2.4352303335274166,-0.01740838567838849,0.06362759770362815,-0.004980080967379233,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,1.9323117029327312,-0.9739699355872924,-0.46292971593157545,0.45348234395758863,0.7447236225141455,-0.6952085974779825,1.5251891887594113,0.05694778192568517,1.9881189046909868,1.9881189046909868,1.9736182158681272,0,0,-3.6340452637369285e-05,9.999391178817092e-05
+27295,1793350356839750361,11902959000000,1793350356833251922,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7510466617763029,-0.006318165891034861,0.10277443832067422,0.9999999869798063,9.909893318713056e-05,-8.729353639787807e-05,-6.518559558664328e-06,0.7511,-0.0065,0.10274852957882534,1.0,0.0,0.0,0.0,-0.1822769212486529,0.10709951537812566,0.06507674424155585,0.009539788399346787,0.01131847887902565,0.002269936295871638,-0.7875315278135966,-0.007573197553677044,2.5572548596946576,-0.014478519006023842,0.06556650772889303,-0.004359031660513057,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.0984434221606993,-1.0123226503586027,-0.6209933643504095,0.4619076244503016,0.8990498168868198,-0.7264430525899301,1.5251891887594113,-0.06507674424155585,2.1461825531098206,2.1461825531098206,2.1194182158683765,0,0,-1.2747962217758752e-05,9.999999025923074e-05
+27462,1793350358231804417,11904351000000,1793350358229261266,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7510512738072675,-0.006312628550652216,0.1027611049948901,0.9999999877196636,9.809325472785578e-05,-7.930295903616078e-05,-9.606826946023039e-06,0.7511,-0.0065,0.10272176290412631,1.0,0.0,0.0,0.0,-0.1974788374884776,0.1228301720692362,0.1456477482481744,0.01051810119980915,0.012295274428962902,0.002230228032624265,-0.8027334440534213,0.008157459137433506,2.637825863701276,-0.013500206205561478,0.06654330327883028,-0.00439873992376043,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.1691551457061404,-0.9947288229331613,-0.7670529504548684,0.45863749718928815,1.0199007454716886,-0.713268252553722,1.5251891887594113,-0.1456477482481744,2.29224213921428,2.29224213921428,2.2586182158686703,0,0,-3.0244498173932814e-05,7.500581686160074e-05
+27627,1793350359606846056,11905726000000,1793350359601260994,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.751062016163126,-0.006313693117453198,0.10274366874332898,0.9999999890172395,9.963542441788498e-05,-5.8359933202310716e-05,-8.676718436426691e-06,0.7511,-0.0065,0.10267652498672747,1.0,0.0,0.0,0.0,-0.24567796884809745,0.17524250385569418,0.3078947155943399,0.014459146866473559,0.015219881759426346,0.003081136926645828,-0.8509325754130411,0.06056979092389148,2.8000728310474416,-0.00955916053889707,0.06946791060929372,-0.0035478310297388667,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.2257221849041264,-0.9731897590242147,-0.7895899445026828,0.4560374740476424,1.0423270294131413,-0.6950726874123748,1.5251891887594113,-0.3078947155943399,2.3147791332620944,2.3147791332620944,2.3961182158689605,0,0,-2.6893359604566964e-05,-9.999990699250389e-05
+27788,1793350360948789639,11907068000000,1793350360941251865,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7510706860465224,-0.006309967304913081,0.10273506118391504,0.9999999894151018,0.0001032440552431949,-4.3215974204682994e-05,-9.257718422173076e-06,0.7511,-0.0065,0.10264623373646273,1.0,0.0,0.0,0.0,-0.26503100878331975,0.19498467161083352,0.4086122784144668,0.015456580360321133,0.016189214135653787,0.003157291344409242,-0.8702856153482634,0.08031195867903082,2.9007903938675685,-0.008561727045049495,0.07043724298552116,-0.003471676611975453,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.2805459891381044,-0.9362870761385851,-0.9721237870545439,0.44385693056918957,1.1872113825288684,-0.668892583105609,1.5251891887594113,-0.4086122784144668,2.4973129758139554,2.4973129758139554,2.5303182158692437,0,0,-2.0919774464138403e-05,-4.753394486212699e-05
+27959,1793350362373789059,11908493000000,1793350362373251979,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7510770365842775,-0.006310388083387209,0.10271863074856141,0.9999999901175691,0.00010104292174742524,-3.007640808570633e-05,-9.667661803283696e-06,0.7511,-0.0065,0.1026075541685351,1.0,0.0,0.0,0.0,-0.29443456037102267,0.22276227086693237,0.5432469267116318,0.016373838405466523,0.019149218973875268,0.0031029165393151124,-0.8996891669359663,0.10808955793512967,3.0354250421647335,-0.007644468999904104,0.07339724782374264,-0.0035260514170695825,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.3794371593477184,-0.9127861668095922,-1.1344558918724466,0.4392075802838033,1.3233015752441448,-0.6496668048309588,1.5251891887594113,-0.5432469267116318,2.659645080631858,2.659645080631858,2.6728182158695444,0,0,-2.8607419492983392e-05,8.170888551728978e-05
+28152,1793350363981823492,11910101000000,1793350363977261314,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7510890381983343,-0.0063138952002649235,0.10270211660587816,0.9999999908230932,9.82610037795573e-05,-8.678508154963163e-06,-8.132447644965523e-06,0.7511,-0.0065,0.10256200641005102,1.0,0.0,0.0,0.0,-0.33402852532853244,0.257256491160741,0.7008773063281675,0.019351210173540044,0.02111349086328261,0.0032635850855224687,-0.9392831318934761,0.1425837782289383,3.193055421781269,-0.004667097231830583,0.07536151971314999,-0.003365382870862226,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.480094468560204,-0.9440852738367311,-1.2584150062078348,0.4470094166736168,1.4340172764031405,-0.6731151667777443,1.5251891887594113,-0.7008773063281675,2.7836041949672463,2.7836041949672463,2.8336182158698837,0,0,-2.750774325962902e-05,-7.904919360613433e-05
+28321,1793350365389788966,11911509000000,1793350365385261714,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7510951146949919,-0.006312125021994414,0.10268284564538845,0.9999999907175886,9.974840637973964e-05,2.528279243851965e-06,-7.179871213370075e-06,0.7511,-0.0065,0.10252769643271911,1.0,0.0,0.0,0.0,-0.3640377758443124,0.277947113467671,0.8329322825880587,0.021306348216144164,0.023068335385583436,0.004008857975214761,-0.9692923824092561,0.16327440053586828,3.3251103980411605,-0.002711959189226465,0.07731636423545081,-0.002620109981169934,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.4811528402841443,-1.0579005684177225,-1.4064751957285098,0.4810025038740726,1.5340190080582292,-0.7541477802980608,1.5251891887594113,-0.8329322825880587,2.931664384487921,2.931664384487921,2.974418215870181,0,0,-2.482471200412751e-05,-2.616892399854294e-05
+28514,1793350366998791575,11913118000000,1793350366993262137,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7511049529516425,-0.006306961048613296,0.10266932553554446,0.9999999901738299,0.00010268684238253551,2.1718692568212328e-05,-8.883435311738006e-06,0.7511,-0.0065,0.10248252420914647,1.0,0.0,0.0,0.0,-0.40299152412129124,0.311371131786819,0.9637455609024177,0.02428873588616638,0.025008740857757047,0.003964441883009276,-1.008246130686235,0.19669841885501632,3.4559236763555194,0.00027042848079575176,0.07925676970762442,-0.0026645260733754194,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.6383862599622647,-0.9610098594067096,-1.5247566347915154,0.4534240267480616,1.661088339497641,-0.6829500981006946,1.5251891887594113,-0.9637455609024177,3.0499458235509267,3.0499458235509267,3.1353182158705204,0,0,-3.3281568455360795e-05,-9.99999347480795e-05
+28683,1793350368406759389,11914526000000,1793350368405252356,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7511188735976331,-0.006315577476701502,0.10265266373203204,0.999999989746678,9.862397119134613e-05,4.6673481574144615e-05,-6.663838095828604e-06,0.7511,-0.0065,0.10243395260569096,1.0,0.0,0.0,0.0,-0.452562938436052,0.3680296236454402,1.1455811456904192,0.028225398995456823,0.02894086693219715,0.004459003305178842,-1.0578175450009957,0.2533569107136375,3.637759261143521,0.004207091590086194,0.08318889578206452,-0.0021699646512058535,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.7174479820189887,-1.066945431298146,-1.7851048505878553,0.4875275578703398,1.85547371374586,-0.7611640847204258,1.5251891887594113,-1.1455811456904192,3.3102940393472666,3.3102940393472666,3.2761182158708175,0,0,-2.9438366651286845e-05,9.980468815141136e-05
+28860,1793350369881690890,11916001000000,1793350369881261393,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.751129715798717,-0.006313872770858855,0.10263768364443969,0.9999999885687333,9.877464192832056e-05,6.707151050003716e-05,-7.097914902996011e-06,0.7511,-0.0065,0.10239630922018887,1.0,0.0,0.0,0.0,-0.48342178257568447,0.40055853208171877,1.26743270390834,0.031206813116948142,0.03088136729920536,0.004911467575891593,-1.0886763891406281,0.28588581914991607,3.7596108193614417,0.0071885057115775135,0.08512939614907274,-0.0017175003804931017,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.6871744638892583,-1.0358145463162542,-1.8259061183288514,0.47893415588978394,1.869009284586642,-0.7371679083429236,1.5251891887594113,-1.26743270390834,3.3510953070882628,3.3510953070882628,3.423618215871129,0,0,-2.4755973655780867e-05,-9.999997638144293e-05
+29027,1793350371273716484,11917393000000,1793350371269261748,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7511372249229703,-0.006316674393637697,0.10261652454760925,0.9999999873635458,9.983931727976151e-05,8.19690553075801e-05,-5.3812028399412485e-06,0.7511,-0.0065,0.10235413394651842,1.0,0.0,0.0,0.0,-0.5219953876379838,0.4364383838748278,1.3788533231990616,0.034144343789932495,0.032827160806818384,0.0048821914257983715,-1.1272499942029275,0.3217656709430251,3.8710314386521634,0.010126036384561866,0.08707518965668576,-0.0017467765305863234,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.8120812584159283,-1.0017833782351389,-2.086931002530306,0.46513915515716353,2.0817587485703424,-0.7117398597941558,1.5251891887594113,-1.3788533231990616,3.6121201912897174,3.6121201912897174,3.5628182158714226,0,0,-3.624347659905857e-05,9.711091239339992e-05
+29219,1793350372873720801,11918993000000,1793350372869261867,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7511539571383231,-0.006313086166304412,0.10259552902817339,0.9999999842281077,0.00010343304695521842,0.00011066371742190188,-6.464921589126527e-06,0.7511,-0.0065,0.10230168663699561,1.0,0.0,0.0,0.0,-0.5729400951115297,0.47865217376671687,1.580581973983755,0.037136896216982324,0.03576284489601933,0.005018679349228153,-1.1781947016764733,0.36397946083491417,4.072760089436857,0.013118588811611697,0.0900108737458867,-0.0016102886071565421,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.891577202456311,-1.0297937208700096,-2.1522957972674264,0.4747387603511427,2.1439817559707595,-0.7361626202099739,1.5251891887594113,-1.580581973983755,3.6774849860268377,3.6774849860268377,3.72281821587176,0,0,-1.9144665196228712e-05,-7.500007145744831e-05
+29378,1793350374198730183,11920318000000,1793350374197261431,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7511581011968065,-0.00631015666449823,0.10257948969082742,0.999999983226054,0.00010425431982909425,0.00011865327979266345,-6.572074186569296e-06,0.7511,-0.0065,0.10226987882149265,1.0,0.0,0.0,0.0,-0.582154310694465,0.5062841594336736,1.6614287906321263,0.03907998634640032,0.03671610655080028,0.005794437522526183,-1.1874089172594087,0.3916114465018709,4.153606906085228,0.01506167894102969,0.09096413540066765,-0.0008345304338585115,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.946370080661942,-0.9970534659692369,-2.295588276356807,0.464257679065851,2.2634110187812233,-0.7095043757507813,1.5251891887594113,-1.6614287906321263,3.8207774651162185,3.8207774651162185,3.85531821587204,0,0,-3.161590577683752e-05,-9.93231831328085e-05
+29558,1793350375698673538,11921818000000,1793350375697261874,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7511717775571708,-0.006313956328529635,0.10256175060097512,0.9999999803086542,9.971410689051722e-05,0.0001443916945641332,-5.804394761563e-06,0.7511,-0.0065,0.10221613935428159,1.0,0.0,0.0,0.0,-0.6364854265270582,0.5405913214525226,1.8130603718577807,0.04208194430045023,0.03966497172113932,0.005747529426784059,-1.2417400330920019,0.42591860852072,4.305238487310882,0.018063636895079605,0.0939130005710067,-0.0008814385296006357,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.106046628364469,-0.9349083425645929,-2.4484524698996,0.446299440463887,2.410962159906075,-0.6609163940372097,1.5251891887594113,-1.8130603718577807,3.9736416586590115,3.9736416586590115,4.005318215872332,0,0,-3.891999745240182e-05,9.17301814562422e-06
+29719,1793350377039761563,11923159000000,1793350377033261551,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7511813158353612,-0.006311608666460268,0.10253769094561378,0.9999999775413991,0.00010224747780917249,0.0001608579262333766,-5.499687592174243e-06,0.7511,-0.0065,0.10216904046360784,1.0,0.0,0.0,0.0,-0.663925384298793,0.5629981739086012,1.9636846526816352,0.04404766436609025,0.04161989106909275,0.005677052610412943,-1.2691799908637367,0.4483254609767985,4.455862768134737,0.02002935696071962,0.09586791991896013,-0.0009519153459717515,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.152060257509012,-1.032010066346739,-2.6231452113714027,0.47918704627277725,2.5429182116417706,-0.7335968870128681,1.5251891887594113,-1.9636846526816352,4.148334400130814,4.148334400130814,4.13941821587202,0,0,-3.0002864238849785e-05,9.997563474162802e-05
+29907,1793350378606756419,11924726000000,1793350378605251851,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7511956519730757,-0.006310214661026229,0.10251796736902974,0.9999999727848348,0.0001043226949749564,0.00018698054997543447,-5.3144628213828295e-06,0.7511,-0.0065,0.10211760252271755,1.0,0.0,0.0,0.0,-0.6913337371615736,0.6042457043439732,2.0845954449716735,0.04702799320566653,0.04356209926589198,0.005642008074737949,-1.2965883437265173,0.4895729914121705,4.576773560424775,0.023009685800295897,0.09781012811575936,-0.000986959881646746,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.1895479190802183,-1.0140759572644094,-2.6804319429946304,0.47639519897815513,2.587161683921444,-0.7196115930678372,1.5251891887594113,-2.0845954449716735,4.205621131754041,4.205621131754041,4.296118215871655,0,0,-3.702315768824705e-05,-7.374883623090795e-05
+30065,1793350379923675535,11926043000000,1793350379917261544,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7512037238126362,-0.006311420265426581,0.10249528836529985,0.9999999698398021,0.00010270813108829481,0.00020291020736705378,-6.4611777121176085e-06,0.7511,-0.0065,0.10207028729086066,1.0,0.0,0.0,0.0,-0.7139986363060461,0.6242222777853704,2.218674237182826,0.04898051675020984,0.04551573465374488,0.00661285471654813,-1.3192532428709898,0.5095495648535677,4.710852352635928,0.024962209344839212,0.09976376350361225,-1.6113239836564657e-05,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.2437390970660855,-1.0123612299035714,-2.910855180357348,0.4801679326023576,2.763992606851898,-0.7181419176899526,1.5251891887594113,-2.218674237182826,4.436044369116759,4.436044369116759,4.427818215871348,0,0,-3.280982272394072e-05,9.92016566377984e-05
+30245,1793350381423699514,11927543000000,1793350381417261740,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7512158770295124,-0.0063130916770442105,0.10247078106779384,0.9999999657549159,9.935377410462683e-05,0.00022365662471699664,-6.290722360967817e-06,0.7511,-0.0065,0.10201990592788009,1.0,0.0,0.0,0.0,-0.7400278575913889,0.6534651041893161,2.3393658092788123,0.05097357615649621,0.046464068909342224,0.0065507021676333935,-1.3452824641563326,0.5387923912575134,4.831543924731914,0.02695526875112558,0.1007120977592096,-7.826578875130133e-05,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.4106712049987133,-1.0207074020895421,-3.027816452712914,0.4862838398274147,2.892341381484613,-0.7164101106949882,1.5251891887594113,-2.3393658092788123,4.553005641472325,4.553005641472325,4.577818215870998,0,0,-3.551298862240296e-05,5.795857923227212e-05
+30426,1793350382931702782,11929051000000,1793350382929251844,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.751224256571801,-0.006312514994167641,0.10243607064972428,0.9999999616627318,0.00010346032219138771,0.00023958584907227747,-3.46149986774816e-06,0.7511,-0.0065,0.10196392041831938,1.0,0.0,0.0,0.0,-0.7570952191857533,0.6853392235890101,2.489701429479483,0.05293355035299023,0.048418699869016604,0.006481661738489925,-1.362349825750697,0.5706665106572074,4.981879544932585,0.028915242947619605,0.10266672871888398,-0.00014730621789476946,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.543680081615931,-1.017811478152168,-3.1566573849250723,0.4830102709882712,3.021348792680304,-0.7167999398760719,1.5251891887594113,-2.489701429479483,4.681846573684483,4.681846573684483,4.728618215870647,0,0,-3.984850217439296e-05,-9.999999025923074e-05
+30597,1793350384356714335,11930476000000,1793350384349261572,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7512410967919858,-0.006313438456537746,0.10241275403539456,0.9999999543523147,0.0001009972086654559,0.00026930943012858864,-3.1980434947322364e-06,0.7511,-0.0065,0.10190247458578794,1.0,0.0,0.0,0.0,-0.7901084909785147,0.7178413571606463,2.6111378832666507,0.05591223765795391,0.05036135575961201,0.0064454829433806,-1.3953630975434583,0.6031686442288436,5.1033159987197525,0.03189393025258328,0.10460938460947938,-0.00018348501300409465,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.5329919722101493,-0.9862689600548469,-3.3193623101126937,0.4757473818934679,3.1292535826143464,-0.691750069054941,1.5251891887594113,-2.6111378832666507,4.8445514988721055,4.8445514988721055,4.871118215870315,0,0,-4.576281934368242e-05,8.971251105738815e-05
+30778,1793350385864691710,11931984000000,1793350385861261491,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7512524536864208,-0.006311999080377149,0.10237635466601964,0.9999999479259344,0.00010439767954705999,0.00029099815779338713,-3.4913626909896196e-06,0.7511,-0.0065,0.10184055755173747,1.0,0.0,0.0,0.0,-0.8068041274287835,0.7270364628973202,2.7619874410478267,0.05696539816597828,0.051321068852076934,0.0063494964031708965,-1.4120587339937272,0.6123637499655175,5.254165556500928,0.03294709076060765,0.10556909770194431,-0.0002794715532137985,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.5861913802589123,-1.0638212200368482,-3.383595967267278,0.5010679693931743,3.1880271491368015,-0.7503206447413646,1.5251891887594113,-2.7619874410478267,4.908785156026689,4.908785156026689,5.021918215869963,0,0,-4.01919788659263e-05,-9.717221058214704e-05
+30953,1793350387323644283,11933443000000,1793350387321252276,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7512662716111779,-0.006310045576107577,0.10234344743113645,0.9999999404209626,0.00010372800056232492,0.00031596667323330324,-2.5493107859274955e-06,0.7511,-0.0065,0.10178005115475262,1.0,0.0,0.0,0.0,-0.8104217690479661,0.7533211120691264,2.8739636309529106,0.0578582898482498,0.05229157739288852,0.006285649407551285,-1.4156763756129098,0.6386483991373237,5.366141746406012,0.03383998244287917,0.1065396062427559,-0.00034331854883340966,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.6537360967154777,-0.9988726693932528,-3.6432659867151225,0.479314836533922,3.3931978436418055,-0.7039514796764086,1.5251891887594113,-2.8739636309529106,5.168455175474534,5.168455175474534,5.167818215869623,0,0,-4.955656997676782e-05,9.921875407237763e-05
+31124,1793350388748702685,11934868000000,1793350388745261535,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7512820865770424,-0.00631207078690462,0.10230773921150697,0.999999930816586,0.00010238056051917997,0.000345436125687521,-1.3384288212966775e-06,0.7511,-0.0065,0.1017047067946267,1.0,0.0,0.0,0.0,-0.8221148092863347,0.7750077448056355,3.0417492039897973,0.059840653810870836,0.05322971725425697,0.006185870141143411,-1.4273694158512784,0.6603350318738328,5.533927319442899,0.03582234640550021,0.10747774610412435,-0.00044309781524128457,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.7053455130446693,-1.0626493558378252,-3.706777035127057,0.5098081084336319,3.4527619489336687,-0.7423581891644511,1.5251891887594113,-3.0417492039897973,5.231966223886468,5.231966223886468,5.310318215869291,0,0,-4.969431180032314e-05,-9.942657394479965e-05
+31279,1793350390039660602,11936159000000,1793350390033261430,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7512926855596502,-0.0063172874306758695,0.1022680092420329,0.9999999243991627,0.00010026083419921961,0.0003641322345566731,-1.181436016466234e-07,0.7511,-0.0065,0.10164465682778621,1.0,0.0,0.0,0.0,-0.8118649186076011,0.7878298211486193,3.1306945305604112,0.05982574873349592,0.05320939482626526,0.006118113839683963,-1.4171195251725448,0.6731571082168166,5.622872646013513,0.03580744132812529,0.10745742367613263,-0.000510854116700732,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.78676173719701,-1.0158552870716067,-3.935496828221552,0.4902015468033836,3.6439516481183976,-0.7123167569353581,1.5251891887594113,-3.1306945305604112,5.460686016980963,5.460686016980963,5.43941821586899,0,0,-4.9135114869843004e-05,8.784600410838834e-05
+31444,1793350391414674640,11937534000000,1793350391413252046,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7513039959623801,-0.006317811568121603,0.10221746108575787,0.999999916322824,0.00010076947105822328,0.0003855380810637598,-1.7638066735357593e-06,0.7511,-0.0065,0.10156698918361969,1.0,0.0,0.0,0.0,-0.810692704139592,0.8022904235927464,3.2652593392655143,0.06080411186616544,0.05380293403175197,0.00602930949348905,-1.4159473107045357,0.6876177106609437,5.757437454718616,0.03678580446079481,0.10805096288161935,-0.0005996584628956453,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.8000651115743174,-0.9482743571830246,-3.966681654991872,0.4801930332246783,3.6690605266290914,-0.657723104157442,1.5251891887594113,-3.2652593392655143,5.4918708437512835,5.4918708437512835,5.57691821586867,0,0,-5.858379507481105e-05,-8.096187195517075e-05
+31596,1793350392681646634,11938801000000,1793350392681252083,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7513194324654566,-0.006315052697824342,0.10217622137611054,0.9999999054798396,0.00010275391160223715,0.0004122182203049829,9.74002190331323e-07,0.7511,-0.0065,0.10149669985783571,1.0,0.0,0.0,0.0,-0.8047958180860529,0.8000132759454154,3.3653798666437793,0.060807671938263835,0.053142271286426526,0.005283282662681056,-1.4100504246509966,0.6853405630136127,5.857557982096881,0.03678936453289321,0.1073903001362939,-0.0013456852937036388,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.8498467440253927,-0.9306060089936623,-4.105550700689249,0.47403930949314255,3.787333138774883,-0.6465929159684435,1.5251891887594113,-3.3653798666437793,5.630739889448661,5.630739889448661,5.703618215868374,0,0,-5.4106096571164504e-05,-8.168608431192154e-05
+31791,1793350394306631257,11940426000000,1793350394301252293,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7513341727237651,-0.006314603867854935,0.10211595914020297,0.9999998937854027,0.00010404239489247262,0.0004393712554774168,-3.571895994995847e-07,0.7511,-0.0065,0.10140224470046791,1.0,0.0,0.0,0.0,-0.7777212084973225,0.8102730476784539,3.5252395345731506,0.06077930653836074,0.05212550755173699,0.004770177223221966,-1.3829758150622662,0.6956003347466512,6.017417650026252,0.036760999132990115,0.10637353640160437,-0.0018587907331627292,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.876550679175076,-1.0100336966782901,-4.329257128944259,0.49703873908646795,3.963687222122286,-0.7058297657318862,1.5251891887594113,-3.5252395345731506,5.854446317703671,5.854446317703671,5.866118215867996,0,0,-5.9224495187167097e-05,9.999961555895993e-05
+31965,1793350395756654902,11941876000000,1793350395749261490,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7513509697626767,-0.006316380190778957,0.10206586191469462,0.9999998804585829,0.00010270258704305502,0.0004690021729604032,3.850294982535478e-06,0.7511,-0.0065,0.10131685367480087,1.0,0.0,0.0,0.0,-0.7512447150942368,0.8074944482424116,3.6397966574370346,0.059791880850781035,0.051157173079891954,0.004651462868214938,-1.3564993216591805,0.6928217353106089,6.131974772890136,0.035773573445410406,0.10540520192975933,-0.001977505088169757,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.8733959935550106,-1.132713370315875,-4.3203367142069204,0.542707868051992,3.9626370971094373,-0.7931483451374534,1.5251891887594113,-3.6397966574370346,5.845525902966331,5.845525902966331,6.011118215867658,0,0,-6.00145029325524e-05,-9.999999025923074e-05
+32142,1793350397231665405,11943351000000,1793350397229252128,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7513659063103738,-0.006319373130579442,0.10199987242370566,0.9999998670008363,9.952039458956992e-05,0.00049751223523896,4.294278534613653e-06,0.7511,-0.0065,0.10121763047893852,1.0,0.0,0.0,0.0,-0.7304669480540363,0.8046567984372331,3.7921855615653937,0.0589758612290699,0.050696039114605226,0.003492895878236481,-1.33572155461898,0.6899840855054304,6.284363677018495,0.03495755382369927,0.1049440679644726,-0.0031360720781482138,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.00757133627459,-1.0584556430219512,-4.543579557001362,0.523099012566981,4.16723970220597,-0.7358804282117812,1.5251891887594113,-3.7921855615653937,6.068768745760773,6.068768745760773,6.158618215867314,0,0,-6.686241436490293e-05,-9.997557923047679e-05
+32319,1793350398706630325,11944826000000,1793350398705252064,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7513824222503649,-0.006318171746461571,0.10193368531911391,0.9999998517296615,0.00010370355373037998,0.0005265045831141923,4.6921349400560885e-06,0.7511,-0.0065,0.10111944264467178,1.0,0.0,0.0,0.0,-0.7013228719451706,0.7847765313228066,3.895416793490099,0.057210975193379233,0.04864639581599306,0.0033563039155966984,-1.3065774785101143,0.6701038183910039,6.387594908943201,0.033192667788008605,0.10289442466586043,-0.0032726640407879965,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.056853775418979,-1.0395483915376962,-4.75319163432639,0.5222004150005728,4.344099135888668,-0.7200142119572724,1.5251891887594113,-3.895416793490099,6.278380823085801,6.278380823085801,6.30611821586697,0,0,-6.97794456424886e-05,9.999999025923074e-05
+32510,1793350400298619896,11946418000000,1793350400297261192,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7513998394617746,-0.006319389595624482,0.10185463125993996,0.9999998342948375,0.00010459419942026763,0.0005584497954416168,6.858667243667908e-06,0.7511,-0.0065,0.10100667050634937,1.0,0.0,0.0,0.0,-0.6639526057286237,0.7618950057653313,4.0556016496785805,0.055749565044799235,0.047014755689589044,0.0031923931495524147,-1.2692072122935674,0.6472222928335286,6.547779765131683,0.031731257639428606,0.10126278453945642,-0.00343657480683228,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.9913850530169173,-1.0604448282617387,-4.897653266101226,0.5287796089006888,4.437352630746541,-0.7377844494031951,1.5251891887594113,-4.0556016496785805,6.422842454860637,6.422842454860637,6.465318215866599,0,0,-6.779473874366092e-05,7.869819659689909e-05
+32687,1793350401773539738,11947893000000,1793350401773252048,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7514147797970457,-0.006317780482879382,0.10177448372250625,0.9999998185975475,0.00010186157576945291,0.0005863695661032689,6.533599854039524e-06,0.7511,-0.0065,0.1008925412157314,1.0,0.0,0.0,0.0,-0.6428443180180149,0.7402307109605286,4.158852568499535,0.053750827840045125,0.04579330265129483,0.00307060822724322,-1.2480989245829586,0.6255579980287259,6.651030683952637,0.029732520434674496,0.1000413315011622,-0.0035583597291414747,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.050466502770491,-0.9378850999802723,-5.055086472883288,0.4966835214727402,4.575386936020012,-0.6469727232765901,1.5251891887594113,-4.158852568499535,6.5802756616427,6.5802756616427,6.612818215866255,0,0,-8.196491111248238e-05,9.983875812047955e-05
+32858,1793350403198612625,11949318000000,1793350403197252188,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7514333578473459,-0.006324484164370269,0.10169062722067133,0.9999997991323497,9.952300165442889e-05,0.0006190374327859947,8.121183632128986e-06,0.7511,-0.0065,0.10076893887585726,1.0,0.0,0.0,0.0,-0.5884170994317327,0.7090917550149117,4.2902371539581345,0.0517295496277069,0.04299041584951312,0.002902661368209749,-1.1936717059966764,0.594419042083109,6.782415269411237,0.027711242222336275,0.09723844469938049,-0.003726306588174946,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.144431620003592,-0.9251917783019374,-5.15505960829596,0.4946064974696919,4.685900234082176,-0.6354934336334188,1.5251891887594113,-4.2902371539581345,6.680248797055372,6.680248797055372,6.755318215865923,0,0,-8.541225222846403e-05,-4.7182326709069734e-05
+33031,1793350404639570334,11950759000000,1793350404637262075,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7514525395701546,-0.006318524834235526,0.1016063185074403,0.9999997755388412,0.00010350101239825409,0.0006554164327151942,9.053820074517603e-06,0.7511,-0.0065,0.10064630233613846,1.0,0.0,0.0,0.0,-0.5587839006148075,0.6868068184633284,4.364481212565028,0.04973541290323907,0.0409893518681948,0.0021408442892777244,-1.1640385071797512,0.5721341055315257,6.85665932801813,0.025717105497868438,0.09523738071806218,-0.0044881236671069705,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.048723595519653,-0.9522094251747967,-5.251421081403251,0.506426209430809,4.734856216701077,-0.6568224282748265,1.5251891887594113,-4.364481212565028,6.776610270162662,6.776610270162662,6.8994182158655875,0,0,-9.674930640943125e-05,-9.999999025923074e-05
+33208,1793350406114564317,11952234000000,1793350406113251760,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.751474742983234,-0.00632008091563937,0.10149904869728868,0.9999997483724375,0.00010511165924395088,0.0006953700092135075,1.0488818766871538e-05,0.7511,-0.0065,0.10049698623326925,1.0,0.0,0.0,0.0,-0.5285166693230384,0.653841776862576,4.524119908897772,0.04669746653009275,0.03898313542746758,0.0022362397539722745,-1.133771275887982,0.5391690639307734,7.016298024350873,0.02267915912472212,0.09323116427733495,-0.00439272820241242,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.156015919627703,-1.0157911133259954,-5.518162687593887,0.5275470066549376,4.969274588830413,-0.7017629678849654,1.5251891887594113,-4.524119908897772,7.043351876353299,7.043351876353299,7.046918215865244,0,0,-9.613765280106078e-05,9.999999025923074e-05
+33377,1793350407523557039,11953643000000,1793350407517262274,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7514897844844506,-0.006322596153814649,0.10139160378171849,0.9999997300262726,0.00010033545447057286,0.0007219342113963707,1.1577446028747639e-05,0.7511,-0.0065,0.10036019309992411,1.0,0.0,0.0,0.0,-0.4647236316342823,0.5958974939941281,4.612210819100081,0.04270034689189843,0.034991539085793444,0.0018177571990921175,-1.069978238199226,0.48122478106232536,7.1043889345531825,0.018682039486527805,0.08923956793566082,-0.004811210757292577,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.062339935442345,-1.063504122770582,-5.553556179692986,0.550469680350296,4.979519375341401,-0.7331206414357564,1.5251891887594113,-4.612210819100081,7.078745368452397,7.078745368452397,7.187818215864915,0,0,-0.00010432170586690959,-9.959102573032225e-05
+33534,1793350408831539866,11954951000000,1793350408829261452,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7515086658311224,-0.006319827993024643,0.10128753988879273,0.9999997041042983,0.00010379066004838228,0.0007565111785892312,1.2349729710153228e-05,0.7511,-0.0065,0.10021988188010476,1.0,0.0,0.0,0.0,-0.41198412540765117,0.5381723552250304,4.711071465997405,0.03892139431652378,0.03098993491471856,0.0022476550688399983,-1.0172387319725948,0.4234996422932276,7.203249581450506,0.014903086911153145,0.08523796376458594,-0.004381312887544697,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.081466923109269,-1.0604459753007602,-5.770438122849238,0.5447179822577007,5.156150045914838,-0.7356365990823273,1.5251891887594113,-4.711071465997405,7.29562731160865,7.29562731160865,7.3186182158646105,0,0,-0.00010801098844906575,9.9999393514355e-05
+33713,1793350410323598396,11956443000000,1793350410317252445,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.751526268127262,-0.006324153307496374,0.10114961735806283,0.9999996784130769,0.00010237449230748295,0.0007898901887404226,1.4476191150753381e-05,0.7511,-0.0065,0.1000504399209708,1.0,0.0,0.0,0.0,-0.3536052956766501,0.471192249786469,4.841379247396938,0.0346968184419833,0.02698857172309735,0.0020390104314348956,-0.9588599022415938,0.3565195368546663,7.33355736285004,0.010678511036612675,0.08123660057296472,-0.004589957524949799,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.072803349056087,-1.0616402294701914,-5.877279320852477,0.5455097299322683,5.2465125746168155,-0.7322127449075272,1.5251891887594113,-4.841379247396938,7.402468509611888,7.402468509611888,7.467818215864263,0,0,-0.00011294993707414302,9.997557923047679e-05
+33872,1793350411648548956,11957768000000,1793350411645261375,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7515437759554039,-0.00632010549960423,0.1010247399507372,0.9999996537270723,0.00010327838347326949,0.0008204588109060664,1.3019794139173504e-05,0.7511,-0.0065,0.09989529820958597,1.0,0.0,0.0,0.0,-0.2854173683521467,0.4078060045612264,4.9200445603810845,0.029685727063103004,0.02298671396778143,0.0018628347080370715,-0.8906719749170904,0.2931332916294237,7.412222675834187,0.005667419657732376,0.0772347428176488,-0.004766133248347623,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,4.070818310664082,-0.9847538832873728,-6.021987565632593,0.5231245814546011,5.368694241384541,-0.6785095922381905,1.5251891887594113,-4.9200445603810845,7.547176754392005,7.547176754392005,7.600318215863954,0,0,-0.00012671678902423521,9.909113393569697e-05
+34037,1793350413023581169,11959143000000,1793350413021252231,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7515618926299865,-0.006321391043970413,0.10087950965687602,0.9999996263594041,0.00010195466478496358,0.0008533152985617605,1.3496825654352336e-05,0.7511,-0.0065,0.0997206599327285,1.0,0.0,0.0,0.0,-0.21711871822622486,0.33016926751716497,5.038784853997823,0.024690618982900755,0.018021565196633976,0.0016394524382849851,-0.8223733247911685,0.21549655458536227,7.5309629694509255,0.000672311577530127,0.07226959404650135,-0.00498951551809971,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.954135986044904,-1.0085570188888813,-5.994258685419203,0.5302733103925986,5.3360193965002,-0.6945194438064043,1.5251891887594113,-5.038784853997823,7.5194478741786135,7.5194478741786135,7.7378182158636335,0,0,-0.0001266075588493828,-9.99757596417183e-05
+34192,1793350414314511280,11960434000000,1793350414313252484,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7515796372711249,-0.006323486978373957,0.10073069968236481,0.9999995992789679,0.00010195402060951094,0.000884425065428557,1.6806232024273856e-05,0.7511,-0.0065,0.09954479428358216,1.0,0.0,0.0,0.0,-0.15874918786914938,0.27134502291070284,5.1281219491204215,0.02069688313971146,0.014027312967566138,0.0014654173605165664,-0.764003794434093,0.15667230997890014,7.620300064573523,-0.0033214242656591686,0.06827534181743351,-0.0051635505958681285,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.909032973571481,-1.0299601186367415,-6.238033349776065,0.5397971871034798,5.514600255294415,-0.7091530908596412,1.5251891887594113,-5.1281219491204215,7.7632225385354765,7.7632225385354765,7.866918215863333,0,0,-0.0001444474302849955,9.980593715231407e-05
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+34491,1793350416806581865,11962926000000,1793350416805261934,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7516209397057128,-0.006320695133721278,0.10042346049794107,0.9999995312158739,0.00010267569560673771,0.0009582401328341466,1.5634770986801142e-05,0.7511,-0.0065,0.0991679381317989,1.0,0.0,0.0,0.0,-0.01399798005697106,0.11773424314821543,5.356336633066723,0.012740448066205187,0.003998826956235775,0.002076297651988271,-0.6192525866219147,0.003061530216412734,7.8485147485198254,-0.011277859339165442,0.05824685580610315,-0.004552670304396424,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.8312925456416638,-1.0490561101170184,-6.457891037859359,0.5485412015744418,5.69771975399817,-0.7162499893669803,1.5251891887594113,-5.356336633066723,7.983080226618771,7.983080226618771,8.116118215862752,0,0,-0.00017035964268855152,9.408250153797865e-05
+34631,1793350417973547923,11964093000000,1793350417973252087,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7516423903528741,-0.006322110817107753,0.1002577900305735,0.9999994922126934,0.0001017689529994041,0.0009981761197352535,1.745663677183341e-05,0.7511,-0.0065,0.09896594402501814,1.0,0.0,0.0,0.0,0.044874674186818786,0.056975005767002485,5.475149363544446,0.007723386287138284,1.8278647556588257e-05,0.0018672029445148952,-0.5603799323781249,-0.057697707164800216,7.967327478997548,-0.016294921118232344,0.05426630749742396,-0.0047617650118698,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.7332997277069664,-1.1099160751582888,-6.606193192660315,0.5644107453390026,5.79596434700961,-0.7678963063173859,1.5251891887594113,-5.475149363544446,8.131382381419726,8.131382381419726,8.23281821586248,0,0,-0.00017538675844000628,9.996381086641577e-05
+34786,1793350419264540953,11965384000000,1793350419261261637,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7516638388062663,-0.006322727826601512,0.10005631848591297,0.9999994550878343,0.0001032275221387437,0.0010344958589020195,2.0719447623201606e-05,0.7511,-0.0065,0.09873031591746456,1.0,0.0,0.0,0.0,0.11242188812126397,-0.002259863328468531,5.544461036916983,0.003648715305737023,-0.003971628055400717,0.0017101873529201629,-0.4928327184436797,-0.11693257626027123,8.036639152370086,-0.020369592099633606,0.05027640079446666,-0.004918780603464532,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.6308420517736484,-0.909969417050413,-6.576700036030573,0.5115215642224494,5.768814958592683,-0.6167668394818488,1.5251891887594113,-5.544461036916983,8.101889224789984,8.101889224789984,8.361918215862179,0,0,-0.00019785103738264998,-9.999842206920845e-05
+34923,1793350420406519408,11966526000000,1793350420405261514,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7516850116794079,-0.006319153832622059,0.09986265121728757,0.9999994144347178,0.00010412493379195406,0.0010730025288995038,1.9916250837249253e-05,0.7511,-0.0065,0.09849660750305941,1.0,0.0,0.0,0.0,0.17529368495597586,-0.08145210482255325,5.69348835360425,-0.0013050838327118564,-0.008012602553955,0.0025045536593841866,-0.4299609216089678,-0.19612481775435595,8.185666469057352,-0.025323391238082485,0.046235426295912374,-0.004124414297000508,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.612211235863507,-0.9704247512507346,-6.805543434509209,0.5309633637768882,5.954488536250516,-0.6635563111999545,1.5251891887594113,-5.69348835360425,8.33073262326862,8.33073262326862,8.476118215861913,0,0,-0.00020351930828524522,9.999999025923074e-05
+35059,1793350421539549194,11967659000000,1793350421537261032,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7517057592171851,-0.006323579975818016,0.0996555442790326,0.9999993753102061,0.00010611838669890065,0.0011086227044081669,2.2729920200947845e-05,0.7511,-0.0065,0.09825874924975848,1.0,0.0,0.0,0.0,0.2589522097750944,-0.16611359465066589,5.8110520827349,-0.007468080678075278,-0.013953510238695482,0.0022559006011866715,-0.34630239678984925,-0.2807863075824686,8.303230198188002,-0.03148638808344591,0.04029451861117189,-0.004373067355198023,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.569381741636252,-1.0712673567457371,-6.868580447195177,0.5734207175777126,6.023590957756553,-0.7314992062545429,1.5251891887594113,-5.8110520827349,8.393769635954587,8.393769635954587,8.589418215861649,0,0,-0.00021720614506589986,-7.027419898631421e-05
+35197,1793350422689506495,11968809000000,1793350422685253288,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7517241813585335,-0.006324475532999398,0.09942680053959245,0.9999993377659026,0.00010427545204712082,0.0011421069431516062,2.507949685025747e-05,0.7511,-0.0065,0.09799761095049128,1.0,0.0,0.0,0.0,0.345278635665118,-0.26837277978154783,5.880723126895846,-0.013279752673018695,-0.019911744485827457,0.002523821590393732,-0.25997597089982566,-0.38304549271335053,8.372901242348949,-0.037298060078389324,0.03433628436403992,-0.004105146365990963,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.4334542110534856,-1.0922367267363795,-6.959733964223112,0.570167176042148,6.083282018280322,-0.7521514720734047,1.5251891887594113,-5.880723126895846,8.484923152982523,8.484923152982523,8.70441821586138,0,0,-0.00024178719909148517,-4.59210822408906e-05
+35328,1793350423781447826,11969901000000,1793350423781252409,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7517474761372868,-0.006322518081893117,0.09918869723751736,0.999999284970111,0.00010396116563917985,0.0011874023360222519,2.7747060187193388e-05,0.7511,-0.0065,0.09771341131269973,1.0,0.0,0.0,0.0,0.3940562970360424,-0.34933107868237373,5.9797213984486834,-0.018310163202553645,-0.023539894119859524,0.002885276259915229,-0.2111983095289013,-0.46400379161417643,8.471899513901786,-0.04232847060792427,0.03070813473000785,-0.003743691696469466,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.3158600028447913,-1.1653908747974353,-7.0570092328178,0.5987786183078851,6.147258706592879,-0.8037856469795838,1.5251891887594113,-5.9797213984486834,8.58219842157721,8.58219842157721,8.813618215861126,0,0,-0.0002810441693714986,2.8711417991661394e-05
+35448,1793350424781521557,11970901000000,1793350424781252472,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7517699552088484,-0.006321680141419338,0.09893526924061083,0.9999992367477277,0.00010624464866736392,0.0012271429246984542,2.7913137190359386e-05,0.7511,-0.0065,0.09742036373429824,1.0,0.0,0.0,0.0,0.44355243429505864,-0.4274517729524935,6.144163249996588,-0.023339586417377337,-0.027530092588098767,0.0026378939135395327,-0.16170217226988504,-0.5421244858842962,8.63634136544969,-0.047357893822747965,0.026717936261768608,-0.003991074042845162,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.1775081459557417,-1.2508270058530255,-7.091296401950418,0.6241260696541099,6.160423685697561,-0.868140867413666,1.5251891887594113,-6.144163249996588,8.616485590709829,8.616485590709829,8.913618215860893,0,0,-0.0003043530417509973,-9.999999025923074e-05
+35556,1793350425681436740,11971801000000,1793350425677261300,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.751792215193342,-0.006323601958560459,0.09869008803535687,0.9999991887574489,0.00010542139679102257,0.0012656991288886763,2.8624339879133805e-05,0.7511,-0.0065,0.09713736753717382,1.0,0.0,0.0,0.0,0.4754360722654345,-0.49264064152777054,6.255616478542173,-0.02634488532682787,-0.030908214025937842,0.0034958690695664576,-0.12981853429950915,-0.6073133544595732,8.747794593995275,-0.0503631927321985,0.023339814823929533,-0.0031330988868182373,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,3.156616448547701,-1.052409855474027,-7.181117835254963,0.5814741110317371,6.245976757264719,-0.7221708070402659,1.5251891887594113,-6.255616478542173,8.706307024014375,8.706307024014375,9.003618215860683,0,0,-0.0003244097364865902,-9.999999025923074e-05
+35665,1793350426589469204,11972709000000,1793350426589251486,DOWN_FORCE_DETACH,10,0.0744,0.07440164685249329,0.7518085523653893,-0.006322297545066895,0.09841035845062603,0.9999991527360793,0.00010625066516672,0.0012937438560516059,3.0126715666250785e-05,0.7511,-0.0065,0.09683795156297513,1.0,0.0,0.0,0.0,0.5441028885530466,-0.5864727668294167,6.375991180978952,-0.032361228268897424,-0.03588363955572059,0.003254860577985608,-0.06115171801189708,-0.7011454797612194,8.868169296432054,-0.05637953567426805,0.01836438929414678,-0.0033741073783990867,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.969287604975414,-1.136740191972043,-7.259944906383102,0.6080198939517457,6.282476810696017,-0.785159068621779,1.5251891887594113,-6.375991180978952,8.785134095142514,8.785134095142514,9.094418215860472,0,0,-0.000335149757831081,-9.998597369354485e-05
+35769,1793350427456521723,11973576000000,1793350427449261623,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7518211547258646,-0.0063246078955712486,0.09812894927241803,0.9999991274031954,0.00010615906393290197,0.0013131126832717631,3.318201995072013e-05,0.7511,-0.0065,0.09653607526770949,1.0,0.0,0.0,0.0,0.6172088949688985,-0.7101667837007711,6.429978261246495,-0.03834504245416665,-0.04185622994409731,0.003082052429700927,0.011954288403954821,-0.8248394966325738,8.922156376699597,-0.06236334985953728,0.012391798905770062,-0.003546915526683768,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.8204272540517725,-0.9835020380310509,-7.360889604593379,0.5617632662118315,6.343279001119763,-0.6760450587519768,1.5251891887594113,-6.429978261246495,8.886078793352791,8.886078793352791,9.18111821586027,0,0,-0.0003612089911354358,7.234024370162849e-05
+35863,1793350428239528641,11974359000000,1793350428233252541,DOWN_FORCE_DETACH,10,0.0744,0.07440230250358582,0.7518408430697264,-0.00632544986973348,0.09785756325822266,0.9999990822366125,0.00010908100083017022,0.0013467770489400815,3.552059645968732e-05,0.7511,-0.0065,0.09623867785687176,1.0,0.0,0.0,0.0,0.6342424349881802,-0.7226299210314312,6.461912841806997,-0.03935151298329495,-0.04285980085821249,0.004032148353831859,0.0289878284232365,-0.8373026339632339,8.9540909572601,-0.06336982038866558,0.011388227991654882,-0.0025968196025528364,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,2.7730567497249257,-1.1651802460419651,-7.28671521884385,0.6132874137284726,6.285664808293465,-0.8130716262559976,1.5251891887594113,-6.461912841806997,8.811904407603262,8.811904407603262,9.259418215860087,0,0,-0.00039766761941314863,-9.999999025923074e-05
+35985,1793350429253495282,11975373000000,1793350429253252066,DOWN_PEAK_HOLD,10,0.0744,0.07440230250358582,0.7518017482119608,-0.006317965069037743,0.09762704119943479,0.9999991843447,0.00011028531412208456,0.0012687184544368556,3.071533686501357e-05,0.7511,-0.0065,0.09613576869053857,1.0,0.0,0.0,0.0,0.8241900169597174,-1.009978202344858,5.676816808372447,-0.060310915975674895,-0.05443185360265533,0.0032326555278313204,0.21893541039477366,-1.1246509152766606,8.168994923825549,-0.08432922338104552,-0.00018382475278795948,-0.0033963124285533745,-0.6052546065649437,-0.1146727129318027,2.4921781154531017,-0.02401830740537063,0.054248028849867375,-0.006628967956384695,1,1.9117956632997675,-1.1222687584281372,-6.364428949758947,0.5878763956590974,5.448147692596368,-0.7897331862832978,1.5251891887594113,-5.676816808372447,7.889618138518358,0.0,0.0,0,0,0.0,0.0
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f3b09469c7450c14eb90c60cc75d555e0c0de27
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..492072078a2de250e78fde3450c8cf24f8edfba4
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,7.416666667e+00,DOWN_FORCE_DETACH,1793350356839992517,5.254116973e-05,-2.039676427e-06,-3.179666203e-05,4.669064130e-05,-2.209637675e-06,-3.003146022e-05,5.096752113e-05,-2.244841073e-06,-2.927640427e-05,7.020082108e-01,-2.412758783e-05,8.601116492e-01,7.020023603e-01,-2.429754908e-05,8.601134144e-01,7.027975117e-01,-1.141247897e-04,8.302961214e-01
+6,8.800000000e+00,DOWN_FORCE_DETACH,1793350358232865663,5.805781540e-05,3.838632215e-08,-4.487896072e-05,5.569589630e-05,5.610814728e-06,-4.613679600e-05,6.031398312e-05,4.623611458e-06,-4.484940625e-05,7.020137274e-01,-2.204952508e-05,8.600985669e-01,7.020113655e-01,-1.647709668e-05,8.600973090e-01,7.028068582e-01,-1.072563372e-04,8.302805484e-01
+7,1.020000000e+01,DOWN_FORCE_DETACH,1793350359608514744,7.039286458e-05,1.241384727e-06,-5.557257465e-05,6.704770671e-05,-2.917093616e-06,-6.156808207e-05,7.214463413e-05,-2.926843706e-06,-6.010621308e-05,7.020260625e-01,-2.084652668e-05,8.600878733e-01,7.020227173e-01,-2.500500502e-05,8.600818778e-01,7.028186888e-01,-1.148067923e-04,8.302652916e-01
+8,1.156666667e+01,DOWN_FORCE_DETACH,1793350360951397763,7.391691566e-05,2.942345122e-06,-7.556046941e-05,6.704770671e-05,-2.917093616e-06,-6.156808207e-05,7.289124067e-05,-2.975571693e-06,-6.093424713e-05,7.020295865e-01,-1.914556628e-05,8.600678854e-01,7.020227173e-01,-2.500500502e-05,8.600818778e-01,7.028194354e-01,-1.148555203e-04,8.302644635e-01
+9,1.298333333e+01,DOWN_FORCE_DETACH,1793350362376400800,8.470774327e-05,4.365285593e-06,-8.634658204e-05,7.660570504e-05,3.869755088e-06,-7.772931267e-05,8.299254686e-05,3.010941437e-06,-7.699285139e-05,7.020403774e-01,-1.772262581e-05,8.600570993e-01,7.020322753e-01,-1.821815632e-05,8.600657165e-01,7.028295367e-01,-1.088690072e-04,8.302484049e-01
+10,1.461666667e+01,DOWN_FORCE_DETACH,1793350363981537664,9.479647152e-05,-1.817057848e-07,-1.034630941e-04,8.665477203e-05,2.315622094e-06,-9.543809534e-05,9.369147477e-05,1.591782906e-06,-9.469776507e-05,7.020504661e-01,-2.226961719e-05,8.600399828e-01,7.020423244e-01,-1.977228931e-05,8.600480078e-01,7.028402357e-01,-1.102881657e-04,8.302307000e-01
+11,1.600000000e+01,DOWN_FORCE_DETACH,1793350365390557672,1.009940884e-04,4.001192614e-06,-1.233893373e-04,9.825290253e-05,1.890299930e-06,-1.117616814e-04,1.058721840e-04,1.160601705e-06,-1.109460660e-04,7.020566637e-01,-1.808671879e-05,8.600200565e-01,7.020539225e-01,-2.019761148e-05,8.600316842e-01,7.028524164e-01,-1.107193469e-04,8.302144517e-01
+12,1.760000000e+01,DOWN_FORCE_DETACH,1793350366996397382,1.130400188e-04,2.575130746e-06,-1.351821589e-04,1.059145048e-04,7.128688468e-06,-1.294285077e-04,1.141146174e-04,5.778909029e-06,-1.286959715e-04,7.020687096e-01,-1.951278066e-05,8.600082637e-01,7.020615841e-01,-1.495922294e-05,8.600140173e-01,7.028606588e-01,-1.061010396e-04,8.301967018e-01
+13,1.903333333e+01,DOWN_FORCE_DETACH,1793350368404462901,1.249707548e-04,5.742284056e-06,-1.538775717e-04,1.158916425e-04,5.800614966e-06,-1.464222585e-04,1.246858627e-04,4.558872344e-06,-1.457542538e-04,7.020806404e-01,-1.634562735e-05,8.599895683e-01,7.020715613e-01,-1.628729644e-05,8.599970236e-01,7.028712301e-01,-1.073210763e-04,8.301796435e-01
+14,2.051666667e+01,DOWN_FORCE_DETACH,1793350369878654500,1.346854449e-04,4.886592638e-06,-1.709711269e-04,1.267235534e-04,4.185232860e-06,-1.641242968e-04,1.362239262e-04,3.103647017e-06,-1.635442462e-04,7.020903551e-01,-1.720131877e-05,8.599724747e-01,7.020823932e-01,-1.790267855e-05,8.599793215e-01,7.028827681e-01,-1.087763016e-04,8.301618535e-01
+15,2.191666667e+01,DOWN_FORCE_DETACH,1793350371270463086,1.466854132e-04,3.199865858e-06,-1.828826855e-04,1.399534571e-04,2.937652908e-08,-1.785268816e-04,1.501702647e-04,-6.304340154e-07,-1.780069348e-04,7.021023550e-01,-1.888804555e-05,8.599605632e-01,7.020956231e-01,-2.205853488e-05,8.599649190e-01,7.028967145e-01,-1.125103826e-04,8.301473908e-01
+16,2.351666667e+01,DOWN_FORCE_DETACH,1793350372875866796,1.598365317e-04,3.040048304e-06,-2.107059545e-04,1.496717308e-04,2.102306291e-06,-1.963571640e-04,1.606824259e-04,1.170729336e-06,-1.958972904e-04,7.021155062e-01,-1.904786310e-05,8.599327399e-01,7.021053414e-01,-1.998560511e-05,8.599470887e-01,7.029072266e-01,-1.107092193e-04,8.301295005e-01
+17,2.486666667e+01,DOWN_FORCE_DETACH,1793350374202573921,1.657028230e-04,5.001520688e-06,-2.250088732e-04,1.588785300e-04,4.541912525e-06,-2.141915466e-04,1.704798812e-04,3.280898472e-06,-2.137224879e-04,7.021213724e-01,-1.708639072e-05,8.599184370e-01,7.021145482e-01,-1.754599888e-05,8.599292543e-01,7.029170241e-01,-1.085990501e-04,8.301116753e-01
+18,2.636666667e+01,DOWN_FORCE_DETACH,1793350375695488499,1.772340990e-04,5.307602191e-06,-2.487694422e-04,1.770904660e-04,5.408190417e-06,-2.484286436e-04,1.891380370e-04,3.966283794e-06,-2.469446174e-04,7.021329037e-01,-1.678030921e-05,8.598946764e-01,7.021327601e-01,-1.667972099e-05,8.598950172e-01,7.029356822e-01,-1.079136648e-04,8.300784532e-01
+19,2.771666667e+01,DOWN_FORCE_DETACH,1793350377036436370,1.877117412e-04,3.598069607e-06,-2.686516717e-04,1.860872710e-04,3.412818015e-06,-2.664424961e-04,1.989295732e-04,2.185987636e-06,-2.651930298e-04,7.021433814e-01,-1.848984180e-05,8.598747942e-01,7.021417569e-01,-1.867509339e-05,8.598770033e-01,7.029454738e-01,-1.096939610e-04,8.300602048e-01
+20,2.925000000e+01,DOWN_FORCE_DETACH,1793350378608999938,1.996622262e-04,5.831411886e-06,-2.905129147e-04,1.975847867e-04,-2.031818120e-06,-2.816920827e-04,2.111920249e-04,-2.704712834e-06,-2.806104579e-04,7.021553319e-01,-1.625649952e-05,8.598529329e-01,7.021532544e-01,-2.411972953e-05,8.598617538e-01,7.029577362e-01,-1.145846615e-04,8.300447873e-01
+21,3.056666667e+01,DOWN_FORCE_DETACH,1793350379919647270,2.108213948e-04,8.417851584e-07,-3.091349723e-04,2.011712558e-04,1.225623222e-06,-3.014774100e-04,2.151930990e-04,1.439175544e-07,-3.003361440e-04,7.021664910e-01,-2.124612625e-05,8.598343109e-01,7.021568409e-01,-2.086228818e-05,8.598419684e-01,7.029617373e-01,-1.117360311e-04,8.300250616e-01
+22,3.203333333e+01,DOWN_FORCE_DETACH,1793350381426837826,2.215747924e-04,2.928308813e-06,-3.354804563e-04,2.189496419e-04,1.957617487e-06,-3.404314496e-04,2.333138735e-04,7.546624953e-07,-3.380921510e-04,7.021772444e-01,-1.915960259e-05,8.598079654e-01,7.021746193e-01,-2.013029392e-05,8.598030144e-01,7.029798581e-01,-1.111252861e-04,8.299873056e-01
+23,3.353333333e+01,DOWN_FORCE_DETACH,1793350382934971258,2.336700945e-04,7.220938982e-06,-3.629823028e-04,2.311997627e-04,3.288484767e-06,-3.574681657e-04,2.463536157e-04,1.883505023e-06,-3.555500388e-04,7.021893397e-01,-1.486697242e-05,8.597804635e-01,7.021868694e-01,-1.879942664e-05,8.597859777e-01,7.029928978e-01,-1.099964436e-04,8.299698477e-01
+24,3.493333333e+01,DOWN_FORCE_DETACH,1793350384358397701,2.460733308e-04,5.856140857e-07,-3.948678588e-04,2.449440212e-04,7.288598780e-06,-3.949008047e-04,2.603301480e-04,5.383509706e-06,-3.919956069e-04,7.022017430e-01,-2.150229732e-05,8.597485780e-01,7.022006136e-01,-1.479931263e-05,8.597485450e-01,7.030068743e-01,-1.064964389e-04,8.299334022e-01
+25,3.638333333e+01,DOWN_FORCE_DETACH,1793350385865705577,2.585365047e-04,8.001346401e-07,-4.320599088e-04,2.529236803e-04,1.974393017e-06,-4.131609423e-04,2.691468953e-04,6.525280565e-07,-4.108113347e-04,7.022142061e-01,-2.128777677e-05,8.597113859e-01,7.022085933e-01,-2.011351839e-05,8.597302849e-01,7.030156911e-01,-1.112274206e-04,8.299145864e-01
+26,3.783333333e+01,DOWN_FORCE_DETACH,1793350387324466419,2.735780562e-04,5.081970581e-06,-4.599112773e-04,2.681679353e-04,-3.366094042e-06,-4.495668979e-04,2.849793905e-04,-4.154568592e-06,-4.468861386e-04,7.022292477e-01,-1.700594082e-05,8.596835346e-01,7.022238376e-01,-2.545400545e-05,8.596938789e-01,7.030315236e-01,-1.160345172e-04,8.298785116e-01
+27,3.928333333e+01,DOWN_FORCE_DETACH,1793350388748311850,2.879700103e-04,6.600260079e-06,-4.985554808e-04,2.813765729e-04,-1.002904615e-06,-4.865869308e-04,2.987026998e-04,-2.083930481e-06,-4.836832314e-04,7.022436396e-01,-1.548765133e-05,8.596448904e-01,7.022370462e-01,-2.309081602e-05,8.596568589e-01,7.030452469e-01,-1.139638791e-04,8.298417146e-01
+28,4.056666667e+01,DOWN_FORCE_DETACH,1793350390042034296,2.985649531e-04,-1.161216068e-06,-5.382257407e-04,2.915863351e-04,1.872952630e-06,-5.265522371e-04,3.092431177e-04,4.080453336e-07,-5.233306383e-04,7.022542346e-01,-2.324912747e-05,8.596052201e-01,7.022472560e-01,-2.021495878e-05,8.596168936e-01,7.030557873e-01,-1.114719033e-04,8.298020671e-01
+29,4.195000000e+01,DOWN_FORCE_DETACH,1793350391418023828,3.125293454e-04,-6.737400786e-07,-5.815277545e-04,3.122565190e-04,2.640709491e-06,-5.839228165e-04,3.302102432e-04,1.074562553e-06,-5.796944831e-04,7.022681990e-01,-2.276165148e-05,8.595619181e-01,7.022679261e-01,-1.944720191e-05,8.595595230e-01,7.030767544e-01,-1.108053861e-04,8.297457033e-01
+30,4.323333333e+01,DOWN_FORCE_DETACH,1793350392679636494,3.244490243e-04,-2.961310232e-06,-6.303836842e-04,3.209832911e-04,2.845528247e-06,-6.267037637e-04,3.394289028e-04,1.240220809e-06,-6.227016135e-04,7.022801186e-01,-2.504922164e-05,8.595130622e-01,7.022766529e-01,-1.924238316e-05,8.595167421e-01,7.030859731e-01,-1.106397278e-04,8.297026962e-01
+31,4.483333333e+01,DOWN_FORCE_DETACH,1793350394302974410,3.418759462e-04,2.672635666e-06,-6.874441537e-04,3.376069857e-04,4.972400041e-07,-6.867304827e-04,3.565674654e-04,-9.027301043e-07,-6.825531432e-04,7.022975456e-01,-1.941527574e-05,8.594560017e-01,7.022932766e-01,-2.159067140e-05,8.594567154e-01,7.031031117e-01,-1.127826787e-04,8.296428446e-01
+32,4.628333333e+01,DOWN_FORCE_DETACH,1793350395758644252,3.568249785e-04,-1.656197323e-06,-7.421627987e-04,3.489455308e-04,3.943999133e-07,-7.245982961e-04,3.684990179e-04,-1.076722173e-06,-7.212746865e-04,7.023124946e-01,-2.374410873e-05,8.594012830e-01,7.023046152e-01,-2.169351149e-05,8.594188475e-01,7.031150432e-01,-1.129566708e-04,8.296041231e-01
+33,4.771666667e+01,DOWN_FORCE_DETACH,1793350397233443578,3.719722336e-04,2.811425581e-06,-8.067320125e-04,3.724334083e-04,-2.155696065e-06,-8.045647614e-04,3.923634860e-04,-3.417718869e-06,-7.997612929e-04,7.023276419e-01,-1.927648582e-05,8.593367138e-01,7.023281030e-01,-2.424360747e-05,8.593388811e-01,7.031389077e-01,-1.152976675e-04,8.295256365e-01
+34,4.915000000e+01,DOWN_FORCE_DETACH,1793350398707374004,3.883016438e-04,-2.045531853e-06,-8.725496636e-04,3.860430656e-04,-4.078504802e-06,-8.664030782e-04,4.065549849e-04,-5.226219456e-06,-8.615737779e-04,7.023439713e-01,-2.413344326e-05,8.592708962e-01,7.023417127e-01,-2.616641621e-05,8.592770428e-01,7.031530992e-01,-1.171061681e-04,8.294638240e-01
+35,5.070000000e+01,DOWN_FORCE_DETACH,1793350400297244339,4.063052228e-04,-2.303851469e-06,-9.506189958e-04,4.048271733e-04,-6.657228966e-06,-9.464644916e-04,4.259245190e-04,-7.560259107e-06,-9.409749533e-04,7.023619748e-01,-2.439176287e-05,8.591928268e-01,7.023604968e-01,-2.874514037e-05,8.591969814e-01,7.031724687e-01,-1.194402077e-04,8.293844228e-01
+36,5.220000000e+01,DOWN_FORCE_DETACH,1793350401770198676,4.214461423e-04,-8.136877817e-06,-1.032153506e-03,4.222948983e-04,-2.020598500e-06,-1.027012722e-03,4.438162659e-04,-3.485610142e-06,-1.021192372e-03,7.023771158e-01,-3.022478922e-05,8.591112923e-01,7.023779645e-01,-2.410850991e-05,8.591164331e-01,7.031903605e-01,-1.153655588e-04,8.293042054e-01
+37,5.363333333e+01,DOWN_FORCE_DETACH,1793350403195141098,4.407078969e-04,-5.664415758e-06,-1.111978253e-03,4.375264039e-04,-8.337392894e-07,-1.111276629e-03,4.592999857e-04,-2.443490485e-06,-1.105345611e-03,7.023963775e-01,-2.775232716e-05,8.590314676e-01,7.023931960e-01,-2.292165069e-05,8.590321692e-01,7.032058442e-01,-1.143234391e-04,8.292200522e-01
+38,5.505000000e+01,DOWN_FORCE_DETACH,1793350404636381539,4.571878421e-04,-4.196640473e-06,-1.202496241e-03,4.520424253e-04,-4.463316537e-06,-1.193876387e-03,4.740863116e-04,-5.786942075e-06,-1.188094133e-03,7.024128575e-01,-2.628455188e-05,8.589409496e-01,7.024077121e-01,-2.655122794e-05,8.589495695e-01,7.032206305e-01,-1.176668907e-04,8.291373036e-01
+39,5.650000000e+01,DOWN_FORCE_DETACH,1793350406110696234,4.798872519e-04,-3.882005506e-06,-1.307459771e-03,4.752807650e-04,-2.568883066e-06,-1.294371324e-03,4.976926468e-04,-4.171689841e-06,-1.287868993e-03,7.024355569e-01,-2.596991691e-05,8.588359861e-01,7.024309504e-01,-2.465679447e-05,8.588490745e-01,7.032442368e-01,-1.160516385e-04,8.290375288e-01
+40,5.791666667e+01,DOWN_FORCE_DETACH,1793350407519889393,4.971153103e-04,-6.103981672e-06,-1.411161815e-03,4.911888508e-04,-4.690563559e-06,-1.394621603e-03,5.139783544e-04,-6.080936744e-06,-1.387827641e-03,7.024527849e-01,-2.819189308e-05,8.587322840e-01,7.024468585e-01,-2.677847496e-05,8.587488242e-01,7.032605226e-01,-1.179608854e-04,8.289375701e-01
+41,5.925000000e+01,DOWN_FORCE_DETACH,1793350408829650483,5.145614531e-04,-4.090497217e-06,-1.518087567e-03,5.115488164e-04,-7.178306480e-06,-1.518828565e-03,5.344334989e-04,-8.343719826e-06,-1.510770750e-03,7.024702311e-01,-2.617840862e-05,8.586253583e-01,7.024672184e-01,-2.926621789e-05,8.586246173e-01,7.032809777e-01,-1.202236684e-04,8.288146270e-01
+42,6.071666667e+01,DOWN_FORCE_DETACH,1793350410320479862,5.317333289e-04,-1.921586083e-06,-1.653554102e-03,5.308380893e-04,-7.052020457e-06,-1.641970754e-03,5.537807652e-04,-8.433464521e-06,-1.634257133e-03,7.024874030e-01,-2.400949749e-05,8.584898917e-01,7.024865077e-01,-2.913993186e-05,8.585014751e-01,7.033003250e-01,-1.203134131e-04,8.286911406e-01
+43,6.205000000e+01,DOWN_FORCE_DETACH,1793350411647193217,5.481742772e-04,-6.491300741e-06,-1.781362460e-03,5.487216481e-04,-7.543618763e-06,-1.766314070e-03,5.715578467e-04,-8.999776110e-06,-1.758226409e-03,7.025038439e-01,-2.857921215e-05,8.583620834e-01,7.025043913e-01,-2.963153017e-05,8.583771318e-01,7.033181020e-01,-1.208797247e-04,8.285671714e-01
+44,6.340000000e+01,DOWN_FORCE_DETACH,1793350413023176408,5.689117308e-04,-2.627127804e-06,-1.925419339e-03,5.657701330e-04,-1.974345834e-06,-1.914177427e-03,5.881335118e-04,-4.076253922e-06,-1.905064830e-03,7.025245814e-01,-2.471503921e-05,8.582180265e-01,7.025214398e-01,-2.406225724e-05,8.582292684e-01,7.033346777e-01,-1.159562025e-04,8.284203330e-01
+45,6.468333333e+01,DOWN_FORCE_DETACH,1793350414317167274,5.873444603e-04,-1.281131667e-06,-2.073169777e-03,5.849904195e-04,-4.048665480e-06,-2.067691019e-03,6.068430618e-04,-5.928527321e-06,-2.057796234e-03,7.025430141e-01,-2.336904307e-05,8.580702761e-01,7.025406600e-01,-2.613657689e-05,8.580757548e-01,7.033533873e-01,-1.178084759e-04,8.282676015e-01
+46,6.600000000e+01,DOWN_FORCE_DETACH,1793350415611179384,6.050552082e-04,-2.280954436e-06,-2.228994178e-03,6.022457798e-04,-5.138540461e-06,-2.214119684e-03,6.235952347e-04,-7.051732172e-06,-2.204285497e-03,7.025607248e-01,-2.436886584e-05,8.579144517e-01,7.025579154e-01,-2.722645187e-05,8.579293262e-01,7.033701394e-01,-1.189316808e-04,8.281211123e-01
+47,6.718333333e+01,DOWN_FORCE_DETACH,1793350416807363475,6.283090880e-04,-2.483546941e-06,-2.379529643e-03,6.242337495e-04,-4.008576882e-06,-2.363374765e-03,6.452730760e-04,-6.097973824e-06,-2.352632282e-03,7.025839787e-01,-2.457145835e-05,8.577639162e-01,7.025799034e-01,-2.609648829e-05,8.577800711e-01,7.033918173e-01,-1.179779224e-04,8.279727655e-01
+48,6.835000000e+01,DOWN_FORCE_DETACH,1793350417970135557,6.469709461e-04,-3.012467497e-06,-2.547916783e-03,6.445170152e-04,5.070550025e-07,-2.535379092e-03,6.650914900e-04,-2.147603413e-06,-2.523713313e-03,7.026026406e-01,-2.510037890e-05,8.575955291e-01,7.026001866e-01,-2.158085640e-05,8.576080668e-01,7.034116357e-01,-1.140275520e-04,8.278016845e-01
+49,6.965000000e+01,DOWN_FORCE_DETACH,1793350419263771256,6.698616018e-04,-6.288309333e-06,-2.749309940e-03,6.686624547e-04,-8.718668841e-06,-2.737131010e-03,6.886269135e-04,-1.050193623e-05,-2.724476018e-03,7.026255312e-01,-2.837622074e-05,8.573941359e-01,7.026243321e-01,-3.080658025e-05,8.574063148e-01,7.034351711e-01,-1.223818849e-04,8.276009218e-01
+50,7.080000000e+01,DOWN_FORCE_DETACH,1793350420410282444,6.915440886e-04,-5.896178537e-06,-2.944077053e-03,6.903560939e-04,-5.102892441e-06,-2.934960772e-03,7.099355693e-04,-7.153892605e-06,-2.921108872e-03,7.026472137e-01,-2.798408994e-05,8.571993688e-01,7.026460257e-01,-2.719080385e-05,8.572084851e-01,7.034564798e-01,-1.190338412e-04,8.274042889e-01
+51,7.190000000e+01,DOWN_FORCE_DETACH,1793350421540972400,7.116386106e-04,-7.453761210e-06,-3.150690704e-03,7.066578790e-04,-9.114148836e-06,-3.133131073e-03,7.256476677e-04,-1.077784955e-05,-3.118707246e-03,7.026673082e-01,-2.954167262e-05,8.569927551e-01,7.026623275e-01,-3.120206024e-05,8.570103148e-01,7.034721919e-01,-1.226577982e-04,8.272066905e-01
+52,7.303333333e+01,DOWN_FORCE_DETACH,1793350422687539035,7.300607520e-04,-8.349318391e-06,-3.379434443e-03,7.293721253e-04,-5.859619640e-06,-3.375528660e-03,7.471614721e-04,-8.069901689e-06,-3.358950901e-03,7.026857304e-01,-3.043722980e-05,8.567640114e-01,7.026850418e-01,-2.794753105e-05,8.567679172e-01,7.034937057e-01,-1.199498503e-04,8.269664469e-01
+53,7.408333333e+01,DOWN_FORCE_DETACH,1793350423784902181,7.532705255e-04,-6.701256721e-06,-3.620380037e-03,7.516795200e-04,-8.970516164e-06,-3.613511765e-03,7.679667424e-04,-1.111092302e-05,-3.595921240e-03,7.027089402e-01,-2.878916813e-05,8.565230658e-01,7.027073491e-01,-3.105842757e-05,8.565299341e-01,7.035145109e-01,-1.229908716e-04,8.267294765e-01
+54,7.510000000e+01,DOWN_FORCE_DETACH,1793350424784105936,7.751177424e-04,-8.319403133e-06,-3.870779380e-03,7.722630892e-04,-7.202326643e-06,-3.867082012e-03,7.871819031e-04,-9.532759349e-06,-3.848051518e-03,7.027307874e-01,-3.040731454e-05,8.562726665e-01,7.027279327e-01,-2.929023805e-05,8.562763638e-01,7.035337261e-01,-1.214127080e-04,8.264773463e-01
+55,7.601666667e+01,DOWN_FORCE_DETACH,1793350425685139853,7.962574366e-04,-4.782612637e-06,-4.120848658e-03,7.939663374e-04,-4.545855051e-06,-4.107753758e-03,8.074927296e-04,-7.350667523e-06,-4.087984940e-03,7.027519271e-01,-2.687052404e-05,8.560225972e-01,7.027496360e-01,-2.663376646e-05,8.560356921e-01,7.035540369e-01,-1.192306161e-04,8.262374128e-01
+56,7.690000000e+01,DOWN_FORCE_DETACH,1793350426586272744,8.135482151e-04,-6.697595101e-06,-4.393828892e-03,8.133343044e-04,-2.751780450e-06,-4.385914956e-03,8.250031404e-04,-5.788240977e-06,-4.364046128e-03,7.027692178e-01,-2.878550651e-05,8.557496170e-01,7.027690039e-01,-2.483969186e-05,8.557575309e-01,7.035715473e-01,-1.176681896e-04,8.259613517e-01
+57,7.775000000e+01,DOWN_FORCE_DETACH,1793350427454869226,8.262212707e-04,-8.934935478e-06,-4.676463582e-03,8.261226455e-04,-9.066956031e-06,-4.675999829e-03,8.356201479e-04,-1.152101948e-05,-4.652302718e-03,7.027818909e-01,-3.102284688e-05,8.554669823e-01,7.027817923e-01,-3.115486744e-05,8.554674460e-01,7.035821643e-01,-1.234009681e-04,8.256730951e-01
+58,7.853333333e+01,DOWN_FORCE_DETACH,1793350428240859894,8.463980816e-04,-3.910967534e-06,-4.949093279e-03,8.478631352e-04,-8.036312770e-06,-4.941072018e-03,8.557051999e-04,-1.034850400e-05,-4.916596191e-03,7.028020677e-01,-2.599887894e-05,8.551943526e-01,7.028035328e-01,-3.012422418e-05,8.552023738e-01,7.036022494e-01,-1.222284526e-04,8.254088016e-01
+59,7.953333333e+01,DOWN_PEAK_HOLD,1793350429255767975,8.076276054e-04,-1.838854429e-06,-5.179193783e-03,8.076391731e-04,-1.536111082e-06,-5.179153325e-03,8.125052304e-04,-4.554083990e-06,-5.157885825e-03,7.027632972e-01,-2.392676583e-05,8.549642521e-01,7.027633088e-01,-2.362402249e-05,8.549642925e-01,7.035590494e-01,-1.164340326e-04,8.251675120e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..90bd0a087d50db3b600309ec1cba932a3ec12174
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,4.2245e-01,1.2641e+00,2.4787e+00,-1.2891e-01,6.7326e-02,3.4389e-03,2.0100e-02,5.3214e-03,4.5068e-03,-6.3804e-04,1.7145e-03,-6.7344e-05,2.1275e-02,1.8306e-03
+1,1.4000e+00,DOWN_FORCE_DETACH,3.3634e-04,5.8056e-01,1.2449e+00,2.4750e+00,-1.2730e-01,7.8508e-02,2.3011e-03,1.7821e-01,-1.3914e-02,8.0490e-04,9.7331e-04,1.2896e-02,-1.2052e-03,1.7876e-01,1.2989e-02
+2,2.8000e+00,DOWN_FORCE_DETACH,6.7335e-04,6.5874e-01,1.2429e+00,2.4758e+00,-1.2715e-01,8.4129e-02,1.6554e-03,2.5639e-01,-1.5839e-02,1.6239e-03,1.1255e-03,1.8517e-02,-1.8509e-03,2.5689e-01,1.8644e-02
+3,4.4000e+00,DOWN_FORCE_DETACH,1.0097e-03,5.9123e-01,1.2793e+00,2.4750e+00,-1.2972e-01,7.9272e-02,1.4325e-03,1.8888e-01,2.0507e-02,8.3041e-04,-1.4514e-03,1.3660e-02,-2.0738e-03,1.9000e-01,1.3893e-02
+4,5.9333e+00,DOWN_FORCE_DETACH,1.3484e-03,5.7733e-01,1.2215e+00,2.5456e+00,-1.2542e-01,7.8032e-02,1.2315e-03,1.7498e-01,-3.7284e-02,7.1402e-02,2.8487e-03,1.2420e-02,-2.2748e-03,1.9263e-01,1.2944e-02
+5,7.4167e+00,DOWN_FORCE_DETACH,1.6860e-03,5.7753e-01,1.2671e+00,2.6017e+00,-1.2858e-01,7.7993e-02,1.0934e-03,1.7518e-01,8.3034e-03,1.2754e-01,-3.1373e-04,1.2381e-02,-2.4128e-03,2.1685e-01,1.2618e-02
+6,8.8000e+00,DOWN_FORCE_DETACH,2.0213e-03,5.4875e-01,1.0642e+00,2.6847e+00,-1.1390e-01,7.5845e-02,7.8681e-04,1.4641e-01,-1.9460e-01,2.1051e-01,1.4374e-02,1.0233e-02,-2.7194e-03,3.2189e-01,1.7852e-02
+7,1.0200e+01,DOWN_FORCE_DETACH,2.3585e-03,5.1868e-01,1.2861e+00,2.7087e+00,-1.2977e-01,7.3633e-02,7.1766e-04,1.1633e-01,2.7350e-02,2.3457e-01,-1.4958e-03,8.0209e-03,-2.7886e-03,2.6326e-01,8.6225e-03
+8,1.1567e+01,DOWN_FORCE_DETACH,2.6991e-03,6.5322e-01,1.2700e+00,2.5775e+00,-1.2872e-01,8.3544e-02,6.9575e-04,2.5087e-01,1.1258e-02,1.0329e-01,-4.5022e-04,1.7932e-02,-2.8105e-03,2.7154e-01,1.8157e-02
+9,1.2983e+01,DOWN_FORCE_DETACH,3.0346e-03,6.4709e-01,1.1022e+00,2.5852e+00,-1.1660e-01,8.3075e-02,5.0331e-04,2.4475e-01,-1.5658e-01,1.1098e-01,1.1672e-02,1.7463e-02,-3.0029e-03,3.1102e-01,2.1218e-02
+10,1.4617e+01,DOWN_FORCE_DETACH,3.3686e-03,6.4711e-01,1.1358e+00,2.5910e+00,-1.1903e-01,8.3195e-02,4.5197e-04,2.4476e-01,-1.2297e-01,1.1685e-01,9.2398e-03,1.7583e-02,-3.0543e-03,2.9780e-01,2.0097e-02
+11,1.6000e+01,DOWN_FORCE_DETACH,3.7083e-03,6.3308e-01,1.1393e+00,2.5924e+00,-1.1933e-01,8.2166e-02,3.8860e-04,2.3073e-01,-1.1950e-01,1.1820e-01,8.9448e-03,1.6554e-02,-3.1176e-03,2.8546e-01,1.9073e-02
+12,1.7600e+01,DOWN_FORCE_DETACH,4.0459e-03,6.6772e-01,1.0094e+00,2.5798e+00,-1.1004e-01,8.4753e-02,2.2172e-04,2.6538e-01,-2.4938e-01,1.0567e-01,1.8234e-02,1.9141e-02,-3.2845e-03,3.7918e-01,2.6639e-02
+13,1.9033e+01,DOWN_FORCE_DETACH,4.3846e-03,6.7094e-01,1.0356e+00,2.5634e+00,-1.1199e-01,8.5078e-02,1.9253e-04,2.6859e-01,-2.2318e-01,8.9259e-02,1.6285e-02,1.9467e-02,-3.3137e-03,3.6044e-01,2.5596e-02
+14,2.0517e+01,DOWN_FORCE_DETACH,4.7222e-03,6.7585e-01,1.0681e+00,2.5359e+00,-1.1442e-01,8.5577e-02,1.5534e-04,2.7350e-01,-1.9066e-01,6.1736e-02,1.3855e-02,1.9965e-02,-3.3509e-03,3.3906e-01,2.4532e-02
+15,2.1917e+01,DOWN_FORCE_DETACH,5.0549e-03,6.5853e-01,1.1550e+00,2.5302e+00,-1.2086e-01,8.4338e-02,1.3165e-04,2.5618e-01,-1.0376e-01,5.6025e-02,7.4140e-03,1.8727e-02,-3.3746e-03,2.8201e-01,2.0422e-02
+16,2.3517e+01,DOWN_FORCE_DETACH,5.3940e-03,7.0667e-01,1.0956e+00,2.5081e+00,-1.1679e-01,8.7927e-02,9.2844e-06,3.0432e-01,-1.6318e-01,3.3971e-02,1.1484e-02,2.2315e-02,-3.4970e-03,3.4698e-01,2.5339e-02
+17,2.4867e+01,DOWN_FORCE_DETACH,5.7310e-03,7.1712e-01,1.0295e+00,2.5174e+00,-1.1215e-01,8.8690e-02,-9.9258e-05,3.1477e-01,-2.2924e-01,4.3216e-02,1.6121e-02,2.3079e-02,-3.6055e-03,3.9179e-01,2.8381e-02
+18,2.6367e+01,DOWN_FORCE_DETACH,6.0690e-03,7.4108e-01,1.1474e+00,2.5160e+00,-1.2076e-01,9.0432e-02,-1.1551e-04,3.3874e-01,-1.1133e-01,4.1835e-02,7.5064e-03,2.4820e-02,-3.6218e-03,3.5901e-01,2.6182e-02
+19,2.7717e+01,DOWN_FORCE_DETACH,6.4057e-03,6.6032e-01,1.0348e+00,2.6525e+00,-1.1260e-01,8.4198e-02,-2.2628e-04,2.5797e-01,-2.2398e-01,1.7828e-01,1.5669e-02,1.8586e-02,-3.7325e-03,3.8536e-01,2.4595e-02
+20,2.9250e+01,DOWN_FORCE_DETACH,6.7387e-03,6.6430e-01,1.1526e+00,2.6229e+00,-1.2116e-01,8.4568e-02,-1.7485e-04,2.6195e-01,-1.0617e-01,1.4871e-01,7.1110e-03,1.8956e-02,-3.6811e-03,3.1938e-01,2.0578e-02
+21,3.0567e+01,DOWN_FORCE_DETACH,7.0791e-03,7.4000e-01,1.0667e+00,2.6200e+00,-1.1498e-01,8.9960e-02,-2.4729e-04,3.3766e-01,-1.9204e-01,1.4584e-01,1.3293e-02,2.4348e-02,-3.7535e-03,4.1492e-01,2.7993e-02
+22,3.2033e+01,DOWN_FORCE_DETACH,7.4152e-03,6.6256e-01,1.0289e+00,2.8469e+00,-1.1216e-01,8.3899e-02,-3.1123e-04,2.6022e-01,-2.2984e-01,3.7273e-01,1.6116e-02,1.8287e-02,-3.8175e-03,5.0938e-01,2.4672e-02
+23,3.3533e+01,DOWN_FORCE_DETACH,7.7556e-03,6.2803e-01,9.9866e-01,2.7611e+00,-1.0976e-01,8.1359e-02,-2.8680e-04,2.2568e-01,-2.6011e-01,2.8692e-01,1.8511e-02,1.5747e-02,-3.7930e-03,4.4823e-01,2.4598e-02
+24,3.4933e+01,DOWN_FORCE_DETACH,8.0910e-03,6.8048e-01,1.0190e+00,2.7755e+00,-1.1126e-01,8.5318e-02,-2.0885e-04,2.7813e-01,-2.3980e-01,3.0130e-01,1.7014e-02,1.9706e-02,-3.7151e-03,4.7502e-01,2.6298e-02
+25,3.6383e+01,DOWN_FORCE_DETACH,8.4272e-03,6.4976e-01,1.0134e+00,2.8129e+00,-1.1022e-01,8.2647e-02,-7.8483e-05,2.4741e-01,-2.4538e-01,3.3870e-01,1.8048e-02,1.7035e-02,-3.5847e-03,4.8594e-01,2.5075e-02
+26,3.7833e+01,DOWN_FORCE_DETACH,8.7658e-03,6.1310e-01,1.1297e+00,2.8834e+00,-1.1810e-01,7.9869e-02,1.7998e-04,2.1076e-01,-1.2903e-01,4.0920e-01,1.0176e-02,1.4257e-02,-3.3263e-03,4.7803e-01,1.7829e-02
+27,3.9283e+01,DOWN_FORCE_DETACH,9.1038e-03,5.9101e-01,1.0637e+00,2.9396e+00,-1.1294e-01,7.8289e-02,3.4127e-04,1.8866e-01,-1.9505e-01,4.6544e-01,1.5333e-02,1.2677e-02,-3.1650e-03,5.3877e-01,2.0145e-02
+28,4.0567e+01,DOWN_FORCE_DETACH,9.4376e-03,6.0282e-01,9.9336e-01,2.9684e+00,-1.0746e-01,7.8772e-02,4.2266e-04,2.0048e-01,-2.6540e-01,4.9421e-01,2.0815e-02,1.3160e-02,-3.0836e-03,5.9571e-01,2.4818e-02
+29,4.1950e+01,DOWN_FORCE_DETACH,9.7780e-03,5.7096e-01,1.0206e+00,2.9949e+00,-1.0919e-01,7.6634e-02,6.3564e-04,1.6862e-01,-2.3821e-01,5.2076e-01,1.9085e-02,1.1022e-02,-2.8706e-03,5.9696e-01,2.2225e-02
+30,4.3233e+01,DOWN_FORCE_DETACH,1.0118e-02,5.3700e-01,9.6226e-01,3.1544e+00,-1.0469e-01,7.3852e-02,8.4441e-04,1.3465e-01,-2.9651e-01,6.8019e-01,2.3578e-02,8.2404e-03,-2.6618e-03,7.5413e-01,2.5118e-02
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/camera_frames_60hz.tar b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..3e9772d7613c873f624135789a143a5f4e773106
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45e5ae4166b05090aee63a245edf28e4cab65c029c24d3114f21dee2b7c08880
+size 624640
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/fem_node.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c2929a2aaaf51c5bbdbe9ff8a42125438801aacc
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/fem_node.csv
@@ -0,0 +1,31741 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/franka_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b1a9d91317855051a6564139f2141577d54fcdd
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4b764b22591b0313a16418e886aee2a0d9b0acd7
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9ebdb467798ef0b459f6214c704d083df19278d3
--- /dev/null
+++ b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+53,9.900000000e+00,UP_SETTLE,1793350343768551124,-1.179172491e-04,3.019690229e-05,8.022757583e-04,-1.160317038e-04,2.984529039e-05,8.036074792e-04,-1.095272643e-04,2.651879886e-05,7.972490047e-04,7.018377524e-01,8.108990888e-06,8.609457216e-01,7.018396379e-01,7.757378982e-06,8.609470533e-01,7.026370169e-01,-8.536114968e-05,8.311226468e-01
+54,1.013333333e+01,UP_SETTLE,1793350343997839567,-1.230905410e-04,3.341020909e-05,8.070729189e-04,-1.160317038e-04,2.984529039e-05,8.036074792e-04,-1.101006635e-04,2.653661927e-05,7.980181618e-04,7.018325791e-01,1.132229769e-05,8.609505188e-01,7.018396379e-01,7.757378982e-06,8.609470533e-01,7.026364435e-01,-8.534332927e-05,8.311234159e-01
+55,1.025000000e+01,UP_SETTLE,1793350344112545083,-1.248223594e-04,3.248354874e-05,8.102400226e-04,-1.160317038e-04,2.984529039e-05,8.036074792e-04,-1.103376809e-04,2.654352611e-05,7.983209370e-04,7.018308473e-01,1.039563733e-05,8.609536859e-01,7.018396379e-01,7.757378982e-06,8.609470533e-01,7.026362065e-01,-8.533642243e-05,8.311237187e-01
+56,1.045000000e+01,UP_SETTLE,1793350344325576072,-1.277754568e-04,3.477437413e-05,8.186104206e-04,-1.160317038e-04,2.984529039e-05,8.036074792e-04,-1.106988753e-04,2.655478596e-05,7.987802817e-04,7.018278942e-01,1.268646273e-05,8.609620563e-01,7.018396379e-01,7.757378982e-06,8.609470533e-01,7.026358453e-01,-8.532516258e-05,8.311241781e-01
+57,1.061666667e+01,UP_SETTLE,1793350344490122194,-1.302316414e-04,3.183322554e-05,8.195017728e-04,-1.267669210e-04,3.098136667e-05,8.214302654e-04,-1.215975509e-04,2.757370370e-05,8.160202910e-04,7.018254380e-01,9.745314132e-06,8.609629476e-01,7.018289027e-01,8.893455265e-06,8.609648761e-01,7.026249467e-01,-8.430624485e-05,8.311414181e-01
+58,1.083333333e+01,UP_SETTLE,1793350344702907041,-1.329741416e-04,3.295819415e-05,8.269218281e-04,-1.267669210e-04,3.098136667e-05,8.214302654e-04,-1.220135061e-04,2.758415357e-05,8.165661463e-04,7.018226955e-01,1.087028274e-05,8.609703677e-01,7.018289027e-01,8.893455265e-06,8.609648761e-01,7.026245307e-01,-8.429579497e-05,8.311419639e-01
+59,1.105000000e+01,UP_SETTLE,1793350344915766357,-1.379597608e-04,3.518038732e-05,8.245780924e-04,-1.267669210e-04,3.098136667e-05,8.214302654e-04,-1.223577570e-04,2.758852571e-05,8.170196333e-04,7.018177099e-01,1.309247591e-05,8.609680239e-01,7.018289027e-01,8.893455265e-06,8.609648761e-01,7.026241864e-01,-8.429142283e-05,8.311424174e-01
diff --git a/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/simulation_data.csv b/Part2/Fixed/digit/cylinder_PLA_20/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..b1a88c6964a81fedbbd739ff29e65e5e31af030c
--- /dev/null
+++ b/Part2/Fixed/digit/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+00,4.2246e-01,1.2641e+00,2.4787e+00,-1.2891e-01,6.7328e-02,3.4394e-03,2.0138e-02,5.3440e-03,4.4417e-03,-6.3995e-04,1.7183e-03,-6.7748e-05,2.1303e-02,1.8348e-03
+1,2.5000e-01,WAIT_W2,5.2238e-05,4.6015e-01,1.2515e+00,2.4760e+00,-1.2778e-01,7.0112e-02,3.2131e-03,5.7827e-02,-7.2834e-03,1.7445e-03,4.9397e-04,4.5022e-03,-2.9402e-04,5.8310e-02,4.5387e-03
+2,4.3333e-01,WAIT_W2,9.6962e-05,4.8540e-01,1.2518e+00,2.4766e+00,-1.2787e-01,7.1842e-02,3.0514e-03,8.3083e-02,-6.9444e-03,2.3947e-03,3.9640e-04,6.2326e-03,-4.5578e-04,8.3407e-02,6.2618e-03
+3,6.6667e-01,WAIT_W2,1.4735e-04,5.1272e-01,1.2505e+00,2.4767e+00,-1.2779e-01,7.3708e-02,2.8285e-03,1.1040e-01,-8.2717e-03,2.4729e-03,4.8381e-04,8.0982e-03,-6.7869e-04,1.1074e-01,8.1410e-03
+4,8.0000e-01,WAIT_W2,1.9623e-04,5.2567e-01,1.2534e+00,2.4800e+00,-1.2810e-01,7.4650e-02,2.6924e-03,1.2335e-01,-5.4039e-03,5.7669e-03,1.6642e-04,9.0406e-03,-8.1473e-04,1.2361e-01,9.0787e-03
+5,8.8333e-01,WAIT_W2,2.4017e-04,3.2138e-01,1.6626e+00,2.0953e+00,-1.5807e-01,6.0287e-02,3.1431e-03,-8.0942e-02,4.0387e-01,-3.7893e-01,-2.9796e-02,-5.3225e-03,-3.6410e-04,5.5968e-01,3.0270e-02
+6,9.3333e-01,WAIT_W2,2.9264e-04,1.5971e-01,1.6577e+00,1.7893e+00,-1.5811e-01,4.8979e-02,3.1568e-03,-2.4261e-01,3.9896e-01,-6.8490e-01,-2.9838e-02,-1.6630e-02,-3.5041e-04,8.2892e-01,3.4162e-02
+7,9.6667e-01,WAIT_W2,3.4355e-04,-7.2310e-02,1.6819e+00,1.3049e+00,-1.6043e-01,3.3295e-02,3.2295e-03,-4.7463e-01,4.2314e-01,-1.1693e+00,-3.2160e-02,-3.2314e-02,-2.7767e-04,1.3310e+00,4.5591e-02
+8,1.0000e+00,WAIT_W2,4.0434e-04,-3.4253e-01,1.6029e+00,7.9855e-01,-1.5535e-01,1.4739e-02,3.2979e-03,-7.4485e-01,3.4414e-01,-1.6757e+00,-2.7079e-02,-5.0870e-02,-2.0930e-04,1.8658e+00,5.7629e-02
+9,1.0333e+00,WAIT_W2,4.4869e-04,-4.5702e-01,1.5255e+00,4.7931e-01,-1.5049e-01,6.9929e-03,3.3218e-03,-8.5934e-01,2.6678e-01,-1.9949e+00,-2.2217e-02,-5.8617e-02,-1.8534e-04,2.1884e+00,6.2686e-02
+10,1.0833e+00,WAIT_W2,4.9723e-04,-6.1601e-01,1.4000e+00,-1.1991e-02,-1.4152e-01,-5.1579e-03,3.3914e-03,-1.0183e+00,1.4120e-01,-2.4862e+00,-1.3249e-02,-7.0767e-02,-1.1578e-04,2.6904e+00,7.1997e-02
+11,1.1667e+00,WAIT_W2,5.4341e-04,-7.8519e-01,1.2618e+00,-2.3798e-01,-1.3223e-01,-1.6248e-02,3.4046e-03,-1.1875e+00,3.0084e-03,-2.7122e+00,-3.9608e-03,-8.1858e-02,-1.0258e-04,2.9608e+00,8.1954e-02
+12,1.3000e+00,WAIT_W2,5.9369e-04,-8.1360e-01,1.0439e+00,-3.1645e-01,-1.1619e-01,-1.8799e-02,3.3745e-03,-1.2159e+00,-2.1488e-01,-2.7907e+00,1.2080e-02,-8.4409e-02,-1.3264e-04,3.0516e+00,8.5269e-02
+13,1.5167e+00,UP_FORCE_RAMP,6.4310e-04,-7.7972e-01,9.4134e-01,-2.4974e-01,-1.0950e-01,-1.6599e-02,3.3688e-03,-1.1820e+00,-3.1741e-01,-2.7240e+00,1.8765e-02,-8.2208e-02,-1.3840e-04,2.9863e+00,8.4323e-02
+14,1.7500e+00,UP_FORCE_RAMP,6.9411e-04,-5.3487e-01,6.7198e-01,2.0707e-01,-9.1436e-02,-6.1147e-04,3.3360e-03,-9.3719e-01,-5.8677e-01,-2.2671e+00,3.6833e-02,-6.6221e-02,-1.7113e-04,2.5224e+00,7.5776e-02
+15,2.0167e+00,UP_FORCE_RAMP,7.4319e-04,-3.3843e-01,7.4110e-01,5.8570e-01,-9.4614e-02,1.2893e-02,3.2750e-03,-7.4075e-01,-5.1765e-01,-1.8885e+00,3.3656e-02,-5.2717e-02,-2.3218e-04,2.0936e+00,6.2544e-02
+16,2.2333e+00,UP_FORCE_RAMP,7.9264e-04,-1.5595e-01,6.3288e-01,8.5529e-01,-8.6734e-02,2.5962e-02,3.1850e-03,-5.5827e-01,-6.2587e-01,-1.6189e+00,4.1536e-02,-3.9647e-02,-3.2221e-04,1.8233e+00,5.7422e-02
+17,2.5000e+00,UP_FORCE_RAMP,8.4459e-04,-3.1036e-02,7.2490e-01,1.0407e+00,-9.1710e-02,3.5578e-02,3.0481e-03,-4.3336e-01,-5.3386e-01,-1.4335e+00,3.6560e-02,-3.0032e-02,-4.5906e-04,1.5899e+00,4.7315e-02
+18,2.7333e+00,UP_FORCE_RAMP,8.9529e-04,9.8662e-02,6.0926e-01,1.2091e+00,-8.4196e-02,4.4498e-02,2.9678e-03,-3.0366e-01,-6.4949e-01,-1.2651e+00,4.4074e-02,-2.1112e-02,-5.3936e-04,1.4542e+00,4.8872e-02
+19,2.9167e+00,UP_FORCE_RAMP,9.4127e-04,1.1282e-01,5.5392e-01,1.1195e+00,-7.9879e-02,4.6036e-02,2.8289e-03,-2.8950e-01,-7.0483e-01,-1.3547e+00,4.8391e-02,-1.9574e-02,-6.7822e-04,1.5543e+00,5.2204e-02
+20,3.1333e+00,UP_FORCE_RAMP,9.9294e-04,2.1217e-01,5.1996e-01,1.3259e+00,-7.7252e-02,5.3001e-02,2.7122e-03,-1.9015e-01,-7.3880e-01,-1.1483e+00,5.1018e-02,-1.2608e-02,-7.9495e-04,1.3786e+00,5.2559e-02
+21,3.3667e+00,UP_FORCE_RAMP,1.0424e-03,2.1108e-01,5.2304e-01,1.3202e+00,-7.7406e-02,5.3007e-02,2.6979e-03,-1.9124e-01,-7.3572e-01,-1.1540e+00,5.0863e-02,-1.2602e-02,-8.0927e-04,1.3819e+00,5.2408e-02
+22,3.6333e+00,UP_FORCE_RAMP,1.0901e-03,3.8816e-01,6.0668e-01,1.3107e+00,-8.2683e-02,6.6732e-02,2.1744e-03,-1.4164e-02,-6.5207e-01,-1.1635e+00,4.5587e-02,1.1224e-03,-1.3328e-03,1.3339e+00,4.5620e-02
+23,3.8667e+00,UP_FORCE_RAMP,1.1416e-03,4.8081e-01,6.5736e-01,1.4028e+00,-8.6073e-02,7.2751e-02,2.1276e-03,7.8494e-02,-6.0140e-01,-1.0714e+00,4.2196e-02,7.1418e-03,-1.3795e-03,1.2312e+00,4.2819e-02
+24,4.1167e+00,UP_FORCE_RAMP,1.1883e-03,6.2609e-01,5.9630e-01,1.3098e+00,-8.1706e-02,8.4473e-02,1.8362e-03,2.2377e-01,-6.6245e-01,-1.1644e+00,4.6564e-02,1.8863e-02,-1.6710e-03,1.3582e+00,5.0268e-02
+25,4.3500e+00,UP_FORCE_RAMP,1.2419e-03,6.5600e-01,5.8732e-01,1.5226e+00,-8.1110e-02,8.6096e-02,1.7395e-03,2.5368e-01,-6.7143e-01,-9.5160e-01,4.7160e-02,2.0487e-02,-1.7677e-03,1.1919e+00,5.1448e-02
+26,4.5167e+00,UP_FORCE_RAMP,1.2908e-03,7.3389e-01,5.9066e-01,1.3211e+00,-8.1349e-02,9.1238e-02,1.6989e-03,3.3157e-01,-6.6810e-01,-1.1531e+00,4.6921e-02,2.5628e-02,-1.8083e-03,1.3733e+00,5.3494e-02
+27,4.7500e+00,UP_FORCE_RAMP,1.3409e-03,8.7976e-01,6.5718e-01,1.3230e+00,-8.6285e-02,1.0267e-01,1.4858e-03,4.7744e-01,-6.0158e-01,-1.1512e+00,4.1985e-02,3.7063e-02,-2.0214e-03,1.3839e+00,5.6040e-02
+28,4.9333e+00,UP_FORCE_RAMP,1.3892e-03,9.0685e-01,6.5305e-01,1.4207e+00,-8.5949e-02,1.0428e-01,1.4433e-03,5.0453e-01,-6.0571e-01,-1.0535e+00,4.2321e-02,3.8666e-02,-2.0639e-03,1.3158e+00,5.7362e-02
+29,5.1500e+00,UP_FORCE_RAMP,1.4387e-03,9.5042e-01,6.1171e-01,1.4059e+00,-8.3000e-02,1.0732e-01,1.3673e-03,5.4810e-01,-6.4705e-01,-1.0683e+00,4.5270e-02,4.1712e-02,-2.1399e-03,1.3640e+00,6.1594e-02
+30,5.3000e+00,UP_FORCE_RAMP,1.4874e-03,1.0163e+00,5.6995e-01,1.3444e+00,-7.9890e-02,1.1211e-01,1.2709e-03,6.1395e-01,-6.8881e-01,-1.1298e+00,4.8380e-02,4.6501e-02,-2.2363e-03,1.4587e+00,6.7141e-02
+31,5.4667e+00,UP_FORCE_RAMP,1.5388e-03,1.2148e+00,4.6993e-01,1.2609e+00,-7.3108e-02,1.2535e-01,1.1924e-03,8.1244e-01,-7.8883e-01,-1.2133e+00,5.5161e-02,5.9738e-02,-2.3148e-03,1.6596e+00,8.1344e-02
+32,5.6667e+00,UP_FORCE_RAMP,1.5875e-03,1.1050e+00,5.1407e-01,1.3539e+00,-7.5755e-02,1.1856e-01,1.1507e-03,7.0268e-01,-7.4469e-01,-1.1203e+00,5.2514e-02,5.2952e-02,-2.3565e-03,1.5177e+00,7.4614e-02
+33,5.8500e+00,UP_FORCE_RAMP,1.6377e-03,1.1532e+00,6.9038e-01,1.3024e+00,-8.7868e-02,1.2214e-01,1.0883e-03,7.5092e-01,-5.6837e-01,-1.1718e+00,4.0402e-02,5.6531e-02,-2.4189e-03,1.5033e+00,6.9526e-02
+34,6.0167e+00,UP_FORCE_RAMP,1.6856e-03,1.2211e+00,5.2287e-01,1.2955e+00,-7.6547e-02,1.2706e-01,9.8711e-04,8.1876e-01,-7.3588e-01,-1.1787e+00,5.1723e-02,6.1446e-02,-2.5201e-03,1.6128e+00,8.0357e-02
+35,6.2000e+00,UP_FORCE_RAMP,1.7361e-03,1.2596e+00,5.3559e-01,1.2922e+00,-7.7336e-02,1.2960e-01,9.7631e-04,8.5733e-01,-7.2317e-01,-1.1820e+00,5.0934e-02,6.3992e-02,-2.5309e-03,1.6294e+00,8.1827e-02
+36,6.4167e+00,UP_FORCE_RAMP,1.7835e-03,1.3052e+00,5.5676e-01,1.2749e+00,-7.8698e-02,1.3263e-01,9.6676e-04,9.0293e-01,-7.0199e-01,-1.1994e+00,4.9571e-02,6.7024e-02,-2.5404e-03,1.6573e+00,8.3402e-02
+37,6.5833e+00,UP_FORCE_RAMP,1.8335e-03,1.4194e+00,6.0727e-01,1.2252e+00,-8.2305e-02,1.4147e-01,8.4841e-04,1.0171e+00,-6.5149e-01,-1.2491e+00,4.5965e-02,7.5858e-02,-2.6588e-03,1.7376e+00,8.8738e-02
+38,6.8000e+00,UP_FORCE_RAMP,1.8849e-03,1.4663e+00,5.9445e-01,1.2186e+00,-8.1486e-02,1.4457e-01,8.3485e-04,1.0639e+00,-6.6430e-01,-1.2556e+00,4.6784e-02,7.8961e-02,-2.6723e-03,1.7748e+00,9.1819e-02
+39,6.9667e+00,UP_FORCE_RAMP,1.9355e-03,1.5285e+00,5.7691e-01,1.2074e+00,-8.0357e-02,1.4876e-01,8.1235e-04,1.1262e+00,-6.8185e-01,-1.2668e+00,4.7913e-02,8.3152e-02,-2.6948e-03,1.8270e+00,9.6006e-02
+40,7.2000e+00,UP_FORCE_RAMP,1.9830e-03,1.5792e+00,5.6032e-01,1.2129e+00,-7.9277e-02,1.5225e-01,7.8583e-04,1.1769e+00,-6.9844e-01,-1.2613e+00,4.8993e-02,8.6643e-02,-2.7213e-03,1.8611e+00,9.9573e-02
+41,7.4667e+00,UP_FORCE_HOLD,2.0340e-03,1.5663e+00,5.4454e-01,1.3349e+00,-7.8206e-02,1.5198e-01,6.8758e-04,1.1639e+00,-7.1422e-01,-1.1394e+00,5.0064e-02,8.6369e-02,-2.8196e-03,1.7785e+00,9.9870e-02
+42,7.6667e+00,UP_SETTLE,2.0820e-03,1.5898e+00,5.5094e-01,1.2869e+00,-7.8622e-02,1.5358e-01,6.7391e-04,1.1875e+00,-7.0782e-01,-1.1873e+00,4.9648e-02,8.7966e-02,-2.8333e-03,1.8224e+00,1.0105e-01
+43,7.8500e+00,UP_SETTLE,2.1317e-03,1.5966e+00,5.6489e-01,1.2534e+00,-7.9541e-02,1.5408e-01,6.6072e-04,1.1942e+00,-6.9386e-01,-1.2208e+00,4.8728e-02,8.8468e-02,-2.8465e-03,1.8434e+00,1.0104e-01
+44,8.0500e+00,UP_SETTLE,2.1843e-03,1.5928e+00,5.7075e-01,1.2506e+00,-7.9930e-02,1.5385e-01,6.5491e-04,1.1905e+00,-6.8801e-01,-1.2236e+00,4.8339e-02,8.8242e-02,-2.8523e-03,1.8406e+00,1.0066e-01
+45,8.2833e+00,UP_SETTLE,2.2311e-03,1.5964e+00,5.9526e-01,1.2397e+00,-8.1574e-02,1.5417e-01,6.3377e-04,1.1941e+00,-6.6350e-01,-1.2345e+00,4.6696e-02,8.8562e-02,-2.8734e-03,1.8412e+00,1.0016e-01
+46,8.4833e+00,UP_SETTLE,2.2802e-03,1.6691e+00,6.4053e-01,1.1691e+00,-8.5038e-02,1.5913e-01,4.9001e-04,1.2668e+00,-6.1823e-01,-1.3051e+00,4.3231e-02,9.3521e-02,-3.0172e-03,1.9210e+00,1.0307e-01
+47,8.6833e+00,UP_SETTLE,2.3292e-03,1.5727e+00,6.3349e-01,1.2635e+00,-8.4694e-02,1.5308e-01,4.3466e-04,1.1703e+00,-6.2527e-01,-1.2108e+00,4.3576e-02,8.7475e-02,-3.0725e-03,1.7963e+00,9.7776e-02
+48,8.8500e+00,UP_SETTLE,2.3775e-03,1.5704e+00,6.2314e-01,1.2621e+00,-8.4028e-02,1.5293e-01,4.2721e-04,1.1681e+00,-6.3561e-01,-1.2121e+00,4.4242e-02,8.7320e-02,-3.0800e-03,1.7993e+00,9.7937e-02
+49,9.0667e+00,UP_SETTLE,2.4284e-03,1.4934e+00,5.8412e-01,1.3521e+00,-8.1439e-02,1.4777e-01,3.4140e-04,1.0911e+00,-6.7464e-01,-1.1222e+00,4.6831e-02,8.2157e-02,-3.1658e-03,1.7044e+00,9.4620e-02
+50,9.2667e+00,UP_SETTLE,2.4819e-03,1.4993e+00,5.9367e-01,1.3490e+00,-8.2050e-02,1.4812e-01,3.3564e-04,1.0970e+00,-6.6509e-01,-1.1252e+00,4.6219e-02,8.2511e-02,-3.1715e-03,1.7064e+00,9.4627e-02
+51,9.4667e+00,UP_SETTLE,2.5289e-03,1.5465e+00,5.4566e-01,1.2675e+00,-7.8922e-02,1.5069e-01,2.2154e-04,1.1442e+00,-7.1310e-01,-1.2067e+00,4.9348e-02,8.5080e-02,-3.2856e-03,1.8094e+00,9.8411e-02
+52,9.6500e+00,UP_SETTLE,2.5791e-03,1.4454e+00,5.6606e-01,1.3808e+00,-8.0053e-02,1.4421e-01,1.7283e-04,1.0430e+00,-6.9269e-01,-1.0935e+00,4.8217e-02,7.8599e-02,-3.3343e-03,1.6624e+00,9.2270e-02
+53,9.9000e+00,UP_SETTLE,2.6290e-03,1.4282e+00,5.7914e-01,1.3341e+00,-8.0657e-02,1.4258e-01,7.1013e-05,1.0259e+00,-6.7961e-01,-1.1401e+00,4.7613e-02,7.6975e-02,-3.4362e-03,1.6776e+00,9.0575e-02
+54,1.0133e+01,UP_SETTLE,2.6796e-03,1.3540e+00,5.7826e-01,1.4394e+00,-8.0598e-02,1.3767e-01,3.6262e-05,9.5173e-01,-6.8050e-01,-1.0348e+00,4.7672e-02,7.2065e-02,-3.4709e-03,1.5619e+00,8.6476e-02
+55,1.0250e+01,UP_SETTLE,2.7263e-03,1.2806e+00,5.8260e-01,1.5645e+00,-8.0843e-02,1.3245e-01,-1.2785e-05,8.7832e-01,-6.7616e-01,-9.0974e-01,4.7426e-02,6.6842e-02,-3.5200e-03,1.4340e+00,8.2033e-02
+56,1.0450e+01,UP_SETTLE,2.7747e-03,1.2004e+00,5.8042e-01,1.6391e+00,-8.0624e-02,1.2618e-01,-9.5189e-05,7.9813e-01,-6.7833e-01,-8.3513e-01,4.7646e-02,6.0572e-02,-3.6024e-03,1.3396e+00,7.7150e-02
+57,1.0617e+01,UP_SETTLE,2.8243e-03,1.3263e+00,5.5649e-01,1.4442e+00,-7.9045e-02,1.3438e-01,-1.1241e-04,9.2393e-01,-7.0227e-01,-1.0300e+00,4.9224e-02,6.8767e-02,-3.6196e-03,1.5517e+00,8.4647e-02
+58,1.0833e+01,UP_SETTLE,2.8780e-03,1.2327e+00,5.6247e-01,1.5827e+00,-7.9342e-02,1.2839e-01,-1.4368e-04,8.3036e-01,-6.9629e-01,-8.9157e-01,4.8928e-02,6.2779e-02,-3.6509e-03,1.4033e+00,7.9677e-02
+59,1.1050e+01,UP_SETTLE,2.9253e-03,1.1676e+00,5.6283e-01,1.6912e+00,-7.9276e-02,1.2389e-01,-1.7253e-04,7.6526e-01,-6.9593e-01,-7.8307e-01,4.8994e-02,5.8280e-02,-3.6797e-03,1.2974e+00,7.6227e-02