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+59,2.716667e+01,2816,6.932473e-01,1.568011e-02,8.252443e-01,1.743594e-04,-1.721559e-04,-5.081226e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2817,6.992601e-01,1.321249e-02,8.316504e-01,1.805443e-04,-4.987293e-05,-5.060887e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2818,6.993542e-01,1.635809e-02,8.133496e-01,1.353431e-04,-1.888414e-04,-5.045629e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2819,6.989527e-01,1.538697e-02,8.141408e-01,1.416605e-04,-1.832698e-04,-5.036474e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2820,6.934968e-01,1.538387e-02,8.231314e-01,1.890871e-04,-1.814748e-04,-5.069836e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2821,6.981888e-01,1.363488e-02,8.320746e-01,1.678791e-04,-9.457899e-05,-5.052309e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2822,6.941343e-01,1.523322e-02,8.289638e-01,1.489899e-04,-1.517394e-04,-5.074975e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2823,7.008956e-01,1.516848e-02,8.136959e-01,1.322906e-04,-1.835076e-04,-5.038028e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2824,6.959473e-01,1.640270e-02,8.158807e-01,1.605411e-04,-1.868723e-04,-5.042921e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2825,6.998622e-01,1.398587e-02,8.154030e-01,1.414759e-04,-1.839608e-04,-5.037052e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2826,6.994532e-01,1.649698e-02,8.360783e-01,1.522725e-04,-1.376942e-04,-5.034903e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2827,6.930503e-01,1.643656e-02,8.229139e-01,1.815971e-04,-1.814389e-04,-5.075997e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2828,6.985967e-01,1.240698e-02,8.212397e-01,1.136588e-04,-3.630124e-04,-5.063416e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2829,6.950767e-01,1.532851e-02,8.313582e-01,1.334635e-04,-1.473014e-04,-5.059029e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2830,6.941174e-01,1.452363e-02,8.235171e-01,1.885455e-04,-1.797333e-04,-5.065008e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2831,6.971370e-01,1.295777e-02,8.206164e-01,1.376276e-04,-2.545745e-04,-5.054017e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2832,6.934637e-01,1.646513e-02,8.207309e-01,1.837812e-04,-1.853194e-04,-5.063644e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2833,6.986099e-01,1.393944e-02,8.161495e-01,1.490647e-04,-1.880339e-04,-5.036737e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2834,6.944799e-01,1.532277e-02,8.193768e-01,1.853340e-04,-1.858837e-04,-5.048296e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2835,6.971439e-01,1.375407e-02,8.312829e-01,1.655787e-04,-1.049598e-04,-5.056274e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2836,6.954083e-01,1.434004e-02,8.300441e-01,1.529083e-04,-1.361497e-04,-5.061694e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2837,6.978535e-01,1.541877e-02,8.147828e-01,1.491705e-04,-1.815700e-04,-5.035172e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2838,6.988820e-01,1.457198e-02,8.150300e-01,1.469001e-04,-1.805196e-04,-5.031752e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2839,6.928803e-01,1.673005e-02,8.254627e-01,1.657849e-04,-1.724675e-04,-5.086491e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2840,7.006102e-01,1.662225e-02,8.364233e-01,1.592851e-04,-1.360098e-04,-5.036584e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2841,6.963671e-01,1.426937e-02,8.178119e-01,1.705973e-04,-1.870639e-04,-5.034292e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2842,6.934461e-01,1.533665e-02,8.242487e-01,1.833409e-04,-1.762256e-04,-5.075602e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2843,6.999141e-01,1.478896e-02,8.143149e-01,1.385053e-04,-1.815707e-04,-5.033817e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.716667e+01,2844,6.999226e-01,1.553888e-02,8.136264e-01,1.356215e-04,-1.853068e-04,-5.038644e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b324139175885104800270231f447386c304cf1
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+38330,1792672298951854903,40839267000000,1792672298947018553,XJC_ZERO_HOLD_BEFORE_DOWN,5,0.038,0.03800195828080177,0.6759963451527222,-0.0045372118193912495,0.09086234960713255,0.9999999794502814,8.93858288936213e-05,-0.00015234690873397263,-3.6645521985447635e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04169230670671292,0.049547883391574565,0.0005328352771225703,0.0028406648742827657,-0.002769726395475963,0.00018175576933406718,0.22927374279824533,0.21608800064589162,-0.06414866276759575,0.011697082298493927,-0.016424900094311013,-4.859095863252054e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,-0.15592131423963954,0.2375255727147261,1.3095984372206548,0.03616837618212779,-0.8414257988609862,0.06929832915414598,1.203644884152231,0.0005328352771225703,-0.10595355306842391,0.0,0.0,0,0,0.0,0.0
+38491,1792672300286003887,40840601000000,1792672300279018221,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6759937242311127,-0.004544284275889254,0.09085124966547828,0.9999999790255871,8.942661979384936e-05,-0.00015581838684878673,-3.3394604843247115e-05,0.6761,-0.00453,0.09097229330240501,1.0,0.0,0.0,0.0,0.08337878483129949,0.07982230103396218,-0.005928279394784963,0.005987132804700901,-0.0058669045236830735,0.00018276526770768722,0.2709602209228319,0.24636241828827923,-0.07060977743950328,0.014843550228912062,-0.019522078222518124,-4.7581460258900495e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,-0.01618049104430979,0.2591577188394069,1.2761371806513457,0.05548190140192058,-0.7924759910632808,0.08633098408841715,1.203644884152231,0.005928279394784963,-0.07249229649911482,-0.07249229649911482,0.07644000000000059,0,0,-4.4637347175495397e-05,-9.939536280001988e-05
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+38738,1792672302344134897,40842659000000,1792672302339018025,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676002410534445,-0.004559285695007041,0.09078406962162623,0.9999999832991446,8.747420109946759e-05,-0.00013068093116143666,-1.0739336377859367e-05,0.6761,-0.00453,0.0909016819972902,1.0,0.0,0.0,0.0,0.104421500989032,0.10909783755493441,0.09318302757575886,0.008038423341414445,-0.006935072677033997,0.00011264983597706174,0.2920029370805644,0.27563795480925146,0.028501529531040536,0.016894840765625606,-0.020590246375869047,-0.00011769689198952596,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.03776699522667793,0.21875647716775748,1.0407216863512136,0.10822117283005557,-0.6448369102545712,0.05762560277686157,1.203644884152231,0.09318302757575886,0.16292319780101727,0.16292319780101727,0.22049999999998293,0,0,-3.2822386824310293e-05,-7.556944156530973e-05
+38856,1792672303328096674,40843643000000,1792672303323018116,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.675992169526244,-0.004563662677342919,0.09073424674301254,0.9999999805320068,8.393658108751315e-05,-0.00015274245524207164,-1.8008935630006942e-06,0.6761,-0.00453,0.0908681204772511,1.0,0.0,0.0,0.0,0.10486673110975811,0.09855512454057375,0.15699667817960705,0.007005994320271627,-0.006936469181044727,5.000921054527246e-05,0.2924481672012905,0.2650952417948908,0.09231518013488874,0.015862411744482788,-0.020591642879879777,-0.00018033751742131524,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.13200307943994266,0.30023030699446934,0.9310210733975811,0.09177344432520898,-0.5455978918552878,0.10949051071760535,1.203644884152231,0.15699667817960705,0.2726238107546498,0.2726238107546498,0.2893799999999855,0,0,-2.9934548191586134e-05,9.999999025923074e-05
+38990,1792672304444214077,40844759000000,1792672304443018366,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.675996532024417,-0.004566287985743428,0.09071295108275862,0.9999999806095167,8.768549110434088e-05,-0.00015004690192174257,4.583937662653179e-06,0.6761,-0.00453,0.09083587965423273,1.0,0.0,0.0,0.0,0.10430004278301178,0.10255086102844224,0.18351835801957106,0.00802095576571786,-0.006961158737926311,4.044378519507249e-05,0.2918814788745442,0.2690909782827593,0.11883685997485276,0.01687737318992902,-0.02061633243676136,-0.00018990294277151522,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.15988674164769395,0.2653202054342714,0.877049785165642,0.10672034363548495,-0.504649639349897,0.0881000205222026,1.203644884152231,0.18351835801957106,0.3265950989865889,0.3265950989865889,0.36750000000000166,0,0,-3.298359337863408e-05,4.3941037063082324e-05
+39153,1792672305803234189,40846118000000,1792672305803018598,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.675999429019983,-0.0045725021918710555,0.09067836225933604,0.9999999813875584,8.543988155836367e-05,-0.00014555653445357634,1.345619130713788e-05,0.6761,-0.00453,0.09077625235913421,1.0,0.0,0.0,0.0,0.09815586662797318,0.10536713549389076,0.23000218089871838,0.008011767657900789,-0.006971361949603105,1.7482730114612953e-06,0.2857373027195056,0.2719072527482078,0.16532068285400006,0.01686818508211195,-0.020626535648438155,-0.0002285984549551264,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.14964574003318007,0.2882323524078107,0.8538121156223736,0.10011222645753248,-0.5001702961188905,0.10173747962572653,1.203644884152231,0.23000218089871838,0.34983276852985734,0.34983276852985734,0.46263000000002136,0,0,-4.9977318904186e-05,-9.822013621730292e-05
+39301,1792672307037317130,40847351000000,1792672307035018462,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760042253907766,-0.004579517102269397,0.09063015492149505,0.9999999829257401,8.611735801479194e-05,-0.00013205811694701905,2.7126341629655037e-05,0.6761,-0.00453,0.09071150908838232,1.0,0.0,0.0,0.0,0.08969580139343794,0.1118633638370653,0.2901535997937239,0.007973726516425805,-0.005971165086379163,-3.353257552176481e-05,0.27727723748497035,0.27840348109138235,0.22547210174900562,0.016830143940636966,-0.019626338785214213,-0.0002638793034883525,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.25575879982562705,0.27331727972041264,0.7173133456569398,0.10241368306276843,-0.38845540096072767,0.09148334048386605,1.203644884152231,0.2901535997937239,0.4863315384952911,0.4863315384952911,0.5489400000000392,0,0,-5.48467931529587e-05,9.963618405184888e-05
+39473,1792672308469405413,40848784000000,1792672308467027833,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760064432251501,-0.004585153248013668,0.09056901797109093,0.9999999831153197,8.748647771803124e-05,-0.00012506992824642962,4.3770470559215545e-05,0.6761,-0.00453,0.0906398842062789,1.0,0.0,0.0,0.0,0.08553074004495212,0.0996291187956998,0.3740297276151443,0.007956516574334781,-0.005987944288921914,-0.00010045616500046356,0.27311217613648453,0.26616923605001686,0.309348229570426,0.016812933998545943,-0.019643117987756965,-0.00033080289296705126,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.2940681203931345,0.2579612640930974,0.6178969549605997,0.10918815675877137,-0.31944342311274593,0.08087157900652446,1.203644884152231,0.3740297276151443,0.5857479291916312,0.5857479291916312,0.64925000000006,0,0,-4.501662805442522e-05,5.708873621465744e-06
+39617,1792672309669513230,40849984000000,1792672309667027490,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760024167366964,-0.004586877211707662,0.09051410399478804,0.9999999816353891,9.166711678235106e-05,-0.0001296236179016519,5.446965457664274e-05,0.6761,-0.00453,0.09058900252104751,1.0,0.0,0.0,0.0,0.08564916722414997,0.09822162973768689,0.43386141612680373,0.006925456141381799,-0.005982195393997679,-0.000160016298025338,0.2732306033156824,0.26476174699200394,0.36917991808208545,0.01578187356559296,-0.01963736909283273,-0.0003903630259919257,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.2914880689665494,0.2740963422430926,0.5313892825705328,0.09819083243737982,-0.2636583318057099,0.09107267286750562,1.203644884152231,0.43386141612680373,0.6722556015816982,0.6722556015816982,0.7332500000000773,0,0,-4.155280812155235e-05,-1.1548189609222873e-05
+39756,1792672310828591559,40851143000000,1792672310823028454,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676004924135425,-0.004594120916209756,0.09047324801518009,0.9999999817695682,9.335563807872923e-05,-0.00012069228800229927,6.798400119344364e-05,0.6761,-0.00453,0.09053533424646301,1.0,0.0,0.0,0.0,0.08517268575426043,0.09715199355292065,0.49398944807838285,0.006896430013882664,-0.005352367235847229,-0.00019967344536971272,0.27275412184579284,0.2636921108072377,0.4293079500336645,0.015752847438093825,-0.01900754093468228,-0.0004300201733363004,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.29689854560051265,0.3418885854643032,0.5688836017080026,0.08786853848617371,-0.2929125722447472,0.14114725332983824,1.203644884152231,0.49398944807838285,0.6347612824442284,0.6347612824442284,0.8143800000000941,0,0,-4.802090327746112e-05,-9.960960808819692e-05
+39888,1792672311928646021,40852243000000,1792672311923018131,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760094646135499,-0.004600459671586469,0.09042699724388312,0.9999999807120523,9.834958861099777e-05,-0.00011710430029744828,8.144139452546545e-05,0.6761,-0.00453,0.09048062710060568,1.0,0.0,0.0,0.0,0.07580203017152057,0.09294540482879571,0.5541714490006023,0.006874963006402987,-0.004996875153159828,-0.00024300779833864378,0.263383466263053,0.25948552208311276,0.48948995095588405,0.015731380430614148,-0.01865204885199488,-0.0004733545263052315,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.3314875203547633,0.3504753212541255,0.36167714095187087,0.08102881384102317,-0.1514296482786188,0.14530906760878173,1.203644884152231,0.5541714490006023,0.84196774320036,0.84196774320036,0.8913800000001101,0,0,-4.949848181748517e-05,9.999980984798924e-05
+39972,1792672312628652111,40852943000000,1792672312627027510,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676051421275704,-0.004599617255140335,0.09042538611317878,0.9999999833964811,0.00010764274493278459,-7.035206774252667e-05,9.00751226488766e-05,0.6761,-0.00453,0.09043714307718517,1.0,0.0,0.0,0.0,0.05567582285774675,0.12081210770893352,0.5548020039571042,0.008873270298952084,-0.00300693581357832,-0.00019140652811621605,0.24325725894927916,0.2873522249632506,0.4901205059123859,0.017729687723163245,-0.01666210951241337,-0.00042175325608280375,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.42909841527771136,0.2644516696488896,0.3111053170474018,0.0991011293686079,-0.10177724666527405,0.09062435391774948,1.203644884152231,0.5548020039571042,0.8925395671048291,0.8925395671048291,0.9403800000001202,0,0,-6.848253860239494e-05,9.988738588895813e-05
+40143,1792672314053692938,40854368000000,1792672314047018902,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6760538348073963,-0.00460381412524844,0.09034477410900633,0.9999999797473583,0.00012351104003091104,-6.634369005553025e-05,0.0001108678729093037,0.6761,-0.00453,0.09034560807070283,1.0,0.0,0.0,0.0,0.049962580075823465,0.1188516294857409,0.6551485031819383,0.008843302832170798,-0.0030285466923946815,-0.00027320052017173134,0.23754401616735588,0.28539174674005796,0.59046700513722,0.01769972025638196,-0.016683720391229732,-0.000503547248138319,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.4880515912183804,0.30620727950343357,0.2653133925979038,0.09514592231816192,-0.06000545559587653,0.12129080610020031,1.203644884152231,0.6551485031819383,0.938331491554327,0.938331491554327,1.0401300000001408,0,0,-5.610494284022239e-05,-8.461564368478775e-05
+40275,1792672315153792480,40855468000000,1792672315151018502,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6760605952768571,-0.004609062339062189,0.09029914219551151,0.9999999782159449,0.00012773290816975576,-5.577765065196179e-05,0.00012483642109547045,0.6761,-0.00453,0.09028502071204074,1.0,0.0,0.0,0.0,0.05152113924754456,0.12413519861894007,0.7153579973986051,0.008832235746069245,-0.003041751442735165,-0.00032119831365251853,0.23910257533907697,0.2906753158732571,0.6506764993538867,0.017688653170280406,-0.016696925141570215,-0.0005515450416191062,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.5552425843821468,0.21025007118572317,0.11771337229735902,0.11147049415905151,0.05195065821324072,0.057873372470471376,1.203644884152231,0.7153579973986051,1.0859315118548718,1.0859315118548718,1.1171300000001567,0,0,-5.499350543417136e-05,9.999341218780983e-05
+40403,1792672316219790084,40856534000000,1792672316215018304,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760682915473756,-0.004612842730087114,0.09025608492538219,0.9999999760060225,0.00013581079249481762,-4.8332260989818845e-05,0.0001365658811816685,0.6761,-0.00453,0.09022787600397765,1.0,0.0,0.0,0.0,0.03795980252205286,0.12917585986764257,0.7759286797413636,0.009811243793312597,-0.0020613699815958727,-0.0001272435683556771,0.22554123861358527,0.29571597712195963,0.7112471816966452,0.018667661217523758,-0.015716543680430923,-0.0003575902963222648,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.5345630244080162,0.29598496088678294,0.10757368126637766,0.08673354388471546,0.04964690967508198,0.11609964846066137,1.203644884152231,0.7759286797413636,1.0960712028858532,1.0960712028858532,1.1917500000001722,0,0,-5.6442289782269957e-05,-9.999999025923074e-05
+40547,1792672317419874865,40857734000000,1792672317419018603,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760715446012524,-0.004617490354926996,0.09019145424758601,0.9999999721349326,0.00014823618404829914,-4.4191670863092065e-05,0.00015246681022261513,0.6761,-0.00453,0.09015698967917395,1.0,0.0,0.0,0.0,0.03575537956628186,0.13093866244102664,0.8428188804165918,0.00979073461132974,-0.002079910322852185,0.0006231014007028616,0.22333681565781427,0.2974787796953437,0.7781373823718735,0.0186471520355409,-0.015735084021687235,0.00039275467273627385,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.48165984433560494,0.3006336642305168,0.0504036575087764,0.08098992590621831,0.06939330227428966,0.11786996780076954,1.203644884152231,0.8428188804165918,1.1532412266434546,1.1532412266434546,1.2757500000001896,0,0,-6.170392522905489e-05,-9.230052419451624e-05
+40686,1792672318578941288,40858893000000,1792672318579018455,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760815909517187,-0.004609714858982342,0.09013936562657004,0.999999968447074,0.00016369397573279536,-2.9370285249903032e-05,0.0001639828776479554,0.6761,-0.00453,0.09008669357550622,1.0,0.0,0.0,0.0,0.028224621158706303,0.14275640368592712,0.9066732835984526,0.009766636900554116,-0.0011635769232353245,0.0005835228584310689,0.21580605725023871,0.3092965209402442,0.8419917855537342,0.018623054324765277,-0.014818750622070375,0.0003531761304644812,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.5421182628231777,0.2768953906668374,-0.027543539036208653,0.08146940417911545,0.13246786096147942,0.10082796460856018,1.203644884152231,0.9066732835984526,1.2311884231884396,1.2311884231884396,1.3568800000002064,0,0,-5.9889522031923665e-05,-9.999999025923074e-05
+40810,1792672319611983149,40859926000000,1792672319611018306,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760844362684985,-0.004612984717557823,0.09008730812081395,0.9999999644543995,0.000171335499087361,-2.6364388920494436e-05,0.00018023076773139904,0.6761,-0.00453,0.09002487450545502,1.0,0.0,0.0,0.0,0.04292458225000095,0.13846156521132802,0.967297554546384,0.010784337102018107,-0.0021219283909322314,0.0005398389086678041,0.23050601834153336,0.3050016824656451,0.9026160565016657,0.01964075452622927,-0.01577710208976728,0.00030949218070121644,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.5769872196166423,0.22780712999737404,-0.10097993293213367,0.09162764880788198,0.1857804977438886,0.06877261559197663,1.203644884152231,0.967297554546384,1.3046248170843646,1.3046248170843646,1.4291900000002213,0,0,-6.311945292411381e-05,-9.490559313286013e-05
+40878,1792672320179049437,40860493000000,1792672320175018474,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6760939706846717,-0.004590118871271557,0.09005316944660506,0.9999999952942469,-2.7168510715123178e-05,6.480407397254492e-06,8.616666821349455e-06,0.6761,-0.00453,0.08998890013090485,1.0,0.0,0.0,0.0,0.08258976768883011,0.1893577622718567,1.0091770380113954,0.014691629377323323,-0.00477099144936345,0.0005072780033876752,0.2701712037803625,0.35589787952617374,0.9444955399666771,0.023548046801534484,-0.0184261651481985,0.00027693127542108753,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.4200775714935128,0.4194724780833659,-0.04361385059986571,0.0031442099340557804,0.11710194401633141,0.1977056380233057,1.203644884152231,1.0091770380113954,1.2472587347520967,1.2472587347520967,1.4688800000002296,0,0,-6.413336399033043e-05,-9.998494673724707e-05
+41013,1792672321304061214,40861618000000,1792672321299017790,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.67609955401553,-0.004585220102278173,0.0899860110558325,0.9999999952927214,-2.116525103303333e-06,1.1430770944104407e-05,2.687525515906535e-05,0.6761,-0.00453,0.08989891008106697,1.0,0.0,0.0,0.0,0.06151787111707324,0.17773107846857295,1.068588092687995,0.012841194524379294,-0.003201921399987156,0.0004675280395838242,0.24909930720860565,0.34427119572289,1.0039065946432766,0.021697611948590455,-0.016857095098822206,0.0002371813116172365,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6520978541401753,0.3231796700349238,-0.3019110209186893,-0.01834847513766776,0.3484776156609522,0.15998248571950982,1.203644884152231,1.068588092687995,1.5055559050709202,1.5055559050709202,1.5476300000002459,0,0,-8.061477141799311e-05,9.999999025923074e-05
+41155,1792672322487204903,40862801000000,1792672322487027547,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761019518324948,-0.004590133278415482,0.08991159724829577,0.9999999943024247,1.7160653618055847e-05,1.3095803142476655e-05,4.8703460119947085e-05,0.6761,-0.00453,0.0898162482724936,1.0,0.0,0.0,0.0,0.052199128776522025,0.17063431044064625,1.1490585377708755,0.012797971618731044,-0.0022055259117681695,0.000417176524665154,0.23978056486805444,0.3371744276949633,1.0843770397261572,0.021654389042942205,-0.01586069961060322,0.0001868297966985663,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6112888580218625,0.35019177357653086,-0.35385369457034477,0.04458939247683911,0.3542845662401973,0.16623240077334273,1.203644884152231,1.1490585377708755,1.5574985787225757,1.5574985787225757,1.630440000000263,0,0,-5.7927944417402446e-05,6.938332851536691e-05
+41309,1792672323770246987,40864084000000,1792672323763018600,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761061452449451,-0.0045966014487061144,0.08985550569259113,0.9999999929621387,2.7268185105616013e-05,1.8106767541333756e-05,6.668716525551737e-05,0.6761,-0.00453,0.08975398376530207,1.0,0.0,0.0,0.0,0.05180715817400841,0.17281827384481657,1.2089460203622757,0.012786882871748232,-0.002218632221463847,0.0003686675634099772,0.23938859426554082,0.3393583910991336,1.1442645223175574,0.021643300295959393,-0.015873805920298897,0.00013832083544338948,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.5933221404874179,0.3146448656666138,-0.4113734893496852,0.10256933960225602,0.3753297717213346,0.1274884372824046,1.203644884152231,1.2089460203622757,1.6150183735019161,1.6150183735019161,1.7202500000002816,0,0,-4.1179432096220776e-05,-9.513814322315568e-05
+41445,1792672324904262574,40865218000000,1792672324903018512,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761086243610628,-0.004597402461402839,0.08981356719187673,0.9999999917780232,3.941591643389074e-05,2.0345161721750103e-05,7.693684372679504e-05,0.6761,-0.00453,0.08970471587673841,1.0,0.0,0.0,0.0,0.04804227957464008,0.1742458294988357,1.2454275043507237,0.012779764636701784,-0.00222708801999205,0.0003384752833843745,0.2356237156661725,0.34078594675315277,1.1807460063060053,0.021636182060912945,-0.0158822617188271,0.00010812855541778679,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6583403392986736,0.27403694340041074,-0.49221487181592294,0.1388091952130319,0.4351412637969283,0.09621735981988933,1.203644884152231,1.2454275043507237,1.6958597559681539,1.6958597559681539,1.799630000000298,0,0,-4.9196247502185326e-05,-9.992520286073443e-05
+41608,1792672326262413375,40866576000000,1792672326259027453,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676114863826276,-0.004599590522094861,0.08975411857960418,0.9999999909727618,3.985371887023483e-05,2.929472439247345e-05,8.396928541954849e-05,0.6761,-0.00453,0.08963273798617687,1.0,0.0,0.0,0.0,0.042357186575874145,0.1660717704971597,1.2992350468772835,0.012768940396990256,-0.0022373158780917436,0.00029457264070145543,0.22993862266740656,0.33261188775147676,1.2345535488325652,0.021625357821201417,-0.015892489576926794,6.42259127348677e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6522611993337658,0.30804076152399085,-0.6277637773264229,0.13963688434262495,0.514935526270094,0.12072344089205218,1.203644884152231,1.2992350468772835,1.8314086614786538,1.8314086614786538,1.8946900000003177,0,0,-5.9111601853596756e-05,8.761646549804709e-05
+41776,1792672327662428509,40867976000000,1792672327659028200,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761237639152005,-0.004595635240908998,0.08968064100783853,0.9999999925688299,2.5851707883035477e-05,4.561582265741915e-05,5.9632965726492956e-05,0.6761,-0.00453,0.08954512130702294,1.0,0.0,0.0,0.0,0.04886472409159165,0.18179892399452385,1.379927019349941,0.01377526466047757,-0.002274743201294385,0.0002417030218350955,0.23644616018312406,0.3483390412488409,1.3152455213052228,0.022631682084688732,-0.015929916900129435,1.1356293868507818e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6626418772812583,0.3123361739297007,-0.6665091335634676,0.15216825014753432,0.5378886531613536,0.1314054019557191,1.203644884152231,1.379927019349941,1.8701540177156986,1.8701540177156986,1.992690000000338,0,0,-6.572270000035208e-05,-9.999914371417446e-05
+41896,1792672328662536279,40868976000000,1792672328659018171,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761268302578137,-0.00460252299771068,0.0896194537953279,0.9999999907120496,4.5827941547395904e-05,5.104163149142466e-05,7.289250129803747e-05,0.6761,-0.00453,0.0894802302317134,1.0,0.0,0.0,0.0,0.041252392544556954,0.18398919453831808,1.4400165552702686,0.01373660871760968,-0.0012744849000412613,0.0002079468501279499,0.22883382863608936,0.35052931179263513,1.3753350572255503,0.022593026141820842,-0.014929658598876312,-2.2399877838637817e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7488918888315765,0.32179237085556095,-0.8102234622727885,0.1575056042900274,0.6516851555792308,0.14155392282227547,1.203644884152231,1.4400165552702686,2.0138683464250193,2.0138683464250193,2.0626900000003525,0,0,-6.347367244721879e-05,9.999919922532569e-05
+42052,1792672329962565448,40870276000000,1792672329955028085,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761307781207727,-0.00460798148507799,0.08954743969030907,0.9999999890835488,5.4916857680114085e-05,5.619287284948127e-05,8.42749465443358e-05,0.6761,-0.00453,0.08939592176919575,1.0,0.0,0.0,0.0,0.041102453405866296,0.18640281731860786,1.5080742782276444,0.013724036455213851,-0.001289347547909235,0.00015295138594656032,0.2286838894973987,0.3529429345729249,1.443392780182926,0.022580453879425012,-0.014944521246744285,-7.739534202002738e-05,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.6833897604304138,0.340860321296121,-0.8112366981974541,0.1542888754598227,0.6303749975767073,0.15105078391393417,1.203644884152231,1.5080742782276444,2.014881582349685,2.014881582349685,2.1536900000003714,0,0,-6.870065647898572e-05,-9.999606284528113e-05
+42183,1792672331054690035,40871368000000,1792672331047028202,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.676137522845683,-0.004607495920186565,0.08947793273656733,0.9999999873169153,5.930169785844329e-05,6.574086683836067e-05,9.471262130527676e-05,0.6761,-0.00453,0.0893168546735712,1.0,0.0,0.0,0.0,0.040492723761953314,0.1786486115951943,1.5704475934830686,0.01371108050116972,-0.0013021374833152473,0.00010771723517071855,0.22807415985348573,0.34518872884951135,1.5057660954383503,0.022567497925380882,-0.014957311182150297,-0.00012262949279586916,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7274761058051143,0.33878786466846067,-1.0430981401090713,0.15635981807954477,0.7907446104105693,0.1507030485461371,1.203644884152231,1.5704475934830686,2.2467430242613022,2.2467430242613022,2.230130000000387,0,0,-7.452796566412433e-05,9.983917445411378e-05
+42335,1792672332320704917,40872634000000,1792672332319017847,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761408824914604,-0.004610162104353588,0.08939075472221954,0.9999999860790549,6.019150423133402e-05,6.951171201698683e-05,0.00010406660912042466,0.6761,-0.00453,0.08922225385137801,1.0,0.0,0.0,0.0,0.038492613397424935,0.169469400560897,1.6404633657366998,0.013293685436503676,-0.0013090197535695833,3.8412593669728704e-05,0.22607404948895735,0.33600951781521404,1.5757818676919815,0.022150102860714838,-0.014964193452404633,-0.000191934134296859,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7226756089075549,0.23257121335762965,-1.0566929205216706,0.19189664636134998,0.7945487572317801,0.0837952678913543,1.203644884152231,1.6404633657366998,2.2603378046739016,2.2603378046739016,2.3187500000004055,0,0,-7.648408587438015e-05,9.99954799781932e-05
+42466,1792672333412757299,40873726000000,1792672333411018359,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761432121401323,-0.004616632007585694,0.08931064518211725,0.9999999851142404,6.109028228277181e-05,7.077546351998508e-05,0.00011168345788715287,0.6761,-0.00453,0.08913622160320041,1.0,0.0,0.0,0.0,0.040581612263533184,0.17343176814044986,1.7005989645840347,0.013678690784530469,-0.0013115041403135592,-2.7068320854994584e-06,0.2281630483550656,0.3399718853947669,1.6359174665393164,0.02253510820874163,-0.01496667783914861,-0.00023305356005208716,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7539798024040941,0.27593138621920366,-1.099226830235871,0.1916709535576314,0.8265048702403673,0.1138818431751734,1.203644884152231,1.7005989645840347,2.302871714388102,2.302871714388102,2.3951900000004214,0,0,-7.851662392891067e-05,9.980468815141136e-05
+42594,1792672334479803525,40874793000000,1792672334475018224,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761490681916072,-0.004607033102686278,0.08922572376854102,0.9999999908996947,-2.72411471479061e-05,8.734709612247764e-05,3.5663424169460366e-05,0.6761,-0.00453,0.0890472908410658,1.0,0.0,0.0,0.0,0.06586827587037139,0.1977378505781328,1.7517622235548196,0.014716589864237562,-0.002359082526423759,0.00041063718564059496,0.2534497119619038,0.36427796783244987,1.6870807255101012,0.023573007288448723,-0.01601425622525881,0.00018029045767400725,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7923748534458251,0.3738718169503576,-1.0501000416531157,0.07391624806540968,0.8239746346341917,0.20713828650627752,1.203644884152231,1.7517622235548196,2.2537449258053464,2.2537449258053464,2.469880000000437,0,0,-9.568988263849854e-05,-9.999996250365512e-05
+42718,1792672335512833920,40875826000000,1792672335511017530,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761576325350563,-0.0046052349893981265,0.08913771568056925,0.9999999888353739,1.904536033267454e-05,9.754122471601317e-05,6.241073854615843e-05,0.6761,-0.00453,0.08894478004246299,1.0,0.0,0.0,0.0,0.04036995483646055,0.18711216700097988,1.8003538870420395,0.013633580463586984,-0.00035565946479633806,0.0009594376575551565,0.22795139092799296,0.35365228425529693,1.7356723889973211,0.022489997887798145,-0.014010833163631388,0.0007290909295885688,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7620591239757424,0.27742809405664814,-1.26907567085563,0.1968542535681752,0.9340433690762938,0.1280019930689587,1.203644884152231,1.8003538870420395,2.472720555007861,2.472720555007861,2.542190000000452,0,0,-9.885470681339636e-05,9.999999025923074e-05
+42810,1792672336279922035,40876593000000,1792672336279018072,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761547050840787,-0.004617010587508346,0.08905901679628397,0.9999999874273191,4.137693866502663e-05,9.117014201267737e-05,8.101962967597448e-05,0.6761,-0.00453,0.08887044605348005,1.0,0.0,0.0,0.0,0.040152984058331814,0.17782902073221363,1.840635086505552,0.013332887648100668,-0.0003541336688213381,0.000925517548220323,0.22773442014986423,0.3443691379865307,1.7759535884608337,0.02218930507231183,-0.014009307367656388,0.0006951708202537353,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8462510630694179,0.2934308887209836,-1.2559589485250722,0.21830164523417747,0.9452604982146101,0.14377972719815324,1.203644884152231,1.840635086505552,2.459603832677303,2.459603832677303,2.595880000000463,0,0,-9.365698350491557e-05,-1.7538723447437583e-05
+42894,1792672336979925919,40877293000000,1792672336975018302,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761553173690473,-0.004619281064924184,0.08899550841155704,0.9999999856427588,5.834675996966492e-05,9.130487881610529e-05,9.174105595444239e-05,0.6761,-0.00453,0.08880341383144862,1.0,0.0,0.0,0.0,0.0425666986536756,0.17601205096704492,1.8518184116029257,0.012677611072962652,-0.0003860589133543712,0.000906770757981251,0.230148134745208,0.342552168221362,1.7871369135582074,0.021534028497173813,-0.014041232612189421,0.0006764240300146633,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8000679236588659,0.24811747220705188,-1.269725964890126,0.24065739186244442,0.9381154241141324,0.1115926695692177,1.203644884152231,1.8518184116029257,2.473370849042357,2.473370849042357,2.644880000000473,0,0,-0.00010226487085904091,-9.670337727663564e-05
+42942,1792672337379981297,40877693000000,1792672337379017999,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761555537657025,-0.004630932363189202,0.08895663627506789,0.9999999850358088,5.4876407525554936e-05,9.156956016369503e-05,9.987413142530224e-05,0.6761,-0.00453,0.08876093832129103,1.0,0.0,0.0,0.0,0.04251783275487367,0.1724231181445719,1.871480329190063,0.01297298683456147,-0.00047488067671076946,0.0008918537691004403,0.23009926884640608,0.33896323539888895,1.8067988311453447,0.021829404258772632,-0.01413005437554582,0.0006615070411338526,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8233817494976192,0.24891632731666527,-1.3036476968288038,0.24442938090430485,0.9647347000066634,0.11068974409944632,1.203644884152231,1.871480329190063,2.5072925809810345,2.5072925809810345,2.672880000000479,0,0,-0.0001093364234529609,-6.641181677424427e-05
+43057,1792672338338035442,40878651000000,1792672338335018979,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761618508894455,-0.0046255245010341905,0.08885881900818399,0.9999999847278523,4.430143912059192e-05,0.00010048457610304268,9.963629838439727e-05,0.6761,-0.00453,0.08865222682555352,1.0,0.0,0.0,0.0,0.04065973108085055,0.17763297537099415,1.911584867792854,0.012589949613717621,-0.0003491229562767057,0.0008583474418087315,0.22824116717238296,0.3441730926253112,1.8469033697481356,0.021446367037928783,-0.014004296655111756,0.0006280007138421438,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8747774546313939,0.19245483696299281,-1.360994969083827,0.26587836292516936,1.0109669816480806,0.07263894505970253,1.203644884152231,1.911584867792854,2.564639853236058,2.564639853236058,2.7399400000004928,0,0,-0.00011590879906406817,-6.870003708117384e-05
+43157,1792672339171043848,40879484000000,1792672339171018386,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761630113702244,-0.004638669843198757,0.08875677451420891,0.9999999852841004,2.3936641282504705e-05,0.00010225663763833923,9.922338877847536e-05,0.6761,-0.00453,0.0885523051147689,1.0,0.0,0.0,0.0,0.04376097090066461,0.1747475832557816,1.941688459683158,0.012583404123713404,-0.00035523388837221427,0.0008343989618230024,0.23134240699219702,0.34128770051009866,1.8770069616384397,0.021439821547924565,-0.014010407587207264,0.0006040522338564147,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.7935165911160392,0.22826295919551265,-1.2804210163836014,0.2668413239976588,0.935723893128044,0.09677624847222976,1.203644884152231,1.941688459683158,2.4840659005358323,2.4840659005358323,2.798250000000505,0,0,-0.00012538881621479282,-9.999999025923074e-05
+43257,1792672340005035412,40880318000000,1792672339999019239,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761649468060388,-0.004634751717234949,0.08865072929982755,0.9999999852978761,2.204334848656836e-05,0.00010554618911263478,9.602710417081937e-05,0.6761,-0.00453,0.08844056246620517,1.0,0.0,0.0,0.0,0.04048532255240675,0.17946179708215165,1.9617704500526143,0.012580685138008162,-0.0003600899972179949,0.0008177871706697217,0.22806675864393916,0.3460019143364687,1.897088952007896,0.021437102562219323,-0.014015263696053045,0.000587440442703134,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8641360753606677,0.2224215670175518,-1.402362617115607,0.28559407875364695,1.0290038282248675,0.09859754174890417,1.203644884152231,1.9617704500526143,2.606007501267838,2.606007501267838,2.856630000000517,0,0,-0.00014227459517043706,-9.998089442320719e-05
+43353,1792672340805064283,40881118000000,1792672340799028653,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761648892623704,-0.004639476619261132,0.08853026756688037,0.9999999854792796,2.2474036816422488e-05,0.00010598758347373855,9.351927529207929e-05,0.6761,-0.00453,0.08831899857502941,1.0,0.0,0.0,0.0,0.04955803841864756,0.17012277673941512,1.9818243095232646,0.012575341749158208,-0.0003638136807826327,0.0008026711113075073,0.23713947451017997,0.33666289399373217,1.9171428114785463,0.02143175917336937,-0.014018987379617683,0.0005723243833409196,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8580317734817448,0.1766172147362189,-1.5363240961128244,0.3035116021213657,1.1090217260306239,0.06852337947758404,1.203644884152231,1.9818243095232646,2.739968980265055,2.739968980265055,2.9126300000005285,0,0,-0.0001587855875298264,9.634698180794316e-05
+43445,1792672341571157196,40881884000000,1792672341571018145,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676162276106968,-0.0046456843707006895,0.08840358486613012,0.9999999849698855,3.141605732858786e-05,0.00010184057593750958,0.00010072051320667559,0.6761,-0.00453,0.08819385946962076,1.0,0.0,0.0,0.0,0.050058178904236805,0.16837772249153515,2.0078547015935593,0.01155020245821765,-0.00035099859165999003,0.000770167617786688,0.23763961499576922,0.3349178397458522,1.9431732035488412,0.02040661988242881,-0.01400617229049504,0.0005398208898201003,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8330607305820212,0.29053198959708115,-1.4563579667010431,0.289327384388834,1.0445299690715986,0.1460570638157489,1.203644884152231,2.0078547015935593,2.660002850853274,2.660002850853274,2.9662500000005396,0,0,-0.00016841981989176714,-9.998373936970779e-05
+43540,1792672342363143403,40882676000000,1792672342363018178,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.676164369649277,-0.004647729058682758,0.08826786696958348,0.999999984246418,3.621685412355681e-05,0.00010273274662356651,0.00010528224168959545,0.6761,-0.00453,0.08805669741571875,1.0,0.0,0.0,0.0,0.041951917325522725,0.167664894496791,2.011535584758763,0.011550008866989162,-0.0003512578195435708,0.0007662383826210448,0.22953335341705514,0.33420501175110806,1.9468540867140447,0.020406426291200323,-0.014006431518378621,0.0005358916546544571,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.8853812511739009,0.22126669035467475,-1.549538484417109,0.3239102937110295,1.1143546014997527,0.10587215258438501,1.203644884152231,2.011535584758763,2.75318336856934,2.75318336856934,3.021690000000551,0,0,-0.00017998847233055416,-7.797294340606271e-05
+43624,1792672343063250415,40883376000000,1792672343063028163,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761616325617377,-0.004654257940367427,0.08812943308888778,0.9999999850136065,1.8785031502580662e-05,9.77919152651136e-05,0.00010723579079832207,0.6761,-0.00453,0.08792502210412188,1.0,0.0,0.0,0.0,0.04080625097283613,0.15989750746227155,2.035541581228682,0.011545366413130198,-0.0003565045641570983,0.0007435807689813717,0.22838768706436854,0.3264376247165886,1.9708600831839636,0.02040178383734136,-0.014011678262992149,0.000513234041014784,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.9305443713007979,0.20676509393887527,-1.631102570350073,0.34225173481008714,1.1736191298350676,0.09054599739550562,1.203644884152231,2.035541581228682,2.834747454502304,2.834747454502304,3.0706900000005612,0,0,-0.0001976612996931485,9.996952851499259e-05
+43700,1792672343696272993,40884009000000,1792672343695018712,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761562973143164,-0.004654017219494115,0.08798978074005252,0.9999999863112151,1.1687079537427314e-05,8.647631226948062e-05,0.00010585694911339839,0.6761,-0.00453,0.08779465257727434,1.0,0.0,0.0,0.0,0.050513651691555,0.15719217460461532,2.04887928021623,0.01052212062673229,-0.0003395129600923374,0.0007274123778125688,0.2380950877830874,0.3237322918589324,1.9841977821715118,0.01937853805094345,-0.013994686658927388,0.000497065649845981,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.910838543357181,0.15265040246148126,-1.5962760622064878,0.38141585214695073,1.1422865608821646,0.05928525301150212,1.203644884152231,2.04887928021623,2.7999209463587187,2.7999209463587187,3.1150000000005704,0,0,-0.00021588776282222352,-4.71472194653807e-05
+43776,1792672344330251045,40884643000000,1792672344323018979,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.676159472080777,-0.004655729931115004,0.0878633377925021,0.999999985308548,5.923177191134126e-06,9.521815693162317e-05,0.00010827828468185294,0.6761,-0.00453,0.08765559955731425,1.0,0.0,0.0,0.0,0.050820646134022124,0.1510496084054258,2.04994155028624,0.01053075507220503,-0.0007037222371746206,0.0007227340191400743,0.23840208222555453,0.31758972565974286,1.9852600522415218,0.01938717249641619,-0.01435889593600967,0.0004923872911734866,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.9376290833590073,0.250731345688699,-1.643025096983588,0.3671971880609778,1.173662374197499,0.12677954059836344,1.203644884152231,2.04994155028624,2.846669981135819,2.846669981135819,3.1593800000005796,0,0,-0.00022642344078736343,7.60245210306172e-05
+43848,1792672344930354978,40885243000000,1792672344927018897,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.676158856052797,-0.004664434738929536,0.08772564929895901,0.9999999846295403,1.226511722586994e-05,9.386985848923531e-05,0.00011498608647854043,0.6761,-0.00453,0.08751520750833144,1.0,0.0,0.0,0.0,0.05053368937428673,0.15582632091252807,2.0512847718669507,0.010524665630634061,-0.0004720822636363215,0.0007216052001038335,0.23811512546581914,0.3223664381668451,1.9866032738222323,0.019381083054845222,-0.014127255962471372,0.0004912584721372458,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.9870175386916494,0.09285552601752255,-1.5835780444305363,0.42835434172514136,1.141866900368162,0.025137564187538146,1.203644884152231,2.0512847718669507,2.787222928582767,2.787222928582767,3.2013800000005883,0,0,-0.00024023905235567711,-9.999899105850858e-05
+43920,1792672345530313404,40885843000000,1792672345523028376,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.67616356108386,-0.0046664053869472704,0.08758570383144872,0.9999999837285606,3.119283621103032e-05,0.00010378993816814799,0.00011063633599037042,0.6761,-0.00453,0.08736674290594328,1.0,0.0,0.0,0.0,0.04505904974105396,0.14781901126500568,2.0713535454921224,0.010543620609144013,-0.0013461990220810117,0.0006912103237175782,0.23264048583258637,0.31435912851932274,2.0066720474474042,0.019400038033355174,-0.015001372720916062,0.0004608635957509904,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.9854449703752305,0.12426559187005191,-1.5771879134878501,0.44400169532364697,1.1334893703881475,0.052883144781063804,1.203644884152231,2.0713535454921224,2.7808327976400813,2.7808327976400813,3.243380000000597,0,0,-0.00025310112084927914,-9.998185199056592e-05
+43983,1792672346055443213,40886368000000,1792672346051018703,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.676161676615297,-0.004664115402444688,0.08745432311869974,0.9999999843680301,2.4422176101188012e-05,9.910785131583782e-05,0.00011085122984584589,0.6761,-0.00453,0.08723000787522313,1.0,0.0,0.0,0.0,0.04319953427829096,0.13856242795637147,2.0709637228695827,0.009513336717283563,-0.0009780006336387054,0.0006853043939293664,0.23078097036982337,0.3051025452106885,2.0062822248248646,0.018369754141494724,-0.014633174332473756,0.00045495766596277877,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,0.9956212853467742,0.14504493351659264,-1.6758993593324705,0.44246692237518664,1.1988339371976593,0.06248325113106836,1.203644884152231,2.0709637228695827,2.8795442434847014,2.8795442434847014,3.2801300000006046,0,0,-0.0002678733405745134,-9.999999025923074e-05
+44047,1792672346588405693,40886901000000,1792672346583018661,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761558933494656,-0.0046710787682221365,0.08730575916238084,0.9999999845623548,1.1044358909650111e-05,9.138876304054325e-05,0.00011766167895477841,0.6761,-0.00453,0.08708367961861438,1.0,0.0,0.0,0.0,0.0418908019262523,0.144637312912266,2.060898141859702,0.009498344356936226,-0.00032471314224464566,0.0007032853329173729,0.2294722380177847,0.31117743016658306,1.996216643814984,0.018354761781147387,-0.013979886841079696,0.0004729386049507852,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.0710577521259246,0.07643233896610901,-1.7450128710875115,0.4773750786647285,1.2618989271363112,0.018927743478716258,1.203644884152231,2.060898141859702,2.9486577552397426,2.9486577552397426,3.3174400000006123,0,0,-0.0002829470051354547,9.917374840651689e-05
+44107,1792672347088481423,40887401000000,1792672347087028127,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761581823882881,-0.004672348525125547,0.08716259421174732,0.9999999842859278,-9.876305195654086e-07,9.609437406679912e-05,0.00011677287542170709,0.6761,-0.00453,0.08693730813391211,1.0,0.0,0.0,0.0,0.032550053839659865,0.14518916589226932,2.0646683364221534,0.009503823594954153,-0.0003216891476666324,-0.00010369363458890928,0.22013148993119228,0.3117292831465864,1.9999868383774353,0.018360241019165315,-0.013976862846501683,-0.000334040362555497,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.1186837803826852,0.0667444270855705,-1.646321752004508,0.4938367707406693,1.2111166544370495,0.013838804881177988,1.203644884152231,2.0646683364221534,2.849966636156739,2.849966636156739,3.3524400000006196,0,0,-0.00030241147538498234,-9.956933474797864e-05
+44163,1792672347555431184,40887868000000,1792672347555018272,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761591989913515,-0.004677968958512176,0.08701817684665861,0.9999999839581769,-1.017168984656944e-05,9.546452025442535e-05,0.00011962262571899382,0.6761,-0.00453,0.08679224905292127,1.0,0.0,0.0,0.0,0.034485601664304144,0.13369408957060613,2.0829603840009523,0.009493195810123513,-0.0003262328371126718,0.0006851842035228272,0.22206703775583655,0.3002342068249232,2.018278885956234,0.018349613234334674,-0.013981406535947722,0.0004548374755562395,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.0823571999312762,0.22502159747993403,-1.6805077108310358,0.4622750863837593,1.2206838131769036,0.1212320163871961,1.203644884152231,2.0829603840009523,2.8841525949832665,2.8841525949832665,3.3851300000006264,0,0,-0.00031917306838743906,-9.999999025923074e-05
+44219,1792672348021508314,40888334000000,1792672348019018491,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761580180668555,-0.004683745675184413,0.08686856562750327,0.9999999827249176,1.1278320902048163e-06,9.887522748476824e-05,0.00012733988505531796,0.6761,-0.00453,0.0866402741302396,1.0,0.0,0.0,0.0,0.041676501784835396,0.12946966197073034,2.09963676545365,0.009490778830721427,-0.0003285887437246872,0.0006715327335660336,0.2292579378763678,0.2960097792250474,2.034955267408932,0.01834719625493259,-0.013983762442559737,0.0004411860055994459,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.16791918734285,0.09628544665080753,-1.8312686124823403,0.5203659067746415,1.3427786547205611,0.04472327597244336,1.203644884152231,2.09963676545365,3.034913496634571,3.034913496634571,3.417750000000633,0,0,-0.00033340105267257316,9.885274129673433e-05
+44271,1792672348455521400,40888768000000,1792672348455018334,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761527960848174,-0.0046871868312222545,0.08671907890430908,0.9999999832555956,-7.589702453992302e-06,9.330328709776548e-05,0.00012715567566904507,0.6761,-0.00453,0.08649353094952132,1.0,0.0,0.0,0.0,0.04171952983103824,0.13536929043324825,2.081422458755709,0.009493052886847805,-0.0003264435414635069,0.000686695748362473,0.22930096592257065,0.3019094076875653,2.0167409607109907,0.018349470311058966,-0.013981617240298557,0.0004563490203958853,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.1643068765334614,0.15352203474991452,-1.7269676004937011,0.515328390091908,1.2763259267109324,0.08169232910226423,1.203644884152231,2.081422458755709,2.9306124846459323,2.9306124846459323,3.4481300000006394,0,0,-0.0003438606779690697,-9.999971270347458e-05
+44323,1792672348888545603,40889201000000,1792672348887027933,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.676162596132204,-0.004693163997142466,0.08657896018168021,0.9999999803510918,3.3728018411143223e-06,0.00010665468624225528,0.00013911895082332598,0.6761,-0.00453,0.08634052625548383,1.0,0.0,0.0,0.0,0.023437772773857418,0.1371516499231316,2.06125732966671,0.009469080347198754,0.0006903686141073919,0.0007139496182074928,0.21101920886538983,0.30369176717744867,1.9965758316219917,0.018325497771409915,-0.012964805084727658,0.00048360289024090505,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.2634966484902546,0.014924273028155133,-1.7340933924881374,0.5593927603823564,1.308730338282927,-0.003667060878901566,1.203644884152231,2.06125732966671,2.9377382766403684,2.9377382766403684,3.4784400000006457,0,0,-0.00036296049225478653,-9.999999025923074e-05
+44371,1792672349288556723,40889601000000,1792672349287017982,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761563317320591,-0.004698504686359482,0.08642792482301809,0.9999999790373368,1.5780240066131567e-05,9.630655992280347e-05,0.00015441574092690808,0.6761,-0.00453,0.08619233880841691,1.0,0.0,0.0,0.0,0.027867266946505126,0.12279447686654588,2.086800512889694,0.008443061404761053,0.0007053373790137599,0.0006824498138745039,0.21544870303803754,0.28933459412086293,2.022119014844976,0.017299478828972214,-0.01294983631982129,0.0004521030859079163,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.2518180527541962,0.08352311297423137,-1.746461381924591,0.5420880322847308,1.3184884954789429,0.0421061726097006,1.203644884152231,2.086800512889694,2.950106266076822,2.950106266076822,3.5064400000006515,0,0,-0.00037977061946167643,-3.459042360732241e-05
+44415,1792672349655613255,40889968000000,1792672349651018306,DOWN_FORCE_DETACH,5,0.038,0.03800195828080177,0.6761470241863726,-0.004696996732355092,0.08627507253262548,0.999999983948163,-5.158369181065305e-05,9.339003584950926e-05,0.00011029035305925393,0.6761,-0.00453,0.08604998702160097,1.0,0.0,0.0,0.0,0.05133859122228979,0.13366753840890822,2.1006940711666418,0.008606157101534642,-0.0003209920846877663,0.0006622253649793087,0.2389200273138222,0.30020765566322527,2.0360125731219236,0.017462574525745803,-0.013976165783522817,0.00043187863701272107,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.2435806876324609,0.05987190898293775,-1.6769340154943195,0.5527995604988735,1.2764715294307938,0.030896971261777678,1.203644884152231,2.1006940711666418,2.8805788996465505,2.8805788996465505,3.532130000000657,0,0,-0.00039615195888550856,-9.999999025923074e-05
+44458,1792672350013541142,40890326000000,1792672350011018155,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761706823911174,-0.0047012700190918145,0.08615531785555272,0.9999999791235293,-3.275585378832575e-05,0.00011520036796863788,0.00013730161939681505,0.6761,-0.00453,0.0859051809893867,1.0,0.0,0.0,0.0,0.03390146227763671,0.1235025971610797,2.080814414711749,0.008471978729845717,8.723689193665049e-05,0.0006885119566555888,0.22148289836916912,0.29004271441539675,2.016132916667031,0.017328396154056878,-0.0135679368068984,0.0004581652286890011,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.3830354754072733,0.07757994025522698,-1.7205126260691006,0.5474118587419018,1.3459868983825418,0.044354001983815554,1.203644884152231,2.080814414711749,2.9241575102213315,2.9241575102213315,3.557190000000662,0,0,-0.0004128654859756039,-9.999999025923074e-05
+44498,1792672350346644120,40890659000000,1792672350343028057,DOWN_FORCE_DETACH,5,0.038,0.0380026139318943,0.6761614592233978,-0.004714326108971582,0.08600735980118397,0.9999999764293398,-1.54322518395843e-05,0.00010029603144559009,0.00016818661024814934,0.6761,-0.00453,0.08576537358561905,1.0,0.0,0.0,0.0,0.017584365995663792,0.12297509125916378,2.0703731452281144,0.008430269830884077,0.001303682321619459,0.0006983434656621472,0.2051658020871962,0.28951520851348084,2.0056916471833963,0.01728668725509524,-0.012351491377215591,0.00046799673769555946,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.329355993727436,0.13367081100270173,-1.7037840064379401,0.5378112737020836,1.3200577226212378,0.08625500809142406,1.203644884152231,2.0703731452281144,2.907428890590171,2.907428890590171,3.580500000000667,0,0,-0.00042780094535874023,-9.777686579693352e-05
+44538,1792672350679567530,40890992000000,1792672350679028053,DOWN_SETTLE,5,0.038,0.03800195828080177,0.6761572245715344,-0.004723439628594072,0.08585871387065395,0.9999999662061875,0.00011046407169235318,9.753443063169349e-05,0.00019317145761701908,0.6761,-0.00453,0.08562015736607084,1.0,0.0,0.0,0.0,0.014564849701770355,0.11010963614101771,2.0889358829495643,0.007394605426216283,0.0017380788888763307,0.0006857122188445636,0.20214628579330277,0.27664975339533476,2.024254384904846,0.016251022850427444,-0.01191709480995872,0.00045536549087797586,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.4619015548516259,0.08909594915164791,-1.7006835761269519,0.5124698177433427,1.367766865198594,-0.016698921908094425,1.203644884152231,2.0889358829495643,2.904328460279183,0.0,0.0,0,0,-0.0004443852638605624,-9.999999025923074e-05
+44647,1792672351582667681,40891895000000,1792672351575027397,DOWN_PEAK_HOLD,5,0.038,0.03800195828080177,0.6761494355461416,-0.004704949040442831,0.08575753073643778,0.9999999848859096,8.506955260859057e-06,8.831542707275576e-05,0.00011746940888921006,0.6761,-0.00453,0.08556014056327134,1.0,0.0,0.0,0.0,0.03540747876037709,0.11685168516903827,1.9099691271320842,0.00850364296797641,-0.00026912684117031543,0.0007865395043713488,0.2229889148519095,0.2833918024233553,1.8452876290873659,0.01736006039218757,-0.013924300540005366,0.0005561927764047611,0.1875814360915324,0.16654011725431705,-0.06468149804471832,0.008856417424211161,-0.01365517369883505,-0.0002303467279665877,1,1.2862305984405094,0.14817438462542556,-1.3862700139107227,0.4286085041386801,1.150507684862183,0.07754429303138029,1.203644884152231,1.9099691271320842,2.5899148980629536,0.0,0.0,0,0,0.0,0.0
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..63c2e6052f259b62f057ef4ff43b2c2894e15f70
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..df6aabdd93815590dbfe6d43c48cc13300c8b3a0
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,2.800000000e+00,DOWN_FORCE_DETACH,1792672304441791871,2.089617329e-06,-3.261720651e-05,-1.455006661e-04,-5.296129841e-06,-3.225041529e-05,-1.379138510e-04,-5.690012880e-06,-3.225356283e-05,-1.374956723e-04,7.015399611e-01,-3.106624519e-05,8.405954405e-01,7.015325754e-01,-3.069945397e-05,8.406030273e-01,7.017236744e-01,-3.047578670e-05,8.294351774e-01
+6,3.516666667e+00,DOWN_FORCE_DETACH,1792672305806028550,4.706744049e-06,-3.211122831e-05,-1.824717637e-04,3.017108471e-06,-3.074687513e-05,-1.798011869e-04,2.642916062e-06,-3.072178738e-05,-1.793192842e-04,7.015425782e-01,-3.056026699e-05,8.405584694e-01,7.015408886e-01,-2.919591380e-05,8.405611400e-01,7.017320073e-01,-2.894401124e-05,8.293933538e-01
+7,4.166666667e+00,DOWN_FORCE_DETACH,1792672307038051042,7.880238054e-06,-4.230528288e-05,-2.321946856e-04,4.863339845e-06,-3.700430024e-05,-2.216599558e-04,4.393315602e-06,-3.702066796e-05,-2.212220746e-04,7.015457517e-01,-4.075432156e-05,8.405087465e-01,7.015427348e-01,-3.545333892e-05,8.405192812e-01,7.017337577e-01,-3.524289183e-05,8.293514510e-01
+8,4.900000000e+00,DOWN_FORCE_DETACH,1792672308465917293,1.070347195e-05,-4.817584856e-05,-2.939464776e-04,7.770599852e-06,-4.577050998e-05,-2.826581074e-04,7.205106880e-06,-4.576931108e-05,-2.821469974e-04,7.015485750e-01,-4.662488724e-05,8.404469947e-01,7.015456421e-01,-4.421954866e-05,8.404582831e-01,7.017365695e-01,-4.399153494e-05,8.292905261e-01
+9,5.500000000e+00,DOWN_FORCE_DETACH,1792672309666206030,8.526314302e-06,-5.345507647e-05,-3.414909124e-04,9.729910038e-06,-4.824079687e-05,-3.254706330e-04,9.041503109e-06,-4.823646034e-05,-3.249872293e-04,7.015463978e-01,-5.190411515e-05,8.403994503e-01,7.015476014e-01,-4.668983554e-05,8.404154706e-01,7.017384059e-01,-4.645868421e-05,8.292476859e-01
+10,6.083333333e+00,DOWN_FORCE_DETACH,1792672310830800770,9.154571275e-06,-5.556708938e-05,-3.902313998e-04,7.487316068e-06,-5.475392757e-05,-3.865531219e-04,6.508245621e-06,-5.479110858e-05,-3.859302453e-04,7.015470261e-01,-5.401612806e-05,8.403507098e-01,7.015453588e-01,-5.320296625e-05,8.403543881e-01,7.017358726e-01,-5.301333244e-05,8.291867429e-01
+11,6.666666667e+00,DOWN_FORCE_DETACH,1792672311926772380,1.489349986e-05,-6.273993319e-05,-4.318971643e-04,8.684174358e-06,-6.265426197e-05,-4.286531823e-04,7.616411170e-06,-6.265535585e-05,-4.280122780e-04,7.015527650e-01,-6.118897187e-05,8.403090440e-01,7.015465557e-01,-6.110330064e-05,8.403122880e-01,7.017369808e-01,-6.087757971e-05,8.291446608e-01
+12,7.033333333e+00,DOWN_FORCE_DETACH,1792672312626315463,5.308658802e-05,-5.747942919e-05,-4.400283369e-04,5.516442266e-05,-6.068147390e-05,-4.362438389e-04,5.521443186e-05,-6.068991889e-05,-4.357221457e-04,7.015909581e-01,-5.592846786e-05,8.403009129e-01,7.015930359e-01,-5.913051258e-05,8.403046973e-01,7.017845788e-01,-5.891214275e-05,8.291369510e-01
+13,7.783333333e+00,DOWN_FORCE_DETACH,1792672314056405675,5.726118765e-05,-6.517363341e-05,-5.162155973e-04,5.639874917e-05,-6.333246968e-05,-5.014852955e-04,5.634535938e-05,-6.337345979e-05,-5.009172529e-04,7.015951327e-01,-6.362267209e-05,8.402247256e-01,7.015942702e-01,-6.178150836e-05,8.402394559e-01,7.017857097e-01,-6.159568365e-05,8.290717559e-01
+14,8.366666667e+00,DOWN_FORCE_DETACH,1792672315154512886,6.425012413e-05,-7.185051967e-05,-5.632074116e-04,6.039723214e-05,-7.116193608e-05,-5.674273136e-04,6.025109717e-05,-7.118224874e-05,-5.667199443e-04,7.016021216e-01,-7.029955835e-05,8.401777338e-01,7.015982687e-01,-6.961097476e-05,8.401735139e-01,7.017896155e-01,-6.940447261e-05,8.290059532e-01
+15,8.916666667e+00,DOWN_FORCE_DETACH,1792672316218446550,6.880228059e-05,-7.204958160e-05,-6.098468044e-04,6.788438044e-05,-7.433448239e-05,-6.066939090e-04,6.781077926e-05,-7.438610106e-05,-6.060314389e-04,7.016066738e-01,-7.049862028e-05,8.401310944e-01,7.016057559e-01,-7.278352107e-05,8.401342473e-01,7.017971752e-01,-7.260832493e-05,8.289666417e-01
+16,9.516666667e+00,DOWN_FORCE_DETACH,1792672317416535033,7.789616643e-05,-7.925315286e-05,-6.664416589e-04,7.147350777e-05,-7.806812809e-05,-6.540916121e-04,7.136321227e-05,-7.810543271e-05,-6.534121635e-04,7.016157676e-01,-7.770219153e-05,8.400744995e-01,7.016093450e-01,-7.651716676e-05,8.400868496e-01,7.018007276e-01,-7.632765657e-05,8.289192609e-01
+17,1.010000000e+01,DOWN_FORCE_DETACH,1792672318582649263,8.442120607e-05,-7.860710848e-05,-7.242444819e-04,8.249764536e-05,-7.662697869e-05,-7.186292155e-04,8.243482231e-05,-7.665955642e-05,-7.179037754e-04,7.016222927e-01,-7.705614716e-05,8.400166967e-01,7.016203691e-01,-7.507601737e-05,8.400223120e-01,7.018117992e-01,-7.488178029e-05,8.288547693e-01
+18,1.063333333e+01,DOWN_FORCE_DETACH,1792672319610694411,8.860902389e-05,-7.218956946e-05,-7.750904021e-04,8.612762999e-05,-7.822393042e-05,-7.586301491e-04,8.605724794e-05,-7.827922739e-05,-7.579711485e-04,7.016264805e-01,-7.063860814e-05,8.399658508e-01,7.016239991e-01,-7.667296910e-05,8.399823110e-01,7.018154216e-01,-7.650145126e-05,8.288147020e-01
+19,1.093333333e+01,DOWN_FORCE_DETACH,1792672320178684390,9.777531674e-05,-5.200788913e-05,-8.087589782e-04,9.768367856e-05,-5.205775320e-05,-8.084949080e-04,9.771381366e-05,-5.208510772e-05,-8.076703586e-04,7.016356468e-01,-5.045692781e-05,8.399321822e-01,7.016355552e-01,-5.050679188e-05,8.399324463e-01,7.018270782e-01,-5.030733158e-05,8.287650027e-01
+20,1.153333333e+01,DOWN_FORCE_DETACH,1792672321306880897,1.017628511e-04,-4.854240707e-05,-8.762728107e-04,1.013610526e-04,-4.596687394e-05,-8.706216250e-04,1.013181873e-04,-4.596626485e-05,-8.697911356e-04,7.016396343e-01,-4.699144575e-05,8.398646684e-01,7.016392325e-01,-4.441591262e-05,8.398703196e-01,7.018306826e-01,-4.418848872e-05,8.287028820e-01
+21,1.215000000e+01,DOWN_FORCE_DETACH,1792672322489127248,1.073033418e-04,-5.648464368e-05,-9.483155350e-04,1.061630048e-04,-5.464664410e-05,-9.319684994e-04,1.060489415e-04,-5.467092906e-05,-9.312101420e-04,7.016451748e-01,-5.493368236e-05,8.397926257e-01,7.016440345e-01,-5.309568278e-05,8.398089727e-01,7.018354133e-01,-5.289315293e-05,8.286414630e-01
+22,1.283333333e+01,DOWN_FORCE_DETACH,1792672323771138284,1.098000922e-04,-5.938962931e-05,-1.006843915e-03,1.075739751e-04,-5.616553161e-05,-9.918404262e-04,1.073292324e-04,-5.620239614e-05,-9.912043539e-04,7.016476716e-01,-5.783866799e-05,8.397340973e-01,7.016454455e-01,-5.461457029e-05,8.397491008e-01,7.018366936e-01,-5.442462001e-05,8.285814688e-01
+23,1.340000000e+01,DOWN_FORCE_DETACH,1792672324902949410,1.115238476e-04,-5.937115762e-05,-1.050977763e-03,1.102810410e-04,-5.898859225e-05,-1.033635074e-03,1.099856384e-04,-5.905355194e-05,-1.032974661e-03,7.016493953e-01,-5.782019630e-05,8.396899634e-01,7.016481525e-01,-5.743763093e-05,8.397073061e-01,7.018393500e-01,-5.727577581e-05,8.285396984e-01
+24,1.408333333e+01,DOWN_FORCE_DETACH,1792672326265062717,1.196541038e-04,-5.807495524e-05,-1.106847558e-03,1.180299028e-04,-6.204112259e-05,-1.096935200e-03,1.177228277e-04,-6.205077578e-05,-1.096277555e-03,7.016575256e-01,-5.652399392e-05,8.396340936e-01,7.016559014e-01,-6.049016127e-05,8.396440060e-01,7.018470872e-01,-6.027299965e-05,8.284763956e-01
+25,1.480000000e+01,DOWN_FORCE_DETACH,1792672327663130559,1.274187625e-04,-5.842342152e-05,-1.181708599e-03,1.257645935e-04,-5.989512608e-05,-1.180752801e-03,1.253558500e-04,-5.993227704e-05,-1.179980501e-03,7.016652902e-01,-5.687246020e-05,8.395592326e-01,7.016636361e-01,-5.834416476e-05,8.395601884e-01,7.018547202e-01,-5.815450091e-05,8.283926926e-01
+26,1.531666667e+01,DOWN_FORCE_DETACH,1792672328661424004,1.305489536e-04,-6.415259295e-05,-1.240988602e-03,1.303298384e-04,-6.449031360e-05,-1.240906507e-03,1.298587539e-04,-6.451908435e-05,-1.240079069e-03,7.016684204e-01,-6.260163163e-05,8.394999526e-01,7.016682013e-01,-6.293935228e-05,8.395000347e-01,7.018592231e-01,-6.274130821e-05,8.283325940e-01
+27,1.600000000e+01,DOWN_FORCE_DETACH,1792672329959220148,1.347781212e-04,-6.637355098e-05,-1.315792441e-03,1.329985289e-04,-6.394224371e-05,-1.304887940e-03,1.323875443e-04,-6.394448984e-05,-1.304099674e-03,7.016726496e-01,-6.482258966e-05,8.394251487e-01,7.016708700e-01,-6.239128239e-05,8.394360532e-01,7.018617519e-01,-6.216671370e-05,8.282685734e-01
+28,1.658333333e+01,DOWN_FORCE_DETACH,1792672331055564459,1.387758166e-04,-7.573146222e-05,-1.386639067e-03,1.369742476e-04,-7.052982089e-05,-1.367610611e-03,1.362308059e-04,-7.054678039e-05,-1.366774481e-03,7.016766473e-01,-7.418050090e-05,8.393543021e-01,7.016748457e-01,-6.897885957e-05,8.393733306e-01,7.018655952e-01,-6.876900426e-05,8.282058986e-01
+29,1.725000000e+01,DOWN_FORCE_DETACH,1792672332319395526,1.449383565e-04,-7.566528515e-05,-1.471144000e-03,1.406261339e-04,-7.179540146e-05,-1.473751260e-03,1.396123213e-04,-7.177705249e-05,-1.472728702e-03,7.016828098e-01,-7.411432383e-05,8.392697972e-01,7.016784976e-01,-7.024444014e-05,8.392671899e-01,7.018689767e-01,-6.999927635e-05,8.280999444e-01
+30,1.780000000e+01,DOWN_FORCE_DETACH,1792672333415720168,1.481935819e-04,-7.841711160e-05,-1.551503604e-03,1.470945130e-04,-7.976970728e-05,-1.536282076e-03,1.460613612e-04,-7.977119527e-05,-1.535373471e-03,7.016860651e-01,-7.686615028e-05,8.391894376e-01,7.016849660e-01,-7.821874596e-05,8.392046591e-01,7.018754257e-01,-7.799341913e-05,8.280372996e-01
+31,1.833333333e+01,DOWN_FORCE_DETACH,1792672334483648843,1.531502460e-04,-6.696074241e-05,-1.638098341e-03,1.516090658e-04,-6.918057257e-05,-1.622440456e-03,1.503610999e-04,-6.918291353e-05,-1.621463490e-03,7.016910217e-01,-6.540978109e-05,8.391028428e-01,7.016894805e-01,-6.762961125e-05,8.391185007e-01,7.018797255e-01,-6.740513740e-05,8.279512096e-01
+32,1.885000000e+01,DOWN_FORCE_DETACH,1792672335513521832,1.591204147e-04,-6.793667878e-05,-1.727718720e-03,1.568592095e-04,-7.248057042e-05,-1.709190439e-03,1.553941310e-04,-7.249728852e-05,-1.708180836e-03,7.016969919e-01,-6.638571746e-05,8.390132225e-01,7.016947307e-01,-7.092960910e-05,8.390317507e-01,7.018847585e-01,-7.071951238e-05,8.278644923e-01
+33,1.925000000e+01,DOWN_FORCE_DETACH,1792672336277457276,1.570078952e-04,-7.979428614e-05,-1.805912996e-03,1.583799161e-04,-8.224532970e-05,-1.801087184e-03,1.566493879e-04,-8.226238467e-05,-1.799917160e-03,7.016948794e-01,-7.824332482e-05,8.389350282e-01,7.016962514e-01,-8.069436837e-05,8.389398540e-01,7.018860138e-01,-8.048460853e-05,8.277727559e-01
+34,1.961666667e+01,DOWN_FORCE_DETACH,1792672336980246073,1.589722163e-04,-8.206924553e-05,-1.866841196e-03,1.605983863e-04,-9.203419233e-05,-1.860000576e-03,1.587453682e-04,-9.205256049e-05,-1.858870352e-03,7.016968437e-01,-8.051828421e-05,8.388741000e-01,7.016984699e-01,-9.048323101e-05,8.388809406e-01,7.018881098e-01,-9.027478435e-05,8.277138028e-01
+35,1.983333333e+01,DOWN_FORCE_DETACH,1792672337375577839,1.599244293e-04,-9.114937806e-05,-1.905603436e-03,1.585051356e-04,-9.504576661e-05,-1.895556345e-03,1.564825767e-04,-9.507316791e-05,-1.894427233e-03,7.016977959e-01,-8.959841674e-05,8.388353378e-01,7.016963766e-01,-9.349480529e-05,8.388453848e-01,7.018858470e-01,-9.329539177e-05,8.276782459e-01
+36,2.033333333e+01,DOWN_FORCE_DETACH,1792672338339678695,1.673251618e-04,-9.442859376e-05,-2.001863875e-03,1.663100536e-04,-9.126011053e-05,-2.000781797e-03,1.641086096e-04,-9.129120178e-05,-1.999536821e-03,7.017051966e-01,-9.287763244e-05,8.387390773e-01,7.017041815e-01,-8.970914920e-05,8.387401594e-01,7.018934730e-01,-8.951342564e-05,8.275731363e-01
+37,2.078333333e+01,DOWN_FORCE_DETACH,1792672339171578212,1.679931291e-04,-9.959397872e-05,-2.104442079e-03,1.646945364e-04,-9.120994672e-05,-2.088101501e-03,1.621338490e-04,-9.123199230e-05,-2.086857424e-03,7.017058646e-01,-9.804301740e-05,8.386364991e-01,7.017025660e-01,-8.965898539e-05,8.386528397e-01,7.018914982e-01,-8.945421616e-05,8.274858157e-01
+38,2.121666667e+01,DOWN_FORCE_DETACH,1792672340004185004,1.685795566e-04,-9.765097656e-05,-2.211699570e-03,1.684945403e-04,-1.000310075e-04,-2.207301666e-03,1.655831521e-04,-1.000693282e-04,-2.205843330e-03,7.017064510e-01,-9.610001524e-05,8.385292416e-01,7.017063660e-01,-9.848004619e-05,8.385336395e-01,7.018949475e-01,-9.829155208e-05,8.273668298e-01
+39,2.163333333e+01,DOWN_FORCE_DETACH,1792672340803751982,1.709356596e-04,-1.023293232e-04,-2.327509630e-03,1.708480356e-04,-1.025209293e-04,-2.327642531e-03,1.675553442e-04,-1.025823611e-04,-2.326093089e-03,7.017088071e-01,-1.007783619e-04,8.384134316e-01,7.017087195e-01,-1.009699680e-04,8.384132987e-01,7.018969197e-01,-1.008045850e-04,8.272465800e-01
+40,2.201666667e+01,DOWN_FORCE_DETACH,1792672341568063786,1.657837301e-04,-1.065667453e-04,-2.458878807e-03,1.684047585e-04,-1.071044731e-04,-2.442040284e-03,1.646473256e-04,-1.071772148e-04,-2.440437171e-03,7.017036552e-01,-1.050157839e-04,8.382820624e-01,7.017062762e-01,-1.055535117e-04,8.382989009e-01,7.018940117e-01,-1.053994387e-04,8.271322359e-01
+41,2.241666667e+01,DOWN_FORCE_DETACH,1792672342365884486,1.673892869e-04,-1.115536179e-04,-2.596368308e-03,1.676739586e-04,-1.107782569e-04,-2.578377602e-03,1.634660095e-04,-1.108062759e-04,-2.576626126e-03,7.017052608e-01,-1.100026566e-04,8.381445729e-01,7.017055454e-01,-1.092272956e-04,8.381625636e-01,7.018928304e-01,-1.090284998e-04,8.269960470e-01
+42,2.276666667e+01,DOWN_FORCE_DETACH,1792672343064180597,1.652874090e-04,-1.170461210e-04,-2.732916518e-03,1.650279540e-04,-1.170078602e-04,-2.733032319e-03,1.601946994e-04,-1.170328991e-04,-2.730990429e-03,7.017031589e-01,-1.154951597e-04,8.380080247e-01,7.017028994e-01,-1.154568989e-04,8.380079089e-01,7.018895591e-01,-1.152551230e-04,8.268416827e-01
+43,2.308333333e+01,DOWN_FORCE_DETACH,1792672343695986734,1.599521616e-04,-1.168054001e-04,-2.872568867e-03,1.596856274e-04,-1.169201065e-04,-2.872908948e-03,1.542000726e-04,-1.169160408e-04,-2.870640728e-03,7.016978236e-01,-1.152544388e-04,8.378683723e-01,7.016975571e-01,-1.153691452e-04,8.378680322e-01,7.018835645e-01,-1.151382646e-04,8.267020324e-01
+44,2.341666667e+01,DOWN_FORCE_DETACH,1792672344327941032,1.629639012e-04,-1.190877505e-04,-3.000677139e-03,1.606230264e-04,-1.187622622e-04,-2.990511856e-03,1.546873098e-04,-1.187491633e-04,-2.988286141e-03,7.017008354e-01,-1.175367892e-04,8.377402640e-01,7.016984945e-01,-1.172113009e-04,8.377504293e-01,7.018840517e-01,-1.169713872e-04,8.265843870e-01
+45,2.373333333e+01,DOWN_FORCE_DETACH,1792672344928093439,1.646502792e-04,-1.230231995e-04,-3.132680851e-03,1.645383593e-04,-1.230076299e-04,-3.132490984e-03,1.582076895e-04,-1.230342818e-04,-3.130221826e-03,7.017025218e-01,-1.214722382e-04,8.376082603e-01,7.017024098e-01,-1.214566686e-04,8.376084502e-01,7.018875721e-01,-1.212565057e-04,8.264424513e-01
+46,2.403333333e+01,DOWN_FORCE_DETACH,1792672345532561326,1.655532385e-04,-1.257310597e-04,-3.280812272e-03,1.652091502e-04,-1.259578532e-04,-3.280747577e-03,1.583287592e-04,-1.259661422e-04,-3.278293937e-03,7.017034247e-01,-1.241800984e-04,8.374601289e-01,7.017030806e-01,-1.244068919e-04,8.374601936e-01,7.018876931e-01,-1.241883661e-04,8.262943792e-01
+47,2.431666667e+01,DOWN_FORCE_DETACH,1792672346058069623,1.644314882e-04,-1.229276223e-04,-3.410787092e-03,1.642233305e-04,-1.231976370e-04,-3.410821406e-03,1.568696110e-04,-1.231989906e-04,-3.408357815e-03,7.017023030e-01,-1.213766610e-04,8.373301541e-01,7.017020948e-01,-1.216466757e-04,8.373301198e-01,7.018862340e-01,-1.214212145e-04,8.261643153e-01
+48,2.460000000e+01,DOWN_FORCE_DETACH,1792672346592014380,1.595810585e-04,-1.342580858e-04,-3.558654249e-03,1.594504096e-04,-1.343503959e-04,-3.558506226e-03,1.513846473e-04,-1.343426006e-04,-3.556015891e-03,7.016974525e-01,-1.327071245e-04,8.371822869e-01,7.016973219e-01,-1.327994345e-04,8.371824350e-01,7.018807490e-01,-1.325648245e-04,8.260166572e-01
+49,2.486666667e+01,DOWN_FORCE_DETACH,1792672347088106507,1.609203904e-04,-1.365438702e-04,-3.702931880e-03,1.608669069e-04,-1.365697831e-04,-3.703060261e-03,1.523097290e-04,-1.365170695e-04,-3.700498349e-03,7.016987919e-01,-1.349929088e-04,8.370380093e-01,7.016987384e-01,-1.350188217e-04,8.370378809e-01,7.018816741e-01,-1.347392934e-04,8.258721748e-01
+50,2.511666667e+01,DOWN_FORCE_DETACH,1792672347554519158,1.629110379e-04,-1.407372338e-04,-3.843884602e-03,1.649035156e-04,-1.396536967e-04,-3.831978294e-03,1.559685119e-04,-1.396187145e-04,-3.829426412e-03,7.017007825e-01,-1.391862724e-04,8.368970566e-01,7.017027750e-01,-1.381027354e-04,8.369089629e-01,7.018853329e-01,-1.378409384e-04,8.257432467e-01
+51,2.535000000e+01,DOWN_FORCE_DETACH,1792672348020346123,1.624297162e-04,-1.464389949e-04,-3.992931533e-03,1.600134553e-04,-1.498107246e-04,-3.985088186e-03,1.504204745e-04,-1.497322679e-04,-3.982411022e-03,7.017003012e-01,-1.448880336e-04,8.367480097e-01,7.016978849e-01,-1.482597633e-04,8.367558530e-01,7.018797849e-01,-1.479544918e-04,8.255902621e-01
+52,2.558333333e+01,DOWN_FORCE_DETACH,1792672348454199701,1.569159121e-04,-1.495866514e-04,-4.142572830e-03,1.590790935e-04,-1.494701210e-04,-4.128698034e-03,1.489463243e-04,-1.494224597e-04,-4.125941158e-03,7.016947874e-01,-1.480356901e-04,8.365983684e-01,7.016969506e-01,-1.479191596e-04,8.366122432e-01,7.018783107e-01,-1.476446835e-04,8.254467319e-01
+53,2.581666667e+01,DOWN_FORCE_DETACH,1792672348886623737,1.646696532e-04,-1.566981681e-04,-4.284029423e-03,1.642503962e-04,-1.568717069e-04,-4.283908904e-03,1.537020228e-04,-1.568034700e-04,-4.281115225e-03,7.017025411e-01,-1.551472068e-04,8.364569118e-01,7.017021219e-01,-1.553207456e-04,8.364570323e-01,7.018830664e-01,-1.550256939e-04,8.252915579e-01
+54,2.601666667e+01,DOWN_FORCE_DETACH,1792672349286248534,1.609540613e-04,-1.599510349e-04,-4.432163215e-03,1.607000829e-04,-1.598961902e-04,-4.432360580e-03,1.495263153e-04,-1.598023169e-04,-4.429470393e-03,7.016988255e-01,-1.584000736e-04,8.363087780e-01,7.016985716e-01,-1.583452289e-04,8.363085806e-01,7.018788907e-01,-1.580245407e-04,8.251432027e-01
+55,2.620000000e+01,DOWN_FORCE_DETACH,1792672349652330329,1.536627747e-04,-1.552707725e-04,-4.583800105e-03,1.554828796e-04,-1.543772588e-04,-4.569608154e-03,1.436580100e-04,-1.542413388e-04,-4.566646286e-03,7.016915343e-01,-1.537198112e-04,8.361571411e-01,7.016933544e-01,-1.528262975e-04,8.361713330e-01,7.018730224e-01,-1.524635627e-04,8.250060268e-01
+56,2.638333333e+01,DOWN_FORCE_DETACH,1792672350016264439,1.753735820e-04,-1.638165671e-04,-4.709453530e-03,1.750204250e-04,-1.635815698e-04,-4.708949632e-03,1.631732578e-04,-1.634735180e-04,-4.706088775e-03,7.017132451e-01,-1.622656058e-04,8.360314877e-01,7.017128919e-01,-1.620306085e-04,8.360319916e-01,7.018925376e-01,-1.616957419e-04,8.248665843e-01
+57,2.655000000e+01,DOWN_FORCE_DETACH,1792672350350311460,1.642605953e-04,-1.730852291e-04,-4.856956567e-03,1.642057080e-04,-1.731141706e-04,-4.856537892e-03,1.516151113e-04,-1.730027378e-04,-4.853490445e-03,7.017021321e-01,-1.715342677e-04,8.358839846e-01,7.017020772e-01,-1.715632093e-04,8.358844033e-01,7.018809795e-01,-1.712249617e-04,8.247191827e-01
+58,2.671666667e+01,DOWN_SETTLE,1792672350682510798,1.628104236e-04,-1.830208910e-04,-5.003556288e-03,1.625830813e-04,-1.831285148e-04,-5.003488506e-03,1.494079884e-04,-1.829836495e-04,-5.000473478e-03,7.017006819e-01,-1.814699297e-04,8.357373849e-01,7.017004546e-01,-1.815775534e-04,8.357374527e-01,7.018787724e-01,-1.812058734e-04,8.245721996e-01
+59,2.716666667e+01,DOWN_PEAK_HOLD,1792672351580240822,1.535944699e-04,-1.689802725e-04,-5.103306464e-03,1.539557188e-04,-1.661481328e-04,-5.098586269e-03,1.401778785e-04,-1.660568470e-04,-5.096837426e-03,7.016914660e-01,-1.674293112e-04,8.356376347e-01,7.016918272e-01,-1.645971715e-04,8.356423549e-01,7.018695423e-01,-1.642790709e-04,8.244758357e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a90b289bc8a07feb2bfdd63d7c22446a7702ce97
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,1.9372e-04,1.7577e-03,2.4546e+00,-3.6918e-02,3.6799e-02,-1.1351e-05,1.5582e-04,-9.6392e-07,6.3896e-05,-4.4703e-08,1.0949e-05,-6.9522e-08,1.6842e-04,1.0949e-05
+1,6.6667e-01,DOWN_FORCE_DETACH,1.5506e-04,5.2868e-03,1.7452e-03,2.4568e+00,-3.6920e-02,3.7157e-02,-1.3606e-05,5.2489e-03,-1.3472e-05,2.1944e-03,-2.7306e-06,3.6846e-04,-2.3249e-06,5.6891e-03,3.6847e-04
+2,1.1333e+00,DOWN_FORCE_DETACH,3.0975e-04,1.0208e-02,6.0639e-03,2.4684e+00,-3.7225e-02,3.7495e-02,-1.1373e-05,1.0170e-02,4.3052e-03,1.3852e-02,-3.0690e-04,7.0664e-04,-9.2059e-08,1.7716e-02,7.7041e-04
+3,1.7000e+00,DOWN_FORCE_DETACH,4.6276e-04,8.9000e-03,8.0968e-03,2.4745e+00,-3.7368e-02,3.7398e-02,-1.1531e-05,8.8621e-03,6.3381e-03,1.9903e-02,-4.5008e-04,6.0961e-04,-2.4973e-07,2.2690e-02,7.5776e-04
+4,2.2167e+00,DOWN_FORCE_DETACH,6.1678e-04,1.2102e-02,9.8816e-03,2.4803e+00,-3.7493e-02,3.7619e-02,-1.1926e-05,1.2064e-02,8.1229e-03,2.5758e-02,-5.7561e-04,8.3113e-04,-6.4446e-07,2.9581e-02,1.0110e-03
+5,2.8000e+00,DOWN_FORCE_DETACH,7.6942e-04,1.3765e-02,1.2048e-02,2.4764e+00,-3.7647e-02,3.7740e-02,-1.2213e-05,1.3728e-02,1.0289e-02,2.1850e-02,-7.2928e-04,9.5218e-04,-9.3161e-07,2.7780e-02,1.1994e-03
+6,3.5167e+00,DOWN_FORCE_DETACH,9.2613e-04,1.2125e-02,1.1802e-02,2.4785e+00,-3.7632e-02,3.7624e-02,-1.2289e-05,1.2087e-02,1.0043e-02,2.3951e-02,-7.1423e-04,8.3552e-04,-1.0077e-06,2.8646e-02,1.0992e-03
+7,4.1667e+00,DOWN_FORCE_DETACH,1.0822e-03,1.2616e-02,1.3931e-02,2.4788e+00,-3.7781e-02,3.7658e-02,-8.6864e-06,1.2578e-02,1.2172e-02,2.4250e-02,-8.6369e-04,8.7025e-04,2.5949e-06,2.9907e-02,1.2261e-03
+8,4.9000e+00,DOWN_FORCE_DETACH,1.2363e-03,1.3116e-02,1.6767e-02,2.4819e+00,-3.7977e-02,3.7691e-02,-9.0266e-07,1.3078e-02,1.5008e-02,2.7331e-02,-1.0589e-03,9.0326e-04,1.0379e-05,3.3812e-02,1.3918e-03
+9,5.5000e+00,DOWN_FORCE_DETACH,1.3901e-03,1.3260e-02,1.7416e-02,2.4815e+00,-3.8019e-02,3.7702e-02,5.9808e-06,1.3222e-02,1.5657e-02,2.6919e-02,-1.1010e-03,9.1350e-04,1.7262e-05,3.3832e-02,1.4308e-03
+10,6.0833e+00,DOWN_FORCE_DETACH,1.5460e-03,1.4281e-02,1.9194e-02,2.4876e+00,-3.8138e-02,3.7769e-02,1.4744e-05,1.4243e-02,1.7435e-02,3.2968e-02,-1.2199e-03,9.8094e-04,2.6025e-05,3.9921e-02,1.5656e-03
+11,6.6667e+00,DOWN_FORCE_DETACH,1.6812e-03,1.3909e-02,2.1312e-02,2.4863e+00,-3.8283e-02,3.7744e-02,2.3956e-05,1.3871e-02,1.9553e-02,3.1735e-02,-1.3654e-03,9.5570e-04,3.5237e-05,3.9773e-02,1.6670e-03
+12,7.0333e+00,DOWN_FORCE_DETACH,1.8531e-03,2.4085e-03,2.0716e-02,2.4824e+00,-3.8242e-02,3.6936e-02,2.8885e-05,2.3706e-03,1.8957e-02,2.7848e-02,-1.3243e-03,1.4817e-04,4.0166e-05,3.3771e-02,1.3331e-03
+13,7.7833e+00,DOWN_FORCE_DETACH,2.0092e-03,6.5784e-03,2.1221e-02,2.4852e+00,-3.8276e-02,3.7226e-02,3.2969e-05,6.5405e-03,1.9463e-02,3.0588e-02,-1.3586e-03,4.3790e-04,4.4250e-05,3.6840e-02,1.4281e-03
+14,8.3667e+00,DOWN_FORCE_DETACH,2.1643e-03,7.5579e-03,2.3151e-02,2.4921e+00,-3.8410e-02,3.7289e-02,3.1575e-05,7.5200e-03,2.1393e-02,3.7477e-02,-1.4927e-03,5.0084e-04,4.2856e-05,4.3803e-02,1.5750e-03
+15,8.9167e+00,DOWN_FORCE_DETACH,2.3185e-03,7.4844e-03,2.3745e-02,2.4897e+00,-3.8450e-02,3.7284e-02,2.5298e-05,7.4465e-03,2.1986e-02,3.5115e-02,-1.5321e-03,4.9547e-04,3.6579e-05,4.2094e-02,1.6106e-03
+16,9.5167e+00,DOWN_FORCE_DETACH,2.4714e-03,8.6677e-03,2.4633e-02,2.4886e+00,-3.8508e-02,3.7367e-02,1.5149e-05,8.6298e-03,2.2874e-02,3.3998e-02,-1.5901e-03,5.7854e-04,2.6430e-05,4.1875e-02,1.6923e-03
+17,1.0100e+01,DOWN_FORCE_DETACH,2.6250e-03,7.6874e-03,2.4093e-02,2.4927e+00,-3.8461e-02,3.7294e-02,3.9740e-06,7.6495e-03,2.2335e-02,3.8148e-02,-1.5430e-03,5.0626e-04,1.5255e-05,4.4862e-02,1.6240e-03
+18,1.0633e+01,DOWN_FORCE_DETACH,2.7813e-03,9.2475e-03,2.4600e-02,2.4890e+00,-3.8490e-02,3.7407e-02,-5.1905e-06,9.2096e-03,2.2841e-02,3.4434e-02,-1.5721e-03,6.1918e-04,6.0908e-06,4.2335e-02,1.6897e-03
+19,1.0933e+01,DOWN_FORCE_DETACH,2.9308e-03,9.8163e-03,8.1187e-03,2.4952e+00,-3.7336e-02,3.7443e-02,-2.2147e-05,9.7784e-03,6.3601e-03,4.0609e-02,-4.1844e-04,6.5529e-04,-1.0866e-05,4.2251e-02,7.7757e-04
+20,1.1533e+01,DOWN_FORCE_DETACH,3.0860e-03,9.5124e-03,1.4865e-02,2.4963e+00,-3.7807e-02,3.7423e-02,-2.4539e-05,9.4745e-03,1.3106e-02,4.1758e-02,-8.8909e-04,6.3442e-04,-1.3258e-05,4.4780e-02,1.0923e-03
+21,1.2150e+01,DOWN_FORCE_DETACH,3.2425e-03,1.1209e-02,1.7460e-02,2.4936e+00,-3.7985e-02,3.7545e-02,-2.5865e-05,1.1171e-02,1.5701e-02,3.9059e-02,-1.0674e-03,7.5733e-04,-1.4584e-05,4.3553e-02,1.3089e-03
+22,1.2833e+01,DOWN_FORCE_DETACH,3.3982e-03,1.3554e-02,1.7987e-02,2.4896e+00,-3.8018e-02,3.7713e-02,-2.6314e-05,1.3516e-02,1.6228e-02,3.4995e-02,-1.1000e-03,9.2474e-04,-1.5032e-05,4.0874e-02,1.4371e-03
+23,1.3400e+01,DOWN_FORCE_DETACH,3.5527e-03,1.4506e-02,1.8930e-02,2.4858e+00,-3.8080e-02,3.7781e-02,-2.4517e-05,1.4468e-02,1.7171e-02,3.1265e-02,-1.1619e-03,9.9298e-04,-1.3235e-05,3.8492e-02,1.5284e-03
+24,1.4083e+01,DOWN_FORCE_DETACH,3.7049e-03,1.3966e-02,1.9955e-02,2.4871e+00,-3.8144e-02,3.7740e-02,-2.3045e-05,1.3928e-02,1.8197e-02,3.2553e-02,-1.2261e-03,9.5169e-04,-1.1763e-05,3.9810e-02,1.5521e-03
+25,1.4800e+01,DOWN_FORCE_DETACH,3.8600e-03,1.3245e-02,1.9546e-02,2.4926e+00,-3.8104e-02,3.7683e-02,-2.4252e-05,1.3208e-02,1.7787e-02,3.8043e-02,-1.1866e-03,8.9495e-04,-1.2970e-05,4.4024e-02,1.4863e-03
+26,1.5317e+01,DOWN_FORCE_DETACH,4.0170e-03,1.3159e-02,1.9964e-02,2.4888e+00,-3.8124e-02,3.7679e-02,-2.4857e-05,1.3121e-02,1.8206e-02,3.4194e-02,-1.2064e-03,8.9132e-04,-1.3575e-05,4.0901e-02,1.5000e-03
+27,1.6000e+01,DOWN_FORCE_DETACH,4.1685e-03,1.3122e-02,2.1224e-02,2.4937e+00,-3.8203e-02,3.7673e-02,-2.6577e-05,1.3084e-02,1.9466e-02,3.9164e-02,-1.2854e-03,8.8461e-04,-1.5295e-05,4.5650e-02,1.5605e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_05/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..552d45183b98edd1b6ab139b262e54aa4c3a8908
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97f2d7795b03224502a1ebb42eccf3595dd1489d890d5bab3d682ca646450679
+size 17489920
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..2eaf5769faa941c14e302992a5b27b9227ebb62e
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a26ffbb927fefb2de323d798d74def3a0f86056c
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..28664a4614f88122d19b2e2103ca26df9f088748
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ede9190ce56ebb8b552d694173645b4b402c7543
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+12,1.200000000e+00,WAIT_W2,1792672283085889561,2.147751396e-06,1.718981065e-05,3.771674492e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.755839855e-07,3.960673976e-10,6.606096403e-08,7.015400192e-01,1.874077197e-05,8.407447129e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295399e-01,1.778171539e-06,8.295727392e-01
+13,1.300000000e+00,WAIT_W2,1792672283285904759,1.474577147e-07,1.660071015e-05,2.219353489e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.848793124e-07,3.989718521e-10,6.970667332e-08,7.015380189e-01,1.815167147e-05,8.407431605e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295492e-01,1.778174444e-06,8.295727428e-01
+14,1.416666667e+00,WAIT_W2,1792672283516956001,9.920675825e-07,8.727491404e-06,9.842361447e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.950095697e-07,3.977596776e-10,7.371019861e-08,7.015388635e-01,1.027845273e-05,8.407419254e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295593e-01,1.778173232e-06,8.295727468e-01
+15,1.483333333e+00,WAIT_W2,1792672283651923633,3.403057555e-06,1.450125507e-05,4.473976242e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.004732921e-07,3.946791678e-10,7.588303619e-08,7.015412745e-01,1.605221640e-05,8.407454152e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295648e-01,1.778170151e-06,8.295727490e-01
+16,1.566666667e+00,WAIT_W2,1792672283817934895,4.386942207e-07,4.987873736e-07,1.726036876e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.069905748e-07,3.888178009e-10,7.848775552e-08,7.015383102e-01,2.049748695e-06,8.407426672e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295713e-01,1.778164290e-06,8.295727516e-01
+17,1.650000000e+00,WAIT_W2,1792672283984401519,1.813996591e-07,5.662218062e-07,2.577576782e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.131776743e-07,3.817330063e-10,8.097443049e-08,7.015380529e-01,2.117183127e-06,8.407435188e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295775e-01,1.778157205e-06,8.295727541e-01
+18,1.716666667e+00,WAIT_W2,1792672284115960002,1.548342544e-06,7.914692875e-07,5.354323668e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.179014155e-07,3.760460832e-10,8.288250031e-08,7.015394198e-01,2.342430609e-06,8.407462955e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295822e-01,1.778151518e-06,8.295727560e-01
+19,1.816666667e+00,UP_FORCE_RAMP,1792672284316575257,3.430783911e-07,-1.821942624e-06,4.584776133e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.246299133e-07,3.677554251e-10,8.561579845e-08,7.015382146e-01,-2.709813032e-07,8.407455260e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295889e-01,1.778143227e-06,8.295727587e-01
+20,1.900000000e+00,UP_FORCE_RAMP,1792672284481992417,2.525322238e-06,-3.273530789e-06,6.008350787e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.299269130e-07,3.599774662e-10,8.778152638e-08,7.015403968e-01,-1.722569468e-06,8.407469495e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295942e-01,1.778135450e-06,8.295727609e-01
+21,1.983333333e+00,UP_FORCE_RAMP,1792672284648022946,1.024439921e-06,-8.694153787e-06,4.143561885e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.349582914e-07,3.517652263e-10,8.985082112e-08,7.015388959e-01,-7.143192466e-06,8.407450847e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295993e-01,1.778127237e-06,8.295727630e-01
+22,2.116666667e+00,UP_FORCE_RAMP,1792672284916026698,-1.396050721e-06,-1.607617500e-05,2.936927001e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.424882996e-07,3.366857626e-10,9.297138981e-08,7.015364754e-01,-1.452521368e-05,8.407438781e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296068e-01,1.778112158e-06,8.295727661e-01
+23,2.166666667e+00,UP_FORCE_RAMP,1792672285014074455,3.172130422e-06,-1.322593696e-05,8.206941788e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.451566278e-07,3.308045747e-10,9.408464896e-08,7.015410436e-01,-1.167497564e-05,8.407491481e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296095e-01,1.778106277e-06,8.295727672e-01
+24,2.250000000e+00,UP_FORCE_RAMP,1792672285180068315,6.132499520e-07,-1.717982309e-05,4.323686222e-06,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.473438446e-07,-1.989449441e-05,6.612349667e-06,7.015384847e-01,-1.562886176e-05,8.407452649e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296117e-01,-1.811671893e-05,8.295792855e-01
+25,2.366666667e+00,UP_FORCE_RAMP,1792672285414052539,-2.634469558e-07,-2.312055226e-05,4.095555431e-06,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.527039019e-07,-1.989687337e-05,6.620418095e-06,7.015376080e-01,-2.156959094e-05,8.407450367e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296170e-01,-1.811909790e-05,8.295792935e-01
+26,2.433333333e+00,UP_FORCE_RAMP,1792672285546101705,2.701721956e-06,-1.898622066e-05,1.003982221e-05,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.556720066e-07,-1.989739006e-05,6.624072620e-06,7.015405732e-01,-1.743525934e-05,8.407509810e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296200e-01,-1.811961459e-05,8.295792972e-01
+27,2.533333333e+00,UP_FORCE_RAMP,1792672285746106219,6.952557503e-07,-2.595960582e-05,1.042665717e-05,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.599314811e-07,-1.989780234e-05,6.628981735e-06,7.015385667e-01,-2.440864450e-05,8.407513678e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296242e-01,-1.812002687e-05,8.295793021e-01
+28,2.633333333e+00,UP_FORCE_RAMP,1792672285946168895,3.898428280e-07,-2.894252077e-05,1.641007618e-05,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.639497209e-07,-1.989802087e-05,6.633432738e-06,7.015382613e-01,-2.739155945e-05,8.407573513e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296283e-01,-1.812024539e-05,8.295793066e-01
+29,2.750000000e+00,UP_FORCE_RAMP,1792672286144202914,2.243194221e-07,-2.285920370e-05,2.143284033e-05,-2.198886140e-08,-1.987090388e-05,6.560204390e-06,2.683390822e-07,-1.989817409e-05,6.638198936e-06,7.015380958e-01,-2.130824238e-05,8.407623740e-01,7.015378495e-01,-1.831994256e-05,8.407475014e-01,7.017296327e-01,-1.812039862e-05,8.295793113e-01
+30,2.850000000e+00,UP_FORCE_RAMP,1792672286344147235,-1.387927899e-06,-3.199796329e-05,2.964986540e-05,-7.517030136e-07,-3.087380730e-05,2.528398395e-05,-3.977132211e-07,-3.089254078e-05,2.520663043e-05,7.015364836e-01,-3.044700197e-05,8.407705911e-01,7.015371198e-01,-2.932284598e-05,8.407662252e-01,7.017289666e-01,-2.911476531e-05,8.295978798e-01
+31,2.866666667e+00,UP_FORCE_RAMP,1792672286378152723,-2.049473341e-05,-2.830096962e-05,2.310679078e-05,-2.017365293e-05,-2.819508249e-05,2.280510441e-05,-2.029830326e-05,-2.819735089e-05,2.270168902e-05,7.015173767e-01,-2.675000830e-05,8.407640480e-01,7.015176978e-01,-2.664412117e-05,8.407637463e-01,7.017090660e-01,-2.641957541e-05,8.295953748e-01
+32,2.950000000e+00,UP_FORCE_RAMP,1792672286545028673,-1.641528172e-05,-2.573522921e-05,4.055129996e-05,-2.017365293e-05,-2.819508249e-05,2.280510441e-05,-2.031914966e-05,-2.820301963e-05,2.271591681e-05,7.015214562e-01,-2.418426788e-05,8.407814925e-01,7.015176978e-01,-2.664412117e-05,8.407637463e-01,7.017090452e-01,-2.642524415e-05,8.295953890e-01
+33,3.033333333e+00,UP_FORCE_RAMP,1792672286694313955,-1.301624557e-05,-2.666636290e-05,5.420727436e-05,-1.588120470e-05,-2.655466257e-05,4.566834147e-05,-1.579802928e-05,-2.657119763e-05,4.545309218e-05,7.015248552e-01,-2.511540157e-05,8.407951485e-01,7.015219903e-01,-2.500370125e-05,8.407866095e-01,7.017135663e-01,-2.479342216e-05,8.296181262e-01
+34,3.150000000e+00,UP_FORCE_RAMP,1792672286913025009,-1.016244172e-05,-2.970089951e-05,6.873774007e-05,-1.141207296e-05,-2.947048187e-05,6.596756086e-05,-1.116123042e-05,-2.950164257e-05,6.568834213e-05,7.015277090e-01,-2.814993819e-05,8.408096789e-01,7.015264594e-01,-2.791952055e-05,8.408069087e-01,7.017182031e-01,-2.772386709e-05,8.296383615e-01
+35,3.283333333e+00,UP_FORCE_RAMP,1792672287176207219,-8.385937638e-06,-2.849911083e-05,7.890183609e-05,-1.141207296e-05,-2.947048187e-05,6.596756086e-05,-1.116025409e-05,-2.950237676e-05,6.573722581e-05,7.015294855e-01,-2.694814951e-05,8.408198430e-01,7.015264594e-01,-2.791952055e-05,8.408069087e-01,7.017182041e-01,-2.772460129e-05,8.296384103e-01
+36,3.350000000e+00,UP_FORCE_RAMP,1792672287308299033,-9.060541906e-06,-3.260149203e-05,8.101278164e-05,-1.141207296e-05,-2.947048187e-05,6.596756086e-05,-1.116049363e-05,-2.950274079e-05,6.575645289e-05,7.015288109e-01,-3.105053071e-05,8.408219540e-01,7.015264594e-01,-2.791952055e-05,8.408069087e-01,7.017182038e-01,-2.772496531e-05,8.296384296e-01
+37,3.466666667e+00,UP_FORCE_RAMP,1792672287515910652,-8.175273491e-06,-3.025295817e-05,9.037544056e-05,-6.706603077e-06,-2.988782951e-05,8.716289553e-05,-6.279848669e-06,-2.988815872e-05,8.685648513e-05,7.015296962e-01,-2.870199685e-05,8.408313166e-01,7.015311649e-01,-2.833686819e-05,8.408281041e-01,7.017230845e-01,-2.811038325e-05,8.296595296e-01
+38,3.583333333e+00,UP_FORCE_RAMP,1792672287744230583,-4.059285851e-06,-3.248840789e-05,1.015364748e-04,-6.706603077e-06,-2.988782951e-05,8.716289553e-05,-6.276414356e-06,-2.988871249e-05,8.690090436e-05,7.015338122e-01,-3.093744657e-05,8.408424777e-01,7.015311649e-01,-2.833686819e-05,8.408281041e-01,7.017230879e-01,-2.811093701e-05,8.296595740e-01
+39,3.683333333e+00,UP_FORCE_RAMP,1792672287940209011,-1.522102160e-06,-3.171659429e-05,1.134419223e-04,-1.413357285e-06,-3.183272478e-05,1.134296405e-04,-7.979773585e-07,-3.185179633e-05,1.129843774e-04,7.015363494e-01,-3.016563297e-05,8.408543831e-01,7.015364581e-01,-3.028176346e-05,8.408543708e-01,7.017285663e-01,-3.007402086e-05,8.296856575e-01
+40,3.800000000e+00,UP_FORCE_RAMP,1792672288142211588,3.087641268e-06,-3.137266979e-05,1.314213437e-04,-1.413357285e-06,-3.183272478e-05,1.134296405e-04,-7.865158760e-07,-3.184891354e-05,1.130560498e-04,7.015409591e-01,-2.982170847e-05,8.408723625e-01,7.015364581e-01,-3.028176346e-05,8.408543708e-01,7.017285778e-01,-3.007113806e-05,8.296857292e-01
+41,3.900000000e+00,UP_FORCE_RAMP,1792672288343081090,4.743918409e-06,-3.085829750e-05,1.437908399e-04,3.127950904e-06,-3.118217135e-05,1.337291984e-04,3.929156539e-06,-3.120571902e-05,1.332543246e-04,7.015426154e-01,-2.930733618e-05,8.408847320e-01,7.015409994e-01,-2.963121003e-05,8.408746704e-01,7.017332935e-01,-2.942794355e-05,8.297059274e-01
+42,4.016666667e+00,UP_FORCE_RAMP,1792672288574365193,5.441899667e-06,-3.460558521e-05,1.530121642e-04,9.062344525e-06,-3.596639493e-05,1.527826064e-04,1.012243035e-05,-3.598575824e-05,1.522839824e-04,7.015433134e-01,-3.305462388e-05,8.408939534e-01,7.015469338e-01,-3.441543361e-05,8.408937238e-01,7.017394867e-01,-3.420798277e-05,8.297249571e-01
+43,4.100000000e+00,UP_FORCE_RAMP,1792672288706270101,8.317408996e-06,-3.480840397e-05,1.604926670e-04,9.062344525e-06,-3.596639493e-05,1.527826064e-04,1.013069513e-05,-3.598636009e-05,1.523301003e-04,7.015461889e-01,-3.325744265e-05,8.409014339e-01,7.015469338e-01,-3.441543361e-05,8.408937238e-01,7.017394950e-01,-3.420858462e-05,8.297250032e-01
+44,4.183333333e+00,UP_FORCE_RAMP,1792672288872247098,3.430794072e-06,-4.334928610e-05,1.581875237e-04,9.062344525e-06,-3.596639493e-05,1.527826064e-04,1.013760444e-05,-3.598668364e-05,1.523704982e-04,7.015413023e-01,-4.179832478e-05,8.408991287e-01,7.015469338e-01,-3.441543361e-05,8.408937238e-01,7.017395019e-01,-3.420890817e-05,8.297250436e-01
+45,4.250000000e+00,UP_FORCE_RAMP,1792672289008269527,-4.501835540e-06,-6.281195137e-05,1.708380128e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.540663899e-06,-6.296345715e-05,1.703298326e-04,7.015333696e-01,-6.126099005e-05,8.409117792e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258237e-01,-6.118568168e-05,8.297430030e-01
+46,4.283333333e+00,UP_FORCE_RAMP,1792672289072273471,2.607121838e-06,-5.578393263e-05,1.696742301e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.555055478e-06,-6.296875756e-05,1.703548863e-04,7.015404786e-01,-5.423297131e-05,8.409106154e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258093e-01,-6.119098209e-05,8.297430280e-01
+47,4.350000000e+00,UP_FORCE_RAMP,1792672289204304913,2.848165786e-06,-6.231727697e-05,1.744771345e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.559107378e-06,-6.297227826e-05,1.703935056e-04,7.015407196e-01,-6.076631565e-05,8.409154183e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258052e-01,-6.119450279e-05,8.297430666e-01
+48,4.450000000e+00,UP_FORCE_RAMP,1792672289372289919,1.078751726e-06,-6.571350474e-05,1.750894602e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.560570692e-06,-6.297423051e-05,1.704421681e-04,7.015389502e-01,-6.416254341e-05,8.409160306e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258037e-01,-6.119645504e-05,8.297431153e-01
+49,4.516666667e+00,UP_FORCE_RAMP,1792672289504312654,3.058161020e-07,-5.993773558e-05,1.797757318e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.560711313e-06,-6.297489017e-05,1.704713997e-04,7.015381773e-01,-5.838677425e-05,8.409207169e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258036e-01,-6.119711470e-05,8.297431445e-01
+50,4.600000000e+00,UP_FORCE_RAMP,1792672289673002492,-1.137326715e-06,-6.797997272e-05,1.852989517e-04,-4.377237174e-06,-6.293734033e-05,1.707900761e-04,-3.560602679e-06,-6.297541731e-05,1.705053183e-04,7.015367342e-01,-6.642901140e-05,8.409262401e-01,7.015334942e-01,-6.138637901e-05,8.409117313e-01,7.017258037e-01,-6.119764184e-05,8.297431784e-01
+51,4.683333333e+00,UP_FORCE_RAMP,1792672289836329481,1.327617680e-06,-6.998807497e-05,1.967994997e-04,1.884061220e-06,-6.600415285e-05,1.919321815e-04,2.910352308e-06,-6.606142838e-05,1.914627066e-04,7.015391991e-01,-6.843711365e-05,8.409377407e-01,7.015397555e-01,-6.445319153e-05,8.409328734e-01,7.017322747e-01,-6.428365291e-05,8.297641358e-01
+52,4.800000000e+00,UP_FORCE_RAMP,1792672290038315724,-1.359679428e-06,-6.545725800e-05,2.054807709e-04,1.884061220e-06,-6.600415285e-05,1.919321815e-04,2.916224162e-06,-6.606230370e-05,1.915208769e-04,7.015365118e-01,-6.390629668e-05,8.409464220e-01,7.015397555e-01,-6.445319153e-05,8.409328734e-01,7.017322805e-01,-6.428452822e-05,8.297641940e-01
+53,4.883333333e+00,UP_FORCE_RAMP,1792672290205169658,-2.126114707e-06,-6.501808043e-05,2.144121615e-04,-9.934364693e-07,-6.619013176e-05,2.144634789e-04,1.319621099e-07,-6.622503605e-05,2.139318800e-04,7.015357454e-01,-6.346711911e-05,8.409553533e-01,7.015368780e-01,-6.463917043e-05,8.409554047e-01,7.017294963e-01,-6.444726058e-05,8.297866050e-01
+54,4.983333333e+00,UP_FORCE_RAMP,1792672290407098662,-6.324653469e-06,-6.433851804e-05,2.180957148e-04,-9.934364693e-07,-6.619013176e-05,2.144634789e-04,1.323641230e-07,-6.622562208e-05,2.139904549e-04,7.015315468e-01,-6.278755672e-05,8.409590369e-01,7.015368780e-01,-6.463917043e-05,8.409554047e-01,7.017294967e-01,-6.444784660e-05,8.297866636e-01
+55,5.066666667e+00,UP_FORCE_RAMP,1792672290536848471,-2.190862697e-06,-6.940230129e-05,2.284926873e-04,-9.934364693e-07,-6.619013176e-05,2.144634789e-04,1.334043703e-07,-6.622593594e-05,2.140305496e-04,7.015356806e-01,-6.785133997e-05,8.409694339e-01,7.015368780e-01,-6.463917043e-05,8.409554047e-01,7.017294977e-01,-6.444816047e-05,8.297867037e-01
+56,5.133333333e+00,UP_FORCE_RAMP,1792672290670375395,-2.735542840e-06,-6.583592905e-05,2.321323801e-04,-9.934364693e-07,-6.619013176e-05,2.144634789e-04,1.342700068e-07,-6.622606275e-05,2.140595092e-04,7.015351359e-01,-6.428496773e-05,8.409730736e-01,7.015368780e-01,-6.463917043e-05,8.409554047e-01,7.017294986e-01,-6.444828728e-05,8.297867326e-01
+57,5.283333333e+00,UP_FORCE_HOLD,1792672290969769088,-4.488578835e-06,-6.839715908e-05,2.413529416e-04,-4.302283077e-06,-6.590002239e-05,2.350830838e-04,-3.234757944e-06,-6.595629959e-05,2.346124085e-04,7.015333829e-01,-6.684619776e-05,8.409822941e-01,7.015335692e-01,-6.434906107e-05,8.409760243e-01,7.017261296e-01,-6.417852412e-05,8.298072855e-01
+58,5.366666667e+00,UP_FORCE_HOLD,1792672291136469767,-3.636758385e-06,-6.551267353e-05,2.451098854e-04,-4.302283077e-06,-6.590002239e-05,2.350830838e-04,-3.235472809e-06,-6.595651401e-05,2.346516301e-04,7.015342347e-01,-6.396171221e-05,8.409860511e-01,7.015335692e-01,-6.434906107e-05,8.409760243e-01,7.017261288e-01,-6.417873854e-05,8.298073248e-01
+59,5.450000000e+00,UP_SETTLE,1792672291300405392,-2.735814496e-06,-6.369777536e-05,2.510185528e-04,-4.302283077e-06,-6.590002239e-05,2.350830838e-04,-3.235914627e-06,-6.595652808e-05,2.346864608e-04,7.015351357e-01,-6.214681404e-05,8.409919597e-01,7.015335692e-01,-6.434906107e-05,8.409760243e-01,7.017261284e-01,-6.417875261e-05,8.298073596e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_05/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_05/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..46f80c3713ccb288041825c7bf0f434e370c657e
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_05/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,1.9058e-04,1.7576e-03,2.4546e+00,-3.6918e-02,3.6799e-02,-1.1357e-05,1.5585e-04,-9.2585e-07,6.4373e-05,-4.4703e-08,1.0941e-05,-6.9816e-08,1.6862e-04,1.0941e-05
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,2.4578e-05,1.0946e-03,1.7536e-03,2.4550e+00,-3.6918e-02,3.6862e-02,-1.1762e-05,1.0599e-03,-4.9851e-06,4.3750e-04,-4.0233e-07,7.4439e-05,-4.7421e-07,1.1466e-03,7.4441e-05
+2,1.8333e-01,WAIT_W2,4.6626e-05,1.8078e-03,1.7517e-03,2.4553e+00,-3.6918e-02,3.6912e-02,-1.2079e-05,1.7731e-03,-6.8319e-06,7.3314e-04,-7.6368e-07,1.2452e-04,-7.9202e-07,1.9187e-03,1.2453e-04
+3,2.8333e-01,WAIT_W2,7.0451e-05,2.6177e-03,1.7502e-03,2.4557e+00,-3.6919e-02,3.6969e-02,-1.2435e-05,2.5830e-03,-8.3211e-06,1.0700e-03,-1.2293e-06,1.8138e-04,-1.1481e-06,2.7959e-03,1.8138e-04
+4,3.5000e-01,WAIT_W2,8.9956e-05,3.1297e-03,1.7493e-03,2.4559e+00,-3.6919e-02,3.7005e-02,-1.2660e-05,3.0949e-03,-9.2271e-06,1.2841e-03,-1.5199e-06,2.1732e-04,-1.3728e-06,3.3508e-03,2.1733e-04
+5,4.1667e-01,WAIT_W2,1.1627e-04,3.6206e-03,1.7485e-03,2.4561e+00,-3.6920e-02,3.7040e-02,-1.2875e-05,3.5859e-03,-1.0075e-05,1.4901e-03,-1.8030e-06,2.5178e-04,-1.5882e-06,3.8832e-03,2.5179e-04
+6,5.5000e-01,WAIT_W2,1.3908e-04,4.5424e-03,1.7468e-03,2.4565e+00,-3.6920e-02,3.7104e-02,-1.3285e-05,4.5077e-03,-1.1767e-05,1.8790e-03,-2.3395e-06,3.1647e-04,-1.9973e-06,4.8836e-03,3.1648e-04
+7,6.5000e-01,WAIT_W2,1.6214e-04,5.1845e-03,1.7456e-03,2.4567e+00,-3.6920e-02,3.7149e-02,-1.3574e-05,5.1498e-03,-1.2994e-05,2.1515e-03,-2.7008e-06,3.6152e-04,-2.2871e-06,5.5812e-03,3.6154e-04
+8,7.5000e-01,WAIT_W2,1.8792e-04,5.7875e-03,1.7442e-03,2.4570e+00,-3.6921e-02,3.7192e-02,-1.3851e-05,5.7528e-03,-1.4398e-05,2.4085e-03,-3.0361e-06,4.0382e-04,-2.5632e-06,6.2366e-03,4.0384e-04
+9,8.6667e-01,WAIT_W2,2.1049e-04,6.4441e-03,1.7420e-03,2.4573e+00,-3.6921e-02,3.7238e-02,-1.4160e-05,6.4093e-03,-1.6527e-05,2.6906e-03,-3.3490e-06,4.4988e-04,-2.8729e-06,6.9512e-03,4.4990e-04
+10,1.0167e+00,WAIT_W2,2.3421e-04,7.2196e-03,1.7390e-03,2.4576e+00,-3.6921e-02,3.7292e-02,-1.4543e-05,7.1849e-03,-1.9573e-05,3.0260e-03,-3.6955e-06,5.0427e-04,-3.2555e-06,7.7961e-03,5.0430e-04
+11,1.1000e+00,WAIT_W2,2.5821e-04,7.6197e-03,1.7373e-03,2.4578e+00,-3.6922e-02,3.7320e-02,-1.4748e-05,7.5850e-03,-2.1306e-05,3.2001e-03,-3.8631e-06,5.3233e-04,-3.4609e-06,8.2324e-03,5.3235e-04
+12,1.2000e+00,WAIT_W2,2.8194e-04,8.0730e-03,1.7351e-03,2.4580e+00,-3.6922e-02,3.7352e-02,-1.4987e-05,8.0382e-03,-2.3510e-05,3.3984e-03,-4.0308e-06,5.6411e-04,-3.7001e-06,8.7271e-03,5.6414e-04
+13,1.3000e+00,WAIT_W2,3.0248e-04,8.4969e-03,1.7324e-03,2.4582e+00,-3.6922e-02,3.7382e-02,-1.5213e-05,8.4622e-03,-2.6125e-05,3.5856e-03,-4.1537e-06,5.9383e-04,-3.9261e-06,9.1905e-03,5.9386e-04
+14,1.4167e+00,WAIT_W2,3.2746e-04,8.9609e-03,1.7297e-03,2.4584e+00,-3.6922e-02,3.7414e-02,-1.5477e-05,8.9261e-03,-2.8829e-05,3.7913e-03,-4.2990e-06,6.2635e-04,-4.1892e-06,9.6980e-03,6.2638e-04
+15,1.4833e+00,WAIT_W2,3.4856e-04,9.2111e-03,1.7282e-03,2.4585e+00,-3.6922e-02,3.7432e-02,-1.5624e-05,9.1764e-03,-3.0386e-05,3.9032e-03,-4.3809e-06,6.4389e-04,-4.3363e-06,9.9720e-03,6.4392e-04
+16,1.5667e+00,WAIT_W2,3.7562e-04,9.5095e-03,1.7262e-03,2.4586e+00,-3.6922e-02,3.7453e-02,-1.5804e-05,9.4748e-03,-3.2405e-05,4.0369e-03,-4.4443e-06,6.6481e-04,-4.5164e-06,1.0299e-02,6.6484e-04
+17,1.6500e+00,WAIT_W2,4.0288e-04,9.7929e-03,1.7241e-03,2.4588e+00,-3.6922e-02,3.7473e-02,-1.5980e-05,9.7581e-03,-3.4415e-05,4.1647e-03,-4.5113e-06,6.8466e-04,-4.6929e-06,1.0610e-02,6.8469e-04
+18,1.7167e+00,WAIT_W2,4.2259e-04,1.0009e-02,1.7226e-03,2.4588e+00,-3.6922e-02,3.7488e-02,-1.6119e-05,9.9744e-03,-3.6003e-05,4.2629e-03,-4.5560e-06,6.9982e-04,-4.8314e-06,1.0847e-02,6.9985e-04
+19,1.8167e+00,UP_FORCE_RAMP,4.4672e-04,1.0317e-02,1.7203e-03,2.4590e+00,-3.6922e-02,3.7509e-02,-1.6322e-05,1.0283e-02,-3.8244e-05,4.4034e-03,-4.6231e-06,7.2141e-04,-5.0351e-06,1.1186e-02,7.2144e-04
+20,1.9000e+00,UP_FORCE_RAMP,4.6787e-04,1.0560e-02,1.7185e-03,2.4591e+00,-3.6922e-02,3.7526e-02,-1.6489e-05,1.0525e-02,-4.0090e-05,4.5147e-03,-4.6678e-06,7.3840e-04,-5.2013e-06,1.1453e-02,7.3843e-04
+21,1.9833e+00,UP_FORCE_RAMP,4.9119e-04,1.0790e-02,1.7166e-03,2.4592e+00,-3.6922e-02,3.7542e-02,-1.6651e-05,1.0755e-02,-4.1935e-05,4.6210e-03,-4.6939e-06,7.5454e-04,-5.3640e-06,1.1706e-02,7.5458e-04
+22,2.1167e+00,UP_FORCE_RAMP,5.1457e-04,1.1135e-02,1.7137e-03,2.4594e+00,-3.6922e-02,3.7567e-02,-1.6905e-05,1.1100e-02,-4.4817e-05,4.7812e-03,-4.7348e-06,7.7869e-04,-5.6180e-06,1.2086e-02,7.7872e-04
+23,2.1667e+00,UP_FORCE_RAMP,5.3641e-04,1.1257e-02,1.7127e-03,2.4594e+00,-3.6922e-02,3.7575e-02,-1.6998e-05,1.1222e-02,-4.5874e-05,4.8385e-03,-4.7497e-06,7.8725e-04,-5.7111e-06,1.2221e-02,7.8729e-04
+24,2.2500e+00,UP_FORCE_RAMP,5.6225e-04,1.1445e-02,7.9295e-03,2.4573e+00,-3.7358e-02,3.7590e-02,-1.1997e-05,1.1411e-02,6.1709e-03,2.7225e-03,-4.4058e-04,8.0215e-04,-7.0974e-07,1.3255e-02,9.1518e-04
+25,2.3667e+00,UP_FORCE_RAMP,5.8492e-04,1.1686e-02,7.7703e-03,2.4578e+00,-3.7348e-02,3.7607e-02,-1.2614e-05,1.1651e-02,6.0117e-03,3.1664e-03,-4.2994e-04,8.1899e-04,-1.3272e-06,1.3488e-02,9.2499e-04
+26,2.4333e+00,UP_FORCE_RAMP,6.0488e-04,1.1821e-02,7.7385e-03,2.4579e+00,-3.7346e-02,3.7616e-02,-1.2851e-05,1.1787e-02,5.9799e-03,3.3584e-03,-4.2792e-04,8.2838e-04,-1.5641e-06,1.3637e-02,9.3238e-04
+27,2.5333e+00,UP_FORCE_RAMP,6.3283e-04,1.2016e-02,7.7133e-03,2.4582e+00,-3.7344e-02,3.7630e-02,-1.3181e-05,1.1981e-02,5.9547e-03,3.6139e-03,-4.2643e-04,8.4188e-04,-1.8933e-06,1.3859e-02,9.4372e-04
+28,2.6333e+00,UP_FORCE_RAMP,6.5565e-04,1.2199e-02,7.6999e-03,2.4584e+00,-3.7343e-02,3.7643e-02,-1.3505e-05,1.2164e-02,5.9413e-03,3.8443e-03,-4.2573e-04,8.5463e-04,-2.2175e-06,1.4073e-02,9.5480e-04
+29,2.7500e+00,UP_FORCE_RAMP,6.7917e-04,1.2400e-02,7.6904e-03,2.4587e+00,-3.7343e-02,3.7656e-02,-1.3880e-05,1.2365e-02,5.9318e-03,4.0903e-03,-4.2532e-04,8.6856e-04,-2.5929e-06,1.4311e-02,9.6710e-04
+30,2.8500e+00,UP_FORCE_RAMP,7.0487e-04,1.2783e-02,1.1148e-02,2.4522e+00,-3.7586e-02,3.7688e-02,-1.1373e-05,1.2748e-02,9.3893e-03,-2.3737e-03,-6.6810e-04,9.0014e-04,-8.5300e-08,1.6009e-02,1.1210e-03
+31,2.8667e+00,UP_FORCE_RAMP,7.2540e-04,1.2795e-02,1.1094e-02,2.4525e+00,-3.7582e-02,3.7689e-02,-1.1513e-05,1.2761e-02,9.3354e-03,-2.0571e-03,-6.6451e-04,9.0105e-04,-2.2616e-07,1.5944e-02,1.1196e-03
+32,2.9500e+00,UP_FORCE_RAMP,7.5282e-04,1.8865e-02,1.0160e-02,2.4542e+00,-3.7517e-02,3.8117e-02,-1.2993e-05,1.8831e-02,8.4015e-03,-4.3106e-04,-5.9970e-04,1.3288e-03,-1.7053e-06,2.0624e-02,1.4579e-03
+33,3.0333e+00,UP_FORCE_RAMP,7.7386e-04,1.7044e-02,9.5817e-03,2.4469e+00,-3.7478e-02,3.7994e-02,-1.3860e-05,1.7009e-02,7.8231e-03,-7.7136e-03,-5.6030e-04,1.2057e-03,-2.5732e-06,2.0249e-02,1.3295e-03
+34,3.1500e+00,UP_FORCE_RAMP,7.9673e-04,1.5393e-02,1.0411e-02,2.4411e+00,-3.7536e-02,3.7881e-02,-1.3814e-05,1.5359e-02,8.6523e-03,-1.3465e-02,-6.1865e-04,1.0931e-03,-2.5270e-06,2.2182e-02,1.2561e-03
+35,3.2833e+00,UP_FORCE_RAMP,8.1824e-04,1.5395e-02,1.0400e-02,2.4439e+00,-3.7537e-02,3.7880e-02,-1.4258e-05,1.5361e-02,8.6415e-03,-1.0642e-02,-6.1886e-04,1.0920e-03,-2.9703e-06,2.0588e-02,1.2551e-03
+36,3.3500e+00,UP_FORCE_RAMP,8.4374e-04,1.5385e-02,1.0380e-02,2.4450e+00,-3.7535e-02,3.7878e-02,-1.4394e-05,1.5350e-02,8.6218e-03,-9.6302e-03,-6.1770e-04,1.0904e-03,-3.1065e-06,2.0068e-02,1.2532e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_06/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..452ca821e7c3b93edee504c097cba145908b881a
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..de4d810c10ec95b0ab3dd08b358526fe52edc0ad
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/fem_node.csv
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+59,2.886667e+01,2821,6.981538e-01,1.350407e-02,8.320911e-01,1.323154e-04,-8.271280e-05,-5.039266e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2822,6.940829e-01,1.508550e-02,8.289805e-01,1.078777e-04,-1.532860e-04,-5.064869e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2823,7.008548e-01,1.501347e-02,8.137042e-01,9.067143e-05,-1.903511e-04,-5.022712e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2824,6.959052e-01,1.624785e-02,8.158870e-01,1.232723e-04,-1.945685e-04,-5.028486e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2825,6.998226e-01,1.383271e-02,8.154140e-01,1.013102e-04,-1.912744e-04,-5.022228e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2826,6.994119e-01,1.635063e-02,8.361038e-01,1.111961e-04,-1.365099e-04,-5.016117e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2827,6.930010e-01,1.628478e-02,8.229206e-01,1.464512e-04,-1.881971e-04,-5.067203e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2828,6.985678e-01,1.228572e-02,8.212644e-01,6.851596e-05,-4.020509e-04,-5.051211e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2829,6.950247e-01,1.517970e-02,8.313799e-01,8.919187e-05,-1.482742e-04,-5.045734e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2830,6.940717e-01,1.437395e-02,8.235278e-01,1.544940e-04,-1.857658e-04,-5.053836e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2831,6.971039e-01,1.281857e-02,8.206343e-01,9.496642e-05,-2.748153e-04,-5.041618e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2832,6.934169e-01,1.631215e-02,8.207366e-01,1.495048e-04,-1.927675e-04,-5.052892e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2833,6.985705e-01,1.378681e-02,8.161608e-01,1.098209e-04,-1.961800e-04,-5.021973e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2834,6.944359e-01,1.516909e-02,8.193841e-01,1.515174e-04,-1.933366e-04,-5.035007e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2835,6.971076e-01,1.362070e-02,8.312992e-01,1.297835e-04,-9.551853e-05,-5.043684e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2836,6.953635e-01,1.419605e-02,8.300627e-01,1.138133e-04,-1.342425e-04,-5.049177e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2837,6.978127e-01,1.526356e-02,8.147909e-01,1.101523e-04,-1.882317e-04,-5.019499e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2838,6.988417e-01,1.441751e-02,8.150395e-01,1.075461e-04,-1.870706e-04,-5.015732e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2839,6.928287e-01,1.657913e-02,8.254718e-01,1.273734e-04,-1.777710e-04,-5.079206e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2840,7.005708e-01,1.647651e-02,8.364482e-01,1.195804e-04,-1.343810e-04,-5.017991e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2841,6.963265e-01,1.411637e-02,8.178214e-01,1.344344e-04,-1.948721e-04,-5.018965e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2842,6.933966e-01,1.518580e-02,8.242582e-01,1.483161e-04,-1.819741e-04,-5.066339e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2843,6.998735e-01,1.463425e-02,8.143239e-01,9.787322e-05,-1.882020e-04,-5.017981e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,2.886667e+01,2844,6.998816e-01,1.538367e-02,8.136343e-01,9.449320e-05,-1.925005e-04,-5.023369e-03,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4ef38056b72a6ecc8b49e06a47d77f29584d1afe
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
+47653,1792672376571965719,40916883000000,1792672376571018725,XJC_ZERO_HOLD_BEFORE_DOWN,6,0.0375,0.03750157728791237,0.6760632362071493,-0.004543755310249024,0.09092151880949886,0.9999999656346128,0.00021923670253294644,-8.824468335558706e-05,6.574025888948391e-05,0.6761,-0.00453,0.091,1.0,0.0,0.0,0.0,0.04513540775438471,0.053617082592058496,-0.012959059168435635,0.0037127940550237895,-0.0028928906192975112,-0.00022219296707689016,0.22824659466391403,0.23929191839193614,-0.08362847036499726,0.013731290144655134,-0.0164547542623465,-0.0006874039164260126,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,-0.15642556432055918,0.2590495562650528,1.2964707344874897,0.0679112709426259,-0.8423156364876954,0.08041949276769757,1.203644884152231,0.012959059168435635,-0.09282585033525881,0.0,0.0,0,0,0.0,0.0
+47812,1792672377890028410,40918201000000,1792672377887018686,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760618892245456,-0.004557355682228626,0.09091319313845193,0.9999999669012481,0.00021031963591510973,-9.029478006832484e-05,7.247668766982508e-05,0.6761,-0.00453,0.09097152435251277,1.0,0.0,0.0,0.0,0.08725906152959256,0.08800836534500561,-0.0017650702794531348,0.006505257473276878,-0.005985953787608536,-0.0005948180881236451,0.2703702484391219,0.27368320114488326,-0.07243448147601476,0.016523753562908222,-0.019547817430657526,-0.0010600290374727676,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.036793043084765525,0.304164177247716,1.1806791984151617,0.07133489760570412,-0.7236171947776607,0.11175903196905485,1.203644884152231,0.0017650702794531348,0.022965685737069252,0.022965685737069252,0.07644000000000059,0,0,-4.540523727878254e-05,8.053754843162225e-05
+47952,1792672379057063565,40919368000000,1792672379055018727,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760642113968189,-0.004573290349099024,0.09086913954951861,0.9999999675759877,0.0002036411244368454,-8.020486572783898e-05,9.158798860605436e-05,0.6761,-0.00453,0.09093115198081983,1.0,0.0,0.0,0.0,0.09179981412670091,0.09860051044888302,0.06909088799846388,0.0068852422844109095,-0.007027986385999607,0.0003700621334469237,0.27491100103623023,0.28427534624876066,-0.0015785231980977392,0.016903738374042254,-0.020589850029048597,-9.514881590219877e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.04928768615183926,0.37318848204253285,1.0556946182920688,0.08046908126076315,-0.6507769371434177,0.15276468615073835,1.203644884152231,0.06909088799846388,0.14795026586016213,0.14795026586016213,0.15812999999999475,0,0,-2.793353312960522e-05,9.883234094865684e-05
+48068,1792672380023114296,40920334000000,1792672380019018751,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760711415216014,-0.004583560498771542,0.0908507418289703,0.9999999683672094,0.00020170595000067282,-6.426838402914085e-05,9.94621975313463e-05,0.6761,-0.00453,0.09090072714353846,1.0,0.0,0.0,0.0,0.09218136161919022,0.1057022247437121,0.08016985247006048,0.007901450070501923,-0.007020768306580067,0.0003736088896136804,0.27529254852871954,0.29137706054358975,0.009500441273498852,0.017919946160133267,-0.020582631949629056,-9.160205973544205e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.14456484246461415,0.2334077074918571,1.0650182842629758,0.11927054869045872,-0.6349265149738873,0.058213968392096735,1.203644884152231,0.08016985247006048,0.13862659988925508,0.13862659988925508,0.22574999999998194,0,0,-3.772586932712508e-05,-9.219911919900454e-05
+48180,1792672380957168262,40921268000000,1792672380955018652,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760575571491073,-0.004585183387828687,0.09079827331818373,0.9999999661672159,0.00019949410136251662,-8.886855517774476e-05,0.00010683124342114828,0.6761,-0.00453,0.09086549326137484,1.0,0.0,0.0,0.0,0.09955946783145564,0.09229035325030055,0.1571804171838163,0.0068659968984821716,-0.007047670864768062,0.00029989588741951895,0.28267065474098496,0.2779651890501782,0.08651100598725468,0.016884492988113516,-0.02060953450781705,-0.00016531506192960348,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.1408436610872094,0.364659108672498,0.8582886985489816,0.0893697310384004,-0.5055225262619093,0.1501828582981548,1.203644884152231,0.1571804171838163,0.3453561856032493,0.3453561856032493,0.29112999999998584,0,0,-3.200883930545994e-05,9.999997638144293e-05
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+48467,1792672383348274919,40923659000000,1792672383347017936,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760559981817782,-0.0045887103618651405,0.09074115600088149,0.9999999656081693,0.00019740137558484948,-9.02110403451277e-05,0.00011454776102005759,0.6761,-0.00453,0.090782896054381,1.0,0.0,0.0,0.0,0.09958082366722465,0.08403807526043477,0.239547270315546,0.006559748403073563,-0.0070598626059970825,0.0002287896967065332,0.28269201057675397,0.2697129110603124,0.1688778591189844,0.016578244492704907,-0.020621726249046072,-0.00023642125264258925,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.14896635652609685,0.369635649489847,0.7641705144557797,0.08844423824544337,-0.443970910998916,0.15089589947846432,1.203644884152231,0.239547270315546,0.43947436969645126,0.43947436969645126,0.4585000000000205,0,0,-4.856768611308381e-05,8.207947796290966e-05
+48615,1792672384582330288,40924893000000,1792672384579018791,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760574068350396,-0.00460287962675071,0.09069307228625567,0.9999999677815683,0.0001837495358235039,-8.00527175255326e-05,0.00012532915512731787,0.6761,-0.00453,0.09072076219550877,1.0,0.0,0.0,0.0,0.08975603448796576,0.09112583611322045,0.2995221333460387,0.0068042872316995354,-0.006065407463592194,0.00019918906590976897,0.2728672213974951,0.2768006719130981,0.2288527221494771,0.01682278332133088,-0.019627271106641184,-0.0002660218834393535,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.20583591871791562,0.24938330306499126,0.8262046248205989,0.12131091611757397,-0.4724576508219892,0.07196958301706213,1.203644884152231,0.2995221333460387,0.37744025933163206,0.37744025933163206,0.5448800000000383,0,0,-5.114839164296748e-05,-9.999999025923074e-05
+48762,1792672385807395879,40926118000000,1792672385807018197,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.676057757151113,-0.004609825205985473,0.09063821165859574,0.9999999717095054,0.00016485843938799294,-7.286477305548251e-05,0.00012464458490164953,0.6761,-0.00453,0.0906611576358131,1.0,0.0,0.0,0.0,0.08984551914217576,0.07939515226307409,0.37953739398592806,0.005774877653993147,-0.00606246439580712,0.0001232907608007957,0.2729567060517051,0.26506998806295173,0.30886798278936645,0.01579337374362449,-0.01962432803885611,-0.00034192018854832675,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.2315523376701804,0.30536568187964763,0.6555483689094588,0.10495208998510415,-0.35994248417910646,0.10904505037546047,1.203644884152231,0.37953739398592806,0.5480965152427721,0.5480965152427721,0.6306300000000561,0,0,-4.504222247544843e-05,-9.720202007035823e-05
+48894,1792672386907420068,40927218000000,1792672386907027538,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760625754346323,-0.004598811327112201,0.09059458182649853,0.9999999908781861,6.628741659764974e-05,-5.447114618847065e-05,4.822203687117627e-05,0.6761,-0.00453,0.0906091488815024,1.0,0.0,0.0,0.0,0.09873065900055106,0.09229378077834755,0.4401932296579181,0.006785563614980323,-0.0060978361512360815,8.681217550184919e-05,0.2818418459100804,0.2779686165782252,0.36952381846135646,0.016804059704611667,-0.01965969979428507,-0.00037839877384727327,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.2891081624379377,0.3107680853517429,0.5196030726771268,-0.03584560232545413,-0.2318721099106853,0.14524703076250145,1.203644884152231,0.4401932296579181,0.6840418114751041,0.6840418114751041,0.707630000000072,0,0,-5.914938445009265e-05,9.999999025923074e-05
+49042,1792672388140433494,40928451000000,1792672388139017835,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760608555159976,-0.0046087529386423754,0.09052667919898394,0.9999999896206339,6.879857818971731e-05,-5.329161642858297e-05,6.803202169652621e-05,0.6761,-0.00453,0.09052865777900679,1.0,0.0,0.0,0.0,0.09286222491056584,0.08587592798374233,0.5403949543221951,0.006764659885210187,-0.006116370155722615,5.20583454074482e-06,0.27597341182009516,0.27155076378362,0.46972554312563347,0.01678315597484153,-0.019678233798771604,-0.00046000511480837763,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.32447956608930634,0.16751853004587175,0.46142232366295943,0.04430521577714429,-0.19700586622269628,0.03930373992298024,1.203644884152231,0.5403949543221951,0.7422225604892715,0.7422225604892715,0.7939400000000899,0,0,-6.025847245208637e-05,9.965658439992637e-05
+49198,1792672389440557948,40929751000000,1792672389439017958,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760584410224855,-0.0046185510662469014,0.09046586930306225,0.9999999874234661,7.671704088658485e-05,-5.7087605043038306e-05,8.632168348450067e-05,0.6761,-0.00453,0.09046820331428418,1.0,0.0,0.0,0.0,0.08913201246981795,0.08522442222862142,0.6104267454118536,0.005731155234068879,-0.006083186616108058,-6.284053211851412e-05,0.27224319937934727,0.27089925802849907,0.5397573342152919,0.015749651323700223,-0.019645050259157047,-0.0005280514814676366,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.3389492794287572,0.23353503859652333,0.328532967292069,0.06037529538062271,-0.11427831049790123,0.07603422893684525,1.203644884152231,0.6104267454118536,0.875111916860162,0.875111916860162,0.8849400000001088,0,0,-3.740785170927718e-05,9.999980984798924e-05
+49350,1792672390707636393,40931018000000,1792672390707027844,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760656612922351,-0.0046185004311467505,0.09042997312711017,0.9999999860613147,8.560084375162191e-05,-4.640968085607619e-05,9.919108813040134e-05,0.6761,-0.00453,0.09042119280075796,1.0,0.0,0.0,0.0,0.08431211196139876,0.08151039084262501,0.6611521345544191,0.006113221826594314,-0.005712416543651226,-8.704660046556276e-05,0.2674232988709281,0.26718522664250266,0.5904827233578575,0.016131717916225658,-0.019274280186700216,-0.0005522575498146852,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.29196038310502953,0.22844879537598053,0.40366182327372907,0.0901430127677685,-0.18496973940940103,0.06795281729375015,1.203644884152231,0.6611521345544191,0.7999830608785019,0.7999830608785019,0.9736300000001271,0,0,-3.972192550857757e-05,-9.980468815141136e-05
+49513,1792672392065664522,40932376000000,1792672392059019519,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760690426167508,-0.004629502857112374,0.09038017980004438,0.9999999841314525,9.183981578199633e-05,-4.193641044487811e-05,0.00011395940008729586,0.6761,-0.00453,0.09036204298167387,1.0,0.0,0.0,0.0,0.08359219964540493,0.08238796263700487,0.7202699012341857,0.006701647269050171,-0.005141257844095023,-0.0001262338231047177,0.26670338655493425,0.2680627984368825,0.649600490037624,0.016720143358681515,-0.018703121487144012,-0.0005914447724538401,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.40201945269330713,0.34223864434235984,0.24029665287748855,0.07989490451850524,-0.05645123915965687,0.14073964311411885,1.203644884152231,0.7202699012341857,0.9633482312747423,0.9633482312747423,1.0686900000001467,0,0,-4.350981539921606e-05,-9.997557923047679e-05
+49653,1792672393232796546,40933543000000,1792672393227018320,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760779942105059,-0.004631887741724486,0.09034432395549392,0.9999999818713874,0.00010376031025632239,-3.0765415694482906e-05,0.00012644119870957593,0.6761,-0.00453,0.09030889012069344,1.0,0.0,0.0,0.0,0.0698886391640719,0.08427085725131966,0.7712156296819844,0.006687250078567035,-0.004928243873432065,-0.00016487439669190493,0.2529998260736012,0.2699456930511973,0.7005462184854228,0.01670574616819838,-0.018490107516481055,-0.0006300853460410274,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.38439433834392683,0.35291699871785503,0.20201208884765365,0.08212711268236085,-0.03991437020672003,0.14192818606916563,1.203644884152231,0.7712156296819844,1.0016327953045772,1.0016327953045772,1.1503800000001636,0,0,-4.8570448714395316e-05,-9.999999025923074e-05
+49796,1792672394423752630,40934734000000,1792672394423018229,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.676081621580675,-0.004633812371442637,0.09029556562928051,0.9999999785796415,0.00011703401897422625,-2.7184476437409228e-05,0.00014088159470870105,0.6761,-0.00453,0.09024949129633063,1.0,0.0,0.0,0.0,0.0623591880946176,0.08617679971351816,0.8315136266217482,0.006654670870831615,-0.00415195513534776,-0.0002019633404939663,0.24547037500414692,0.2718516355133958,0.7608442154251865,0.01667316696046296,-0.01771381877839675,-0.0006671742898430887,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.34230291656639866,0.2908484238467946,0.12078328833614904,0.11246558217361882,-0.004813396388625021,0.10668974341950473,1.203644884152231,0.8315136266217482,1.0828615958160819,1.0828615958160819,1.2337500000001809,0,0,-5.080088040096265e-05,-9.375004525325465e-05
+49936,1792672395590833450,40935901000000,1792672395591018506,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6760858320466441,-0.004639175276389575,0.09024489828899121,0.9999999755722122,0.00012676959631148244,-2.3199165237852856e-05,0.00015391461138453792,0.6761,-0.00453,0.09018859555019387,1.0,0.0,0.0,0.0,0.0635156333815784,0.0789446067267332,0.9014436333459108,0.006639351345458464,-0.004165919694712122,-0.0002586843063722613,0.24662682029110772,0.26461944252661085,0.8307742221493492,0.016657847435089808,-0.01772778333776111,-0.0007238952557213837,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.47683225731100937,0.1658524098000565,-0.020435229871689158,0.15166871818368424,0.12021354858061906,0.025705822293985797,1.203644884152231,0.9014436333459108,1.2240801140239201,1.2240801140239201,1.3154400000001978,0,0,-5.170753007296825e-05,-9.763449357181315e-05
+50060,1792672396623899159,40936934000000,1792672396619018730,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760901766661421,-0.004636735485330607,0.090198085735202,0.9999999720825251,0.00013907284322525916,-1.7659938882460176e-05,0.00016620675120743522,0.6761,-0.00453,0.09013345092500913,1.0,0.0,0.0,0.0,0.05671915842620692,0.09033814003436813,0.9517429429764203,0.0066058734003312716,-0.0031670008678911267,0.000262796468339148,0.23983034533573624,0.2760129758342458,0.8810735317798586,0.016624369489962616,-0.016728864510940116,-0.00020241448100997446,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.4687102565343109,0.3218971841307687,-0.1522358246783381,0.09517887738135378,0.19693137884628412,0.12301704909684522,1.203644884152231,0.9517429429764203,1.355880708830569,1.355880708830569,1.3877500000002128,0,0,-5.487487106795174e-05,9.732501890369889e-05
+50227,1792672398015930709,40938326000000,1792672398015017892,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6760999200239564,-0.004638183730908134,0.09013864643815446,0.9999999662289362,0.0001567034798920078,-1.495879065049873e-06,0.00018554453004612933,0.6761,-0.00453,0.09005578809710012,1.0,0.0,0.0,0.0,0.05866628008480315,0.0952107131059185,1.0241418501784159,0.007575353776989495,-0.0032052742122316985,0.0006915402164330323,0.24177746699433247,0.28088554890579615,0.9534724389818542,0.01759384986662084,-0.016767137855280688,0.00022632926708390986,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.486990807097148,0.3616488454284174,-0.22552793722335712,0.08385028569721079,0.24562452797409934,0.14729626678641466,1.203644884152231,1.0241418501784159,1.429172821375588,1.429172821375588,1.485190000000233,0,0,-5.879166909275734e-05,9.999826941354257e-05
+50363,1792672399149007909,40939459000000,1792672399147018892,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.676106422689864,-0.004637117063332751,0.09008485676139845,0.9999999612133489,0.0001693060338647082,5.784603602162344e-06,0.00020079385019726074,0.6761,-0.00453,0.08999073312499892,1.0,0.0,0.0,0.0,0.058979177695184126,0.10002675539493283,1.0829420656134754,0.007591786567606099,-0.003217956628932799,0.00064655036956525,0.24209036460471345,0.2857015911948105,1.0122726544169138,0.017610282657237443,-0.01677982027198179,0.00018133942021612758,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.4454483237406776,0.3176492442549798,-0.27887430011900055,0.10169478862765656,0.26387432249626835,0.12372083102712618,1.203644884152231,1.0829420656134754,1.4825191842712315,1.4825191842712315,1.5645000000002494,0,0,-5.6086097096770516e-05,-1.3136100136787565e-05
+50531,1792672400549095556,40940859000000,1792672400543018053,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761132255497952,-0.00463125080450578,0.09002300115405501,0.9999999556299511,0.00018682525037345266,1.517235992068028e-05,0.00021224769754111828,0.6761,-0.00453,0.08990999091013914,1.0,0.0,0.0,0.0,0.058787775708293744,0.09924247877861458,1.1610046829796676,0.007576776631446848,-0.003234914550416603,0.0005855956253951202,0.24189896261782307,0.28491731457849223,1.090335271783106,0.017595272721078192,-0.016796778193465593,0.00012038467604599771,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.4953360736709059,0.3803289676219202,-0.3492211703994328,0.09089701308967571,0.3160990338183004,0.16733599207697067,1.203644884152231,1.1610046829796676,1.5528660545516637,1.5528660545516637,1.6625000000002697,0,0,-5.733907113977666e-05,-9.99990465696598e-05
+50619,1792672401283084463,40941593000000,1792672401279027598,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761213013458187,-0.004599230073599893,0.08998289725975393,0.9999999939915288,-2.710458860332018e-05,4.698642693924535e-05,2.2746949866818175e-05,0.6761,-0.00453,0.08986242345243067,1.0,0.0,0.0,0.0,0.09091643938761279,0.15323758224340173,1.1951430390256819,0.011710930626052439,-0.005348126819463277,0.0005765948193988515,0.2740276262971421,0.3389124180432794,1.1244736278291203,0.021729426715683783,-0.018909990462512266,0.00011138387004972908,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.5735400282579552,0.41475067168845126,-0.3486295216950842,-0.04871365002956387,0.36649776400458667,0.22112971053397684,1.203644884152231,1.1951430390256819,1.552274405847315,1.552274405847315,1.7138800000002803,0,0,-7.900704758065225e-05,-9.999996250365512e-05
+50754,1792672402408138892,40942718000000,1792672402407018445,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761231376500063,-0.004603703654997167,0.08989898888192661,0.9999999935214328,-8.579288105535053e-06,4.720560960669414e-05,4.580420603697916e-05,0.6761,-0.00453,0.08976805049217078,1.0,0.0,0.0,0.0,0.07763874786606534,0.14415688986527714,1.305003934968756,0.010642592572912111,-0.004339141235019304,0.0004904127899571978,0.26074993477559466,0.3298317256651548,1.2343345237721945,0.020661088662543455,-0.017901004878068293,2.5201840608075323e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.5892528247141154,0.4214827352876643,-0.4720299222570252,0.01865299005690081,0.4298843547897867,0.21373102234648664,1.203644884152231,1.305003934968756,1.6756748064092561,1.6756748064092561,1.7926300000002966,0,0,-7.80347279669399e-05,-1.1503766021664321e-05
+50898,1792672403608189447,40943918000000,1792672403603018938,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761261251550881,-0.0046121448528981005,0.08982998422287533,0.9999999920172793,8.05251523300261e-06,5.1735097895155116e-05,6.831502478687217e-05,0.6761,-0.00453,0.08969608872494622,1.0,0.0,0.0,0.0,0.07544065898654961,0.13634929156785852,1.3665201706409396,0.010629138791309589,-0.004351385922920663,0.0004404361305762757,0.25855184589607894,0.32202412736773617,1.295850759444378,0.020647634880940933,-0.017913249565969652,-2.477481877284677e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.59170679492879,0.3010542431090675,-0.6190562367717242,0.13293559737035215,0.5067944631170884,0.1137595654748067,1.203644884152231,1.3665201706409396,1.8227011209239552,1.8227011209239552,1.876630000000314,0,0,-4.547422197545702e-05,7.056935177741081e-05
+51046,1792672404841351015,40945151000000,1792672404839027632,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761317099237961,-0.004612382217013961,0.08979178807718785,0.9999999910751783,1.4026691398335869e-05,5.808430843176407e-05,7.56437225972376e-05,0.6761,-0.00453,0.08964890292303361,1.0,0.0,0.0,0.0,0.07097068248552851,0.1390967336263479,1.405335716147405,0.010622879931326676,-0.004139950824123693,0.000412446916054097,0.25408186939505784,0.32477156942622554,1.3346663049508434,0.02064137602095802,-0.017701814467172682,-5.276403329502543e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.5773477889208315,0.33531690300933814,-0.7917564053104326,0.16058479005851295,0.605003766564368,0.1287629929385123,1.203644884152231,1.405335716147405,1.9954012894626634,1.9954012894626634,1.9629400000003319,0,0,-3.9562760863172446e-05,9.375000361989123e-05
+51205,1792672406166384022,40946476000000,1792672406163018655,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761378650080553,-0.004612314567862294,0.08974408144282349,0.9999999909072206,1.3240464253636043e-05,6.756415347367233e-05,6.991565329692931e-05,0.6761,-0.00453,0.08958974421920866,1.0,0.0,0.0,0.0,0.06524226897819976,0.1504670298149784,1.4557829326734126,0.011606683388721757,-0.003377562426795478,0.00039429462344035533,0.24835345588772909,0.33614186561485604,1.385113521476851,0.0216251794783531,-0.016939426069844467,-7.091632590876709e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.5944089290230088,0.44835226824461255,-0.7775451237150318,0.13812822769370084,0.5968452499676182,0.20749099689386133,1.203644884152231,1.4557829326734126,1.9811900078672626,1.9811900078672626,2.055690000000351,0,0,-5.289461656847023e-05,7.521435104124386e-06
+51337,1792672407266472122,40947576000000,1792672407259028831,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.676140394442641,-0.004619477730968088,0.0896895953194633,0.9999999897889601,3.2486310812830294e-05,7.038528150772487e-05,7.652121350959421e-05,0.6761,-0.00453,0.08952611778589592,1.0,0.0,0.0,0.0,0.07430463289081063,0.16235870863262714,1.5157624577005167,0.011596551715020933,-0.0033912512191103528,0.0003470716386366429,0.25741581980033995,0.3480335444325048,1.445093046503955,0.021615047804652277,-0.016953114862159342,-0.00011813931071247958,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6394687738823022,0.384705353734937,-0.8200626062834689,0.16747274131246054,0.6309725888853787,0.17333318666882677,1.203644884152231,1.5157624577005167,2.0237074904357,2.0237074904357,2.132690000000367,0,0,-6.363780574311496e-05,-9.999965719232335e-05
+51497,1792672408599486963,40948909000000,1792672408595028032,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761462508204261,-0.004618465264806802,0.08961259439459475,0.9999999873887235,4.8970683953785305e-05,7.957832599520051e-05,8.907625601529327e-05,0.6761,-0.00453,0.0894395028195697,1.0,0.0,0.0,0.0,0.06489957475988117,0.15324861395605033,1.5963014708160308,0.011579863953084019,-0.0034075533512968534,0.0002808818208421127,0.2480107616694105,0.338923449755928,1.5256320596194692,0.021598360042715363,-0.016969416994345843,-0.00018432912850700978,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6578819139685991,0.3394355165348374,-0.9208300557468247,0.17715546725955716,0.7013874158062998,0.14332437465171755,1.203644884152231,1.5963014708160308,2.1244749398990557,2.1244749398990557,2.2260000000003863,0,0,-6.755392088689534e-05,-3.549112307107193e-05
+51636,1792672409758562679,40950068000000,1792672409751018193,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761510545820937,-0.004624263726919276,0.08954704397362079,0.9999999852341732,5.5431833772003254e-05,8.81027599983822e-05,0.00010069624318629123,0.6761,-0.00453,0.0893640104420392,1.0,0.0,0.0,0.0,0.0637608192352131,0.1453252944412633,1.6659503720780349,0.011537684318373305,-0.0024100031759045834,0.00024008100606565593,0.24687200614474242,0.33100013024114094,1.5952809608814733,0.02155618040800465,-0.015971866818953573,-0.00022512994328346652,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.639844338304312,0.3186649944573831,-1.1202859691532836,0.17580240293654972,0.8191659012760109,0.13112336728351145,1.203644884152231,1.6659503720780349,2.3239308533055145,2.3239308533055145,2.307130000000403,0,0,-6.307293390764445e-05,9.966203837053484e-05
+51776,1792672410924549405,40951234000000,1792672410919018302,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761556851355807,-0.004629774657923537,0.0894774388909158,0.9999999833024527,5.893439912964246e-05,9.422254444724332e-05,0.00011174438526978503,0.6761,-0.00453,0.08928541866803376,1.0,0.0,0.0,0.0,0.056319412968404675,0.14584508732309903,1.7266123502407391,0.011526142416152877,-0.0024213778647970002,0.00019015682280144154,0.239430599877934,0.3315199231229767,1.6559429390441776,0.02154463850578422,-0.01598324150784599,-0.0002750541265476809,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6816074330173216,0.3087156692838296,-1.1578835571659591,0.18588634098774356,0.8544056673119209,0.1264894459719111,1.203644884152231,1.7266123502407391,2.36152844131819,2.36152844131819,2.38875000000042,0,0,-6.956293515239664e-05,9.997315061761042e-05
+51920,1792672412124650212,40952434000000,1792672412119018685,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761589474328191,-0.004631336348402418,0.08939768340499489,0.9999999818856131,5.9749758326192896e-05,9.652275019127525e-05,0.00012159343261559713,0.6761,-0.00453,0.08919932885572816,1.0,0.0,0.0,0.0,0.051363174605226936,0.14553250470024104,1.796860247198848,0.011490602386664847,-0.0024376631404220313,0.00048653347358965527,0.23447436151475626,0.3312073405001187,1.7261908360022864,0.02150909847629619,-0.01599952678347102,2.132252424053279e-05,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6405352131370039,0.2755026549645543,-1.1201737287795814,0.21460156549986353,0.8160174413963085,0.11338599556318084,1.203644884152231,1.796860247198848,2.323818612931812,2.323818612931812,2.4727500000004374,0,0,-7.329097305028143e-05,-8.406559756502503e-05
+52032,1792672413058749776,40953368000000,1792672413055017801,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761618967245719,-0.004633518653577896,0.08933348356949726,0.9999999802889621,6.492768159053658e-05,0.00010090002186232723,0.0001283297377218301,0.6761,-0.00453,0.0891295000199025,1.0,0.0,0.0,0.0,0.053628250488663515,0.14096448985223642,1.8574061785569957,0.011495973376673933,-0.002452319442478791,0.0010393889565551366,0.23673943739819284,0.32663932565211407,1.7867367673604342,0.021514469466305277,-0.01601418308552778,0.0005741780072060142,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6646381667975232,0.27316325610214187,-1.2397551005836975,0.21238442461077192,0.8999155348178077,0.1093234415587196,1.203644884152231,1.8574061785569957,2.4433999847359287,2.4433999847359287,2.538130000000451,0,0,-7.890642153976645e-05,7.344016647448654e-05
+52151,1792672414049798834,40954359000000,1792672414043018226,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761696976327595,-0.0046306710129197255,0.08925629121253084,0.9999999867013994,-4.191899710873795e-05,0.00012027378474679632,4.2627217970549986e-05,0.6761,-0.00453,0.0890491299981712,1.0,0.0,0.0,0.0,0.08945854120977087,0.18597055777845956,1.9083778562339897,0.014496775508859016,-0.004377510713349277,0.00013591347776354144,0.2725697281193002,0.3716453935783372,1.8377084450374281,0.02451527159849036,-0.017939374356398266,-0.000329297471585581,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.6732985763350708,0.3414278815196349,-1.2819752094231132,0.11594471877834903,0.9472244450305415,0.17864883210525517,1.203644884152231,1.9083778562339897,2.485620093575344,2.485620093575344,2.6075000000004653,0,0,-8.351140744364181e-05,-1.8227545999426552e-05
+52279,1792672415116751303,40955426000000,1792672415111018882,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761748261819114,-0.004628744306019322,0.08916715846197888,0.9999999853498036,4.33294101977321e-06,0.00012617948611856332,6.93052668071569e-05,0.6761,-0.00453,0.08894607940322469,1.0,0.0,0.0,0.0,0.06327394281618867,0.17344963728017793,1.9774785907153234,0.01249322031995598,-0.002502090561973723,0.001027127325883192,0.246385129725718,0.3591244730800556,1.9068091795187618,0.022511716409587323,-0.016063954205022712,0.0005619163765340696,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.7474966123690939,0.3188158095522747,-1.3923931273621262,0.15518227160688675,1.0242222452536849,0.16200572812175087,1.203644884152231,1.9774785907153234,2.596038011514357,2.596038011514357,2.682190000000481,0,0,-9.981321548860477e-05,9.9999032691872e-05
+52403,1792672416149805721,40956459000000,1792672416147018192,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761765839960487,-0.0046402742554354955,0.08907325783051,0.9999999828763343,3.7955881414910966e-05,0.00012547052603236247,9.223173861208576e-05,0.6761,-0.00453,0.0888487808274433,1.0,0.0,0.0,0.0,0.06166234345677163,0.16562630452707222,2.038476873719063,0.012462604893075853,-0.001865384500731251,0.0009877006913642655,0.24477353036630095,0.35130114032694987,1.9678074625225013,0.022481100982707197,-0.01542724814378024,0.000522489742015143,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8017065390467752,0.26890117804685226,-1.392850816600191,0.2303551822606884,1.0274825305702577,0.11729680146575558,1.203644884152231,2.038476873719063,2.596495700752422,2.596495700752422,2.7545000000004958,0,0,-8.795319651341694e-05,-9.992881108556446e-05
+52539,1792672417283849547,40957593000000,1792672417279018368,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761803022494283,-0.004639342796955001,0.08898293430131547,0.9999999802223478,5.271289849639503e-05,0.00012902123384427402,0.0001075780639550031,0.6761,-0.00453,0.08874991825556501,1.0,0.0,0.0,0.0,0.062036101104549074,0.16032926857938706,2.0685430577287547,0.012445967606825524,-0.0015070876510446373,0.0009691314896338671,0.2451472880140784,0.3460041043792647,1.9978736465321931,0.02246446369645687,-0.015068951294093627,0.0005039205402847446,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.7739181923510016,0.3200344722062917,-1.5434125523140128,0.2261589804559986,1.1103660689707766,0.15154035447919406,1.203644884152231,2.0685430577287547,2.7470574364662435,2.7470574364662435,2.833880000000512,0,0,-9.505066081852564e-05,9.828193400641112e-05
+52674,1792672418408951715,40958718000000,1792672418403018716,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761843088879426,-0.004646652962615156,0.088877772101572,0.9999999795137944,3.866875934784447e-05,0.00013523834369762422,0.00011238591031925199,0.6761,-0.00453,0.08863636147621617,1.0,0.0,0.0,0.0,0.05413569689744113,0.14769243699764456,2.116122199984324,0.011433456435744534,-0.0014982492750700554,0.0009170215390715318,0.23724688380697045,0.3333672727975222,2.0454527887877623,0.021451952525375878,-0.015060112918119045,0.00045181058972240933,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8369598428432673,0.2724548177340549,-1.545827649513933,0.25515366316055094,1.1270367375100983,0.11926461261766556,1.203644884152231,2.116122199984324,2.7494725336661636,2.7494725336661636,2.9126300000005285,0,0,-0.0001047116154576352,-7.817326927306851e-05
+52798,1792672419442061067,40959751000000,1792672419435018575,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761826349608158,-0.004652782004872336,0.08875889616600312,0.9999999806136646,2.324268444116964e-05,0.00013260361366229713,0.00010996178507185557,0.6761,-0.00453,0.08852151794484019,1.0,0.0,0.0,0.0,0.053925088014078776,0.14939034338042517,2.1584397453529975,0.011408337097859008,-0.0015070377937301295,0.0008839720928532518,0.2370362749236081,0.3350651791803028,2.0877703341564358,0.021426833187490352,-0.015068901436779119,0.0004187611435041294,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8014424911405136,0.2638284634520597,-1.6545725541585385,0.2701472276776004,1.1834229192234529,0.114615337962666,1.203644884152231,2.1584397453529975,2.8582174383107697,2.8582174383107697,2.9849400000005435,0,0,-0.00011626921685573143,9.988606749911639e-05
+52910,1792672420375055149,40960684000000,1792672420375018257,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761872780614604,-0.004654094203764499,0.08865858225843719,0.9999999800744832,1.4448794146323371e-05,0.0001424301829121698,0.00010391714469259143,0.6761,-0.00453,0.08840878929398975,1.0,0.0,0.0,0.0,0.061216195415829094,0.1645597458342924,2.1863811102602617,0.011405248723884555,-0.0015146028691199447,0.0008616944311366807,0.24432738232535842,0.35023458163417004,2.1157116990637,0.0214237448135159,-0.015076466512168934,0.0003964834817875582,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.852295283172272,0.30616642570761254,-1.6900659728042617,0.27484979713550095,1.2156733349605775,0.14535850258520988,1.203644884152231,2.1863811102602617,2.893710856956493,2.893710856956493,3.050250000000557,0,0,-0.0001262791133507538,9.87809376226167e-05
+53002,1792672421142089548,40961451000000,1792672421135018791,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761907064371662,-0.0046553676512200255,0.08856199213006982,0.9999999790469103,1.6303289164648385e-05,0.00014873391994337152,0.00010469702595956004,0.6761,-0.00453,0.08830682493110661,1.0,0.0,0.0,0.0,0.06305327418745374,0.15869458688539645,2.1987908317384597,0.011401844834828116,-0.0015166894152803968,0.0008524953489939553,0.24616446109698306,0.3443694226852741,2.128121420541898,0.02142034092445946,-0.015078553058329386,0.00038728439964483274,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8949541283662056,0.2371555402323969,-1.7308703071361706,0.3092796778882074,1.2467923691321876,0.10250170065780267,1.203644884152231,2.1987908317384597,2.9345151912884013,2.9345151912884013,3.103940000000568,0,0,-0.00013759370683511107,9.999999025923074e-05
+53114,1792672422075179445,40962384000000,1792672422071018663,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761905079291561,-0.004655555650917262,0.08842727683163419,0.9999999785612518,2.9567146179202633e-05,0.00014656894682776422,0.00010937864605269051,0.6761,-0.00453,0.08817355628011152,1.0,0.0,0.0,0.0,0.05497385714933048,0.1537540824324229,2.228685709815966,0.01139560232991523,-0.0015225267353148886,0.0008273560088408119,0.2380850440588598,0.33942891823230054,2.1580162986194042,0.021414098419546574,-0.015084390378363878,0.00036214505949168943,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8665383883414011,0.21658498610159047,-1.6459472066717695,0.32868506257074637,1.178365391998559,0.09472737265907619,1.203644884152231,2.228685709815966,2.8495920908240002,2.8495920908240002,3.1692500000005817,0,0,-0.0001499586816902917,-9.999999025923074e-05
+53209,1792672422867184882,40963176000000,1792672422867027898,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761900546091715,-0.004667272655968069,0.08830370299315993,0.9999999777527657,3.083546838011638e-05,0.00014572069483721642,0.00011726885997240073,0.6761,-0.00453,0.08804821591112694,1.0,0.0,0.0,0.0,0.0629248565524152,0.15005978303516238,2.2487388857338244,0.011390375454981354,-0.0015264900170940156,0.0008120995042129242,0.24603604346194452,0.33573461883504,2.1780694745372626,0.021408871544612698,-0.015088353660143005,0.00034688855486380177,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.8906135351329213,0.2716314063977903,-1.707256232873534,0.32908163967399545,1.2201925190090996,0.12958911264765033,1.203644884152231,2.2487388857338244,2.910901117025765,2.910901117025765,3.224690000000593,0,0,-0.00016568177857031875,-9.999953229223308e-05
+53309,1792672423700229491,40964009000000,1792672423695027938,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761863007303515,-0.004669525760367628,0.08815563254224922,0.9999999792443273,1.4810179942220142e-05,0.00013878447971254202,0.00011607642392913639,0.6761,-0.00453,0.08790544624649897,1.0,0.0,0.0,0.0,0.06416731773006978,0.1398542052246271,2.2684172234911086,0.01036629862547043,-0.0015128982229117034,0.000784839002498057,0.2472785046395991,0.32552904102450475,2.197747812294547,0.020384794715101774,-0.015074761865960693,0.00031962805314893444,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.9229996272704796,0.18601488573120276,-1.7725224290506278,0.3726599290128335,1.2642207647039392,0.07478792145678238,1.203644884152231,2.2684172234911086,2.9761673132028585,2.9761673132028585,3.283000000000605,0,0,-0.00017870662316207676,-9.990234614421496e-05
+53389,1792672424367240355,40964676000000,1792672424367018295,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.676185606615136,-0.004669701104288674,0.0880298154705512,0.9999999800318836,3.03982059762591e-06,0.00013562381824081684,0.00011391240619705432,0.6761,-0.00453,0.0877808540174924,1.0,0.0,0.0,0.0,0.06349821403176445,0.1447618519771584,2.277652860753283,0.010364992246142497,-0.0015137401683639768,0.0007773103308316659,0.24660940094129377,0.33043668777703605,2.2069834495567213,0.02038348833577384,-0.015075603811412966,0.00031209938148254345,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.9982525350214541,0.22163138935549534,-1.776801633974024,0.3793281849707421,1.2809272944424028,0.09892454138788408,1.203644884152231,2.277652860753283,2.980446518126255,2.980446518126255,3.329690000000615,0,0,-0.0001933244491534022,-9.999999025923074e-05
+53469,1792672425034317473,40965343000000,1792672425031027714,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761869748976487,-0.0046727374963488905,0.08790704703500765,0.9999999790157078,3.458180728069771e-06,0.00014020781158852115,0.00011722311713612029,0.6761,-0.00453,0.08765035135977799,1.0,0.0,0.0,0.0,0.05896754046828345,0.13774718894841737,2.278068446344011,0.009355725599977301,-0.0014947361110673168,0.0007693889579992372,0.24207872737781277,0.323422024748295,2.207399035147449,0.019374221689608645,-0.015056599754116306,0.0003041780086501148,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.9083471918905013,0.2876893771999725,-1.8846419243945374,0.36888464169039525,1.3222343279778088,0.14543662404515756,1.203644884152231,2.278068446344011,3.0882868085467683,3.0882868085467683,3.3763800000006245,0,0,-0.0002038152457681812,2.17172904089073e-05
+53549,1792672425700387326,40966009000000,1792672425695018700,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761885124894403,-0.0046775310473326495,0.08777106282644467,0.9999999777839181,9.179042924553006e-06,0.00014285091858833463,0.00012403381804958137,0.6761,-0.00453,0.08750951932874307,1.0,0.0,0.0,0.0,0.06066923046778838,0.1390750185265714,2.2884837174588455,0.010360970952144938,-0.0015157141856466695,0.0007642016577086629,0.2437804173773177,0.32474985432644904,2.2178143062622837,0.020379467041776282,-0.015077577828695659,0.0002989907083595404,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.9292362429694709,0.1102553965592586,-1.8257965960888771,0.4407160547667293,1.2847653186488928,0.03436730300519412,1.203644884152231,2.2884837174588455,3.029441480241108,3.029441480241108,3.423000000000634,0,0,-0.00022007260563480647,-9.999999025923074e-05
+53624,1792672426325346949,40966634000000,1792672426323027847,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761895855250922,-0.0046743022041893295,0.08762944421111071,0.9999999782151713,3.0917029884744285e-05,0.00014263029298395614,0.00011710362239907349,0.6761,-0.00453,0.08736631885712907,1.0,0.0,0.0,0.0,0.06343159512779581,0.143828047868024,2.309364015386381,0.010339950477618378,-0.0015220518157470497,0.0007487052888789207,0.24654278203732513,0.32950288366790165,2.2386946041898192,0.02035844656724972,-0.01508391545879604,0.00028349433952979823,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,0.9849308670876619,0.18859055239080263,-1.9207679951572514,0.437047533876155,1.3557720397342268,0.09115830741806905,1.203644884152231,2.309364015386381,3.1244128793094825,3.1244128793094825,3.4667500000006433,0,0,-0.00023598535443061975,-3.687505104235097e-05
+53700,1792672426959362841,40967268000000,1792672426959018614,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761848665868794,-0.004679033996687028,0.08747918858601272,0.9999999788407532,1.881991451673546e-05,0.00013663766043721194,0.00012139735612429415,0.6761,-0.00453,0.08721347481039517,1.0,0.0,0.0,0.0,0.06376868347042589,0.12699742184708834,2.318284882971803,0.009335475539770382,-0.0015027678954156413,0.0007329933809535195,0.2468798703799552,0.312672257646966,2.2476154717752412,0.019353971629401726,-0.01506463153846463,0.00026778243160439707,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.028184642678731,0.1591903259453436,-1.9588201615143042,0.45481899793092684,1.3912663740073667,0.06867794166008036,1.203644884152231,2.318284882971803,3.162465045666535,3.162465045666535,3.5111300000006525,0,0,-0.00024659212900072537,2.552182794791116e-05
+53768,1792672427525409522,40967834000000,1792672427523027839,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761878756738366,-0.004684844829986806,0.08734397360452749,0.9999999777982973,4.401496251548167e-06,0.0001423699430890578,0.0001247304912448582,0.6761,-0.00453,0.08707030946200285,1.0,0.0,0.0,0.0,0.0546079348309699,0.11764187401083909,2.3245084218209855,0.009332653699036115,-0.0015036268737196358,0.0007245320610212565,0.23771912174049922,0.30331670981071673,2.2538390106244237,0.01935114978866746,-0.015065490516768625,0.000259321111672134,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.031563238760443,0.017671865203790552,-1.9489937333965306,0.5114309472670933,1.382691824641465,-0.02172705347121024,1.203644884152231,2.3245084218209855,3.1526386175487615,3.1526386175487615,3.5507500000006607,0,0,-0.0002599769471187382,-9.999999025923074e-05
+53834,1792672428075476329,40968384000000,1792672428071028143,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.676185779487545,-0.004687169749899239,0.08719316519501959,0.9999999781521055,-9.493126140598555e-06,0.00013864568376931126,0.00012580106497468913,0.6761,-0.00453,0.08692317792378282,1.0,0.0,0.0,0.0,0.06028533342487866,0.12736438092983643,2.31820338038274,0.009332081276944548,-0.001369407010018574,0.0007349637768423,0.24339652033440798,0.3130392167297141,2.247533969186178,0.019350577366575892,-0.014931270653067564,0.0002697528274931775,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.156653296183172,0.14404956767726357,-1.9626554185388985,0.4863392826840213,1.4244056856604381,0.0614530274829147,1.203644884152231,2.31820338038274,3.1663003026911296,3.1663003026911296,3.5892500000006686,0,0,-0.0002775197955704175,-9.991854152258667e-05
+53892,1792672428559486170,40968868000000,1792672428555028174,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.676180996704377,-0.00468976536864314,0.0870497324513313,0.9999999786972887,-1.461505636458131e-05,0.0001340695907816966,0.00012593661685458973,0.6761,-0.00453,0.08678498253942546,1.0,0.0,0.0,0.0,0.054837311570074654,0.12119934780610009,2.3281857419990284,0.009333014304605257,-0.0015041023342427708,0.0007238879992938492,0.23794849847960398,0.30687418360597774,2.2575163308024666,0.0193515103942366,-0.01506596597729176,0.0002586770499447267,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.1331754310192694,0.0825997997955478,-1.9476176111788022,0.5170359793178824,1.4108598111048476,0.025798143283346286,1.203644884152231,2.3281857419990284,3.151262495331033,3.151262495331033,3.6231300000006756,0,0,-0.00029465205742959375,-9.999999025923074e-05
+53956,1792672429092474901,40969401000000,1792672429087027834,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761802798282232,-0.0046965945687567935,0.08689015322179716,0.9999999774935339,-3.9777670619993527e-07,0.00013493266949907344,0.0001350881661216349,0.6761,-0.00453,0.08662339329794684,1.0,0.0,0.0,0.0,0.05149199230271331,0.11528424503538232,2.343829022221605,0.008283200098130819,-0.00047405170266078336,0.0007150399349483357,0.23460317921224264,0.30095908083525996,2.273159611025043,0.018301696187762163,-0.014035915345709773,0.0002498289855992132,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.2110257539172165,0.11916644598252041,-1.9651221331036128,0.5128325852463677,1.4461027818075494,0.05337306185749098,1.203644884152231,2.343829022221605,3.1687670172558438,3.1687670172558438,3.6604400000006834,0,0,-0.000312500834344391,-9.956317301019197e-05
+54016,1792672429592470590,40969901000000,1792672429591018223,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.676184317181474,-0.004701099055851385,0.08673934109609853,0.9999999770413179,-1.1738544505752046e-05,0.00013996242123568282,0.0001327891392096129,0.6761,-0.00453,0.08646280695617785,1.0,0.0,0.0,0.0,0.054195959346829164,0.12835658484199336,2.348215684759,0.009300099542547615,-0.0004957207793478691,0.0007233522680585339,0.2373071462563585,0.314031420641871,2.277546273562438,0.01931859563217896,-0.014057584422396859,0.00025814131870941144,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.3030834221811551,0.038712468654557665,-2.0593065503862706,0.5535437316580063,1.534491759035633,0.0031082004171974903,1.203644884152231,2.348215684759,3.2629514345385013,3.2629514345385013,3.6954400000006906,0,0,-0.00033024333473821867,9.842146128503088e-05
+54071,1792672430050550893,40970359000000,1792672430047027905,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761857752182221,-0.004703980154877274,0.08658802639125415,0.9999999749519668,9.281563462280918e-07,0.00014228533189041188,0.00014592105051854895,0.6761,-0.00453,0.08630810495489383,1.0,0.0,0.0,0.0,0.04504967505408247,0.12307279535393723,2.3481917780530956,0.009302096454117495,-0.0004955125112277685,0.0007222713460184687,0.2281608619636118,0.30874763115381487,2.277522366856534,0.01932059254374884,-0.014057376154276758,0.0002570603966693462,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.2674593559989986,0.09229572898988342,-1.9751498600474928,0.537850097741289,1.4747898706908356,0.04315099687173141,1.203644884152231,2.3481917780530956,3.178794744199724,3.178794744199724,3.7275000000006973,0,0,-0.00034536309697771737,-9.999999025923074e-05
+54119,1792672430450472310,40970759000000,1792672430443018265,DOWN_FORCE_DETACH,6,0.0375,0.03750157728791237,0.6761789827449233,-0.0047150760453592315,0.08644130013460036,0.9999999737910709,1.7812517216773569e-06,0.00013437783516055476,0.0001606242406040737,0.6761,-0.00453,0.08616645933958847,1.0,0.0,0.0,0.0,0.04608874468834093,0.1038241329823501,2.3573960836718575,0.007308360440766945,-0.0004592274244525057,0.0006924789815539089,0.22919993159787025,0.28949896878222775,2.2867266724752957,0.01732685653039829,-0.014021091067501495,0.00022726803220478642,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.2571557089621985,0.11521459153793338,-1.9700620192958418,0.5417417192714288,1.4694479418917017,0.058524626068431146,1.203644884152231,2.3573960836718575,3.173706903448073,3.173706903448073,3.755500000000703,0,0,-0.00036289528581731476,-9.999999025923074e-05
+54171,1792672430884595313,40971193000000,1792672430879028205,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.676170332642167,-0.004716462712230263,0.08627643254344396,0.999999977778255,-5.3301367345334385e-05,0.00013119140986578255,0.00012583374798192653,0.6761,-0.00453,0.08600466628372462,1.0,0.0,0.0,0.0,0.06425051504593621,0.10711982679497373,2.3679236483634956,0.008303685919565774,-0.001493057524703835,0.000681414340277324,0.24736170195546553,0.2927946625948514,2.2972542371669338,0.018322182009197118,-0.015054921167752824,0.0002162033909282015,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.2975556494461402,0.0901706627162458,-1.9870010248929837,0.5511778523161671,1.4979649201943632,0.04226110061761886,1.203644884152231,2.3679236483634956,3.1906459090452146,3.1906459090452146,3.7858800000007093,0,0,-0.0003827882614451924,-9.999999025923074e-05
+54215,1792672431250635351,40971559000000,1792672431247027599,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761995878158013,-0.0047204363318455525,0.08615509095811423,0.9999999698574592,-3.391952697629177e-05,0.000162345890162174,0.00015563168904734033,0.6761,-0.00453,0.08586137563243648,1.0,0.0,0.0,0.0,0.034619680284491444,0.14008237823996228,2.3383109756698954,0.010278770876251753,0.0005176011128866006,0.0007534760825486601,0.21773086719402077,0.3257572140398399,2.2676415644733336,0.020297266965883097,-0.013044262530162389,0.00028826513319953756,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.4557315313212027,0.030988960853706594,-1.9133107570877506,0.5728290966340096,1.4890093032479756,0.012488945711615589,1.203644884152231,2.3383109756698954,3.1169556412399815,3.1169556412399815,3.8115000000007146,0,0,-0.0004005198005294349,-9.999999025923074e-05
+54255,1792672431584621398,40971893000000,1792672431583028369,DOWN_FORCE_DETACH,6,0.0375,0.0375022329390049,0.6761862185091732,-0.004729293919803265,0.08601216021155714,0.9999999695792938,-5.819535570434791e-06,0.00013755995709769636,0.00018255866740730334,0.6761,-0.00453,0.0857248214696046,1.0,0.0,0.0,0.0,0.04170633629228673,0.10731128765175096,2.357497962911336,0.00827814329533308,-0.00044718530345649356,0.0007037078134425604,0.22481752320181606,0.2929861234516286,2.286828551714774,0.018296639384964425,-0.014009048946505483,0.00023849686409343798,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.381554790496712,-0.013920445865849255,-1.9381873523773943,0.5920246100178326,1.491879489995371,-0.00961004829369203,1.203644884152231,2.357497962911336,3.141832236529625,3.141832236529625,3.8348800000007195,0,0,-0.00041721979727601797,-9.999999025923074e-05
+54292,1792672431888601377,40972197000000,1792672431887027484,DOWN_SETTLE,6,0.0375,0.03750157728791237,0.6761911916264066,-0.004717357906122454,0.08588500322133583,0.9999999772507594,-4.440249265737262e-06,0.00016235705113807293,0.00010277070331131708,0.6761,-0.00453,0.08560344027724803,1.0,0.0,0.0,0.0,0.043974036975906544,0.11157298790890957,2.3583197100378377,0.008903660506834903,0.00014235574833808967,0.0007167966827018491,0.22708522388543587,0.2972478237087872,2.287650298841276,0.018922156596466247,-0.0134195078947109,0.00025158573335272666,0.18311118690952932,0.18567483579987765,-0.07066941119656163,0.010018496089631344,-0.01356186364304899,-0.00046521094934912245,1,1.403807820649952,0.15467991198627973,-1.8589262816374077,0.43648653784464825,1.4743350452629431,0.05245359698865796,1.203644884152231,2.3583197100378377,3.0625711657896386,0.0,0.0,0,0,-0.0002295847452341702,0.002319037830648184
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9346dc7596fedfb90829671743b471365872eec5
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6b4bf439899723613bfc7112f32d619c919cdec1
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+10,5.916666667e+00,DOWN_FORCE_DETACH,1792672388140440288,-4.228493529e-06,-6.422343216e-05,-3.962460878e-04,-6.700206968e-06,-6.592015313e-05,-3.949697327e-04,-8.010266421e-06,-6.590130104e-05,-3.941353614e-04,7.015336430e-01,-6.267247084e-05,8.403446951e-01,7.015311713e-01,-6.436919181e-05,8.403459715e-01,7.017213941e-01,-6.413006660e-05,8.291785411e-01
+11,6.600000000e+00,DOWN_FORCE_DETACH,1792672389438529936,-1.948466843e-06,-6.857901907e-05,-4.509585544e-04,-7.165569497e-06,-7.306944211e-05,-4.380324067e-04,-8.677870883e-06,-7.305346554e-05,-4.373115778e-04,7.015359230e-01,-6.702805775e-05,8.402899826e-01,7.015307059e-01,-7.151848079e-05,8.403029088e-01,7.017207265e-01,-7.128223110e-05,8.291353649e-01
+12,7.216666667e+00,DOWN_FORCE_DETACH,1792672390703669580,1.686549048e-06,-7.241704514e-05,-4.901081920e-04,-4.152159643e-06,-7.287590745e-05,-4.802430529e-04,-5.734320936e-06,-7.286294885e-05,-4.795740697e-04,7.015395580e-01,-7.086608382e-05,8.402508330e-01,7.015337193e-01,-7.132494613e-05,8.402606981e-01,7.017236700e-01,-7.109171441e-05,8.290931024e-01
+13,7.900000000e+00,DOWN_FORCE_DETACH,1792672392064650566,5.141858920e-06,-8.877316336e-05,-5.411826023e-04,4.994078937e-06,-8.898213393e-05,-5.410322327e-04,3.386646923e-06,-8.899587062e-05,-5.403510240e-04,7.015430133e-01,-8.722220204e-05,8.401997586e-01,7.015428656e-01,-8.743117261e-05,8.401999090e-01,7.017327910e-01,-8.722463618e-05,8.290323255e-01
+14,8.483333333e+00,DOWN_FORCE_DETACH,1792672393230778222,1.249848931e-05,-8.780887309e-05,-5.759781398e-04,7.793355388e-06,-8.262925625e-05,-5.600441413e-04,6.250930263e-06,-8.262756567e-05,-5.594717471e-04,7.015503700e-01,-8.625791177e-05,8.401649630e-01,7.015456648e-01,-8.107829493e-05,8.401808970e-01,7.017356553e-01,-8.085633123e-05,8.290132048e-01
+15,9.100000000e+00,DOWN_FORCE_DETACH,1792672394426789047,1.818049616e-05,-9.132588342e-05,-6.249500802e-04,1.486406749e-05,-8.605840187e-05,-6.259126998e-04,1.323366243e-05,-8.605438924e-05,-6.251738977e-04,7.015560520e-01,-8.977492210e-05,8.401159911e-01,7.015527355e-01,-8.450744054e-05,8.401150285e-01,7.017426380e-01,-8.428315480e-05,8.289475026e-01
+16,9.716666667e+00,DOWN_FORCE_DETACH,1792672395591882037,2.074803712e-05,-9.464576990e-05,-6.780269978e-04,1.685605060e-05,-9.318558816e-05,-6.684255325e-04,1.510179074e-05,-9.323211202e-05,-6.677050338e-04,7.015586195e-01,-9.309480858e-05,8.400629142e-01,7.015547275e-01,-9.163462684e-05,8.400725157e-01,7.017445062e-01,-9.146087758e-05,8.289049715e-01
+17,1.025000000e+01,DOWN_FORCE_DETACH,1792672396622937229,2.590757438e-05,-9.570423559e-05,-7.223493253e-04,2.394665220e-05,-9.388747053e-05,-7.101407382e-04,2.228299281e-05,-9.391198646e-05,-7.094438209e-04,7.015637791e-01,-9.415327427e-05,8.400185919e-01,7.015618181e-01,-9.233650921e-05,8.400308004e-01,7.017516874e-01,-9.214075202e-05,8.288632327e-01
+18,1.100000000e+01,DOWN_FORCE_DETACH,1792672398019305524,3.621543459e-05,-9.605448611e-05,-7.827406543e-04,3.401755174e-05,-9.394131737e-05,-7.722973041e-04,3.237331557e-05,-9.396690537e-05,-7.715666740e-04,7.015740869e-01,-9.450352479e-05,8.399582005e-01,7.015718890e-01,-9.239035605e-05,8.399686439e-01,7.017617777e-01,-9.219567092e-05,8.288011098e-01
+19,1.158333333e+01,DOWN_FORCE_DETACH,1792672399151080006,4.046246049e-05,-9.052665831e-05,-8.409698959e-04,4.100149205e-05,-9.184652156e-05,-8.356013102e-04,3.937912398e-05,-9.185862051e-05,-8.347643094e-04,7.015783339e-01,-8.897569699e-05,8.398999713e-01,7.015788730e-01,-9.029556024e-05,8.399053399e-01,7.017687835e-01,-9.008738607e-05,8.287379122e-01
+20,1.228333333e+01,DOWN_FORCE_DETACH,1792672400547144012,4.468508835e-05,-9.085126105e-05,-9.036226005e-04,4.596777963e-05,-9.548126997e-05,-9.007640175e-04,4.427189009e-05,-9.546489194e-05,-8.999341426e-04,7.015825566e-01,-8.930029973e-05,8.398373186e-01,7.015838393e-01,-9.393030865e-05,8.398401772e-01,7.017736763e-01,-9.369365750e-05,8.286727424e-01
+21,1.265000000e+01,DOWN_FORCE_DETACH,1792672401279771447,5.700048986e-05,-5.360657328e-05,-9.405517152e-04,5.552565546e-05,-5.684402843e-05,-9.324471045e-04,5.396142939e-05,-5.683910643e-05,-9.316260468e-04,7.015948720e-01,-5.205561195e-05,8.398003895e-01,7.015933971e-01,-5.529306711e-05,8.398084941e-01,7.017833658e-01,-5.506787199e-05,8.286410505e-01
+22,1.321666667e+01,DOWN_FORCE_DETACH,1792672402411796254,5.794708962e-05,-5.566986243e-05,-1.025053567e-03,5.917087862e-05,-6.240360226e-05,-1.009962292e-03,5.744301419e-05,-6.239223593e-05,-1.009050855e-03,7.015958186e-01,-5.411890111e-05,8.397158876e-01,7.015970424e-01,-6.085264094e-05,8.397309789e-01,7.017868474e-01,-6.062100149e-05,8.285636257e-01
+23,1.385000000e+01,DOWN_FORCE_DETACH,1792672403608747976,6.104114556e-05,-6.761534641e-05,-1.092941064e-03,6.315269705e-05,-6.488882218e-05,-1.074055661e-03,6.135718457e-05,-6.488852587e-05,-1.073182905e-03,7.015989126e-01,-6.606438509e-05,8.396480001e-01,7.016010242e-01,-6.333786086e-05,8.396668855e-01,7.017907615e-01,-6.311729143e-05,8.284994936e-01
+24,1.450000000e+01,DOWN_FORCE_DETACH,1792672404840094405,6.658007133e-05,-6.756299921e-05,-1.131010648e-03,6.618664129e-05,-7.225682364e-05,-1.115013228e-03,6.430646989e-05,-7.223799411e-05,-1.114300811e-03,7.016044516e-01,-6.601203789e-05,8.396099305e-01,7.016040581e-01,-7.070586232e-05,8.396259280e-01,7.017937108e-01,-7.046675967e-05,8.284583757e-01
+25,1.520000000e+01,DOWN_FORCE_DETACH,1792672406169948558,7.480790644e-05,-6.683424004e-05,-1.174878819e-03,6.821006430e-05,-7.054322427e-05,-1.175538230e-03,6.619985350e-05,-7.052509151e-05,-1.174811773e-03,7.016126794e-01,-6.528327872e-05,8.395660624e-01,7.016060815e-01,-6.899226295e-05,8.395654030e-01,7.017956042e-01,-6.875385707e-05,8.283978647e-01
+26,1.578333333e+01,DOWN_FORCE_DETACH,1792672407268174544,7.551457396e-05,-7.383914924e-05,-1.232203952e-03,7.257184621e-05,-7.051486821e-05,-1.223109615e-03,7.051883995e-05,-7.051812117e-05,-1.222423461e-03,7.016133861e-01,-7.228818792e-05,8.395087372e-01,7.016104433e-01,-6.896390688e-05,8.395178316e-01,7.017999232e-01,-6.874688672e-05,8.283502530e-01
+27,1.645000000e+01,DOWN_FORCE_DETACH,1792672408600256852,8.116681090e-05,-7.393575832e-05,-1.310330892e-03,8.071533152e-05,-7.904019994e-05,-1.304239967e-03,7.855861844e-05,-7.899166491e-05,-1.303406422e-03,7.016190383e-01,-7.238479700e-05,8.394306103e-01,7.016185868e-01,-7.748923862e-05,8.394367012e-01,7.018079630e-01,-7.722043046e-05,8.282692701e-01
+28,1.703333333e+01,DOWN_FORCE_DETACH,1792672409762235509,8.446994533e-05,-7.861875374e-05,-1.377111640e-03,8.686508514e-05,-8.150361281e-05,-1.365222393e-03,8.468911717e-05,-8.148861090e-05,-1.364357477e-03,7.016223414e-01,-7.706779242e-05,8.393638295e-01,7.016247366e-01,-7.995265148e-05,8.393757188e-01,7.018140935e-01,-7.971737646e-05,8.282083190e-01
+29,1.763333333e+01,DOWN_FORCE_DETACH,1792672410926459242,9.016525608e-05,-8.372641199e-05,-1.446446963e-03,8.839517072e-05,-7.670323899e-05,-1.430759459e-03,8.597861724e-05,-7.667509119e-05,-1.429884067e-03,7.016280367e-01,-8.217545067e-05,8.392944942e-01,7.016262667e-01,-7.515227767e-05,8.393101817e-01,7.018153830e-01,-7.490385675e-05,8.281427924e-01
+30,1.826666667e+01,DOWN_FORCE_DETACH,1792672412124369729,9.386342329e-05,-8.680684192e-05,-1.525241882e-03,9.319152181e-05,-8.658171064e-05,-1.514112424e-03,9.061939752e-05,-8.657549005e-05,-1.513104184e-03,7.016317349e-01,-8.525588060e-05,8.392156993e-01,7.016310630e-01,-8.503074931e-05,8.392268288e-01,7.018200238e-01,-8.480425561e-05,8.280595723e-01
+31,1.875000000e+01,DOWN_FORCE_DETACH,1792672413056416837,9.570966898e-05,-9.050709905e-05,-1.590891982e-03,9.448541573e-05,-8.836107395e-05,-1.581737553e-03,9.169902596e-05,-8.836790036e-05,-1.580657217e-03,7.016335812e-01,-8.895613773e-05,8.391500492e-01,7.016323569e-01,-8.681011263e-05,8.391592036e-01,7.018211034e-01,-8.659666592e-05,8.279920193e-01
+32,1.928333333e+01,DOWN_FORCE_DETACH,1792672414052443786,1.055509901e-04,-7.853990605e-05,-1.666610407e-03,1.047700970e-04,-7.404897203e-05,-1.664169245e-03,1.019541825e-04,-7.406430370e-05,-1.663010875e-03,7.016434225e-01,-7.698894473e-05,8.390743308e-01,7.016426416e-01,-7.249801070e-05,8.390767719e-01,7.018313585e-01,-7.229306926e-05,8.279096656e-01
+33,1.983333333e+01,DOWN_FORCE_DETACH,1792672415118510909,1.091827067e-04,-8.336592537e-05,-1.755373011e-03,1.066789393e-04,-7.858762265e-05,-1.751710997e-03,1.036322777e-04,-7.855185566e-05,-1.750551863e-03,7.016470542e-01,-8.181496404e-05,8.389855682e-01,7.016445504e-01,-7.703666132e-05,8.389892302e-01,7.018330366e-01,-7.678062122e-05,8.278221246e-01
+34,2.036666667e+01,DOWN_FORCE_DETACH,1792672416150961750,1.109450291e-04,-9.498074674e-05,-1.849226454e-03,1.106038927e-04,-9.093514456e-05,-1.840494529e-03,1.073735387e-04,-9.091310925e-05,-1.839249252e-03,7.016488165e-01,-9.342978542e-05,8.388917147e-01,7.016484754e-01,-8.938418324e-05,8.389004467e-01,7.018367779e-01,-8.914187481e-05,8.277334273e-01
+35,2.093333333e+01,DOWN_FORCE_DETACH,1792672417280529645,1.163309912e-04,-9.941596436e-05,-1.937122299e-03,1.149109348e-04,-9.772071568e-05,-1.929575643e-03,1.114765535e-04,-9.769276373e-05,-1.928368079e-03,7.016542025e-01,-9.786500303e-05,8.388038189e-01,7.016527824e-01,-9.616975436e-05,8.388113655e-01,7.018408809e-01,-9.592152928e-05,8.276443084e-01
+36,2.150000000e+01,DOWN_FORCE_DETACH,1792672418412638465,1.158643644e-04,-1.002055593e-04,-2.050843260e-03,1.176011158e-04,-1.019712260e-04,-2.041027589e-03,1.138590724e-04,-1.019691312e-04,-2.039687121e-03,7.016537358e-01,-9.865459793e-05,8.386900979e-01,7.016554726e-01,-1.004202647e-04,8.386999136e-01,7.018432634e-01,-1.001978968e-04,8.275329894e-01
+37,2.203333333e+01,DOWN_FORCE_DETACH,1792672419442697232,1.192951038e-04,-1.047007708e-04,-2.161364534e-03,1.181234047e-04,-1.021729582e-04,-2.154338539e-03,1.139424583e-04,-1.021308829e-04,-2.152901636e-03,7.016571666e-01,-1.031498095e-04,8.385795767e-01,7.016559949e-01,-1.006219969e-04,8.385866026e-01,7.018433468e-01,-1.003596484e-04,8.274197749e-01
+38,2.251666667e+01,DOWN_FORCE_DETACH,1792672420372928719,1.205488045e-04,-1.086337402e-04,-2.266587631e-03,1.203058775e-04,-1.086541907e-04,-2.266687852e-03,1.158107545e-04,-1.086432896e-04,-2.265052067e-03,7.016584203e-01,-1.070827789e-04,8.384743536e-01,7.016581774e-01,-1.071032294e-04,8.384742533e-01,7.018452151e-01,-1.068720551e-04,8.273076244e-01
+39,2.293333333e+01,DOWN_FORCE_DETACH,1792672421139237460,1.269111711e-04,-1.076089801e-04,-2.359589073e-03,1.244176220e-04,-1.076116546e-04,-2.354397138e-03,1.197085772e-04,-1.075978428e-04,-2.352793447e-03,7.016647827e-01,-1.060580188e-04,8.383813521e-01,7.016622891e-01,-1.060606933e-04,8.383865440e-01,7.018491129e-01,-1.058266084e-04,8.272198831e-01
+40,2.341666667e+01,DOWN_FORCE_DETACH,1792672422072830626,1.260157077e-04,-1.136445917e-04,-2.493324785e-03,1.240833667e-04,-1.130064604e-04,-2.489897914e-03,1.189201757e-04,-1.129947999e-04,-2.488139362e-03,7.016638872e-01,-1.120936303e-04,8.382476164e-01,7.016619548e-01,-1.114554990e-04,8.382510433e-01,7.018483245e-01,-1.112235655e-04,8.270845371e-01
+41,2.383333333e+01,DOWN_FORCE_DETACH,1792672422868900764,1.259101234e-04,-1.192393184e-04,-2.620783310e-03,1.259063977e-04,-1.200655850e-04,-2.602009515e-03,1.203866673e-04,-1.200630848e-04,-2.600186818e-03,7.016637816e-01,-1.176883570e-04,8.381201579e-01,7.016637779e-01,-1.185146237e-04,8.381389317e-01,7.018497910e-01,-1.182918503e-04,8.269724897e-01
+42,2.428333333e+01,DOWN_FORCE_DETACH,1792672423701133819,1.212167208e-04,-1.249962539e-04,-2.767292745e-03,1.217849456e-04,-1.218677593e-04,-2.753568774e-03,1.156029969e-04,-1.218095340e-04,-2.751495458e-03,7.016590882e-01,-1.234452926e-04,8.379736484e-01,7.016596564e-01,-1.203167980e-04,8.379873724e-01,7.018450074e-01,-1.200382996e-04,8.268211811e-01
+43,2.461666667e+01,DOWN_FORCE_DETACH,1792672424364921093,1.213191156e-04,-1.222810617e-04,-2.890530643e-03,1.236861022e-04,-1.237510677e-04,-2.870868335e-03,1.170858096e-04,-1.237358786e-04,-2.868699304e-03,7.016591906e-01,-1.207301004e-04,8.378504105e-01,7.016615576e-01,-1.222001063e-04,8.378700729e-01,7.018464902e-01,-1.219646441e-04,8.267039772e-01
+44,2.491666667e+01,DOWN_FORCE_DETACH,1792672425025840190,1.196497252e-04,-1.289682938e-04,-3.024045157e-03,1.194002419e-04,-1.289467952e-04,-3.023501597e-03,1.121313083e-04,-1.288966935e-04,-3.020985448e-03,7.016575212e-01,-1.274173325e-04,8.377168960e-01,7.016572717e-01,-1.273958339e-04,8.377174396e-01,7.018415357e-01,-1.271254590e-04,8.265516911e-01
+45,2.525000000e+01,DOWN_FORCE_DETACH,1792672425696954907,1.254795444e-04,-1.284131077e-04,-3.147168790e-03,1.215420888e-04,-1.349619220e-04,-3.146465176e-03,1.139079924e-04,-1.349080388e-04,-3.144012999e-03,7.016633510e-01,-1.268621464e-04,8.375937724e-01,7.016594136e-01,-1.334109607e-04,8.375944760e-01,7.018433124e-01,-1.331368043e-04,8.264286635e-01
+46,2.556666667e+01,DOWN_FORCE_DETACH,1792672426328963127,1.235748529e-04,-1.354493454e-04,-3.294437780e-03,1.224446136e-04,-1.327616792e-04,-3.287860928e-03,1.143023467e-04,-1.326981603e-04,-3.285230774e-03,7.016614463e-01,-1.338983840e-04,8.374465034e-01,7.016603161e-01,-1.312107179e-04,8.374530803e-01,7.018437067e-01,-1.309269259e-04,8.262874457e-01
+47,2.588333333e+01,DOWN_FORCE_DETACH,1792672426961465844,1.186627723e-04,-1.330974445e-04,-3.445154383e-03,1.183892021e-04,-1.334215046e-04,-3.445382002e-03,1.095593167e-04,-1.333648625e-04,-3.442615281e-03,7.016565343e-01,-1.315464831e-04,8.372957868e-01,7.016562607e-01,-1.318705433e-04,8.372955592e-01,7.018389637e-01,-1.315936281e-04,8.261300612e-01
+48,2.616666667e+01,DOWN_FORCE_DETACH,1792672427525286334,1.227974720e-04,-1.363107494e-04,-3.578555866e-03,1.203170133e-04,-1.418345911e-04,-3.573592791e-03,1.110867498e-04,-1.417310009e-04,-3.570852430e-03,7.016606690e-01,-1.347597881e-04,8.371623853e-01,7.016581885e-01,-1.402836298e-04,8.371673484e-01,7.018404911e-01,-1.399597665e-04,8.260018241e-01
+49,2.645000000e+01,DOWN_FORCE_DETACH,1792672428075137219,1.206954780e-04,-1.426402434e-04,-3.729760092e-03,1.230160534e-04,-1.415908428e-04,-3.721421203e-03,1.133520653e-04,-1.414787212e-04,-3.718591803e-03,7.016585670e-01,-1.410892821e-04,8.370111811e-01,7.016608875e-01,-1.400398814e-04,8.370195200e-01,7.018427564e-01,-1.397074868e-04,8.258540847e-01
+50,2.670000000e+01,DOWN_FORCE_DETACH,1792672428557175424,1.162348598e-04,-1.453765736e-04,-3.871453389e-03,1.162024310e-04,-1.453861513e-04,-3.871677574e-03,1.057530674e-04,-1.452827478e-04,-3.868627891e-03,7.016541063e-01,-1.438256122e-04,8.368694878e-01,7.016540739e-01,-1.438351899e-04,8.368692636e-01,7.018351574e-01,-1.435115133e-04,8.257040486e-01
+51,2.698333333e+01,DOWN_FORCE_DETACH,1792672429091138243,1.145924359e-04,-1.537044542e-04,-4.033204906e-03,1.144423389e-04,-1.535678850e-04,-4.033300885e-03,1.034092034e-04,-1.534373945e-04,-4.030163924e-03,7.016524639e-01,-1.521534928e-04,8.367077363e-01,7.016523138e-01,-1.520169236e-04,8.367076403e-01,7.018328136e-01,-1.516661601e-04,8.255425126e-01
+52,2.725000000e+01,DOWN_FORCE_DETACH,1792672429589356723,1.207694837e-04,-1.541522921e-04,-4.179785401e-03,1.169933730e-04,-1.545288876e-04,-4.174687928e-03,1.055400112e-04,-1.543864183e-04,-4.171546472e-03,7.016586410e-01,-1.526013307e-04,8.365611558e-01,7.016548649e-01,-1.529779263e-04,8.365662533e-01,7.018349444e-01,-1.526151839e-04,8.254011300e-01
+53,2.750000000e+01,DOWN_FORCE_DETACH,1792672430054223299,1.218624212e-04,-1.662753232e-04,-4.335232579e-03,1.207198418e-04,-1.634311143e-04,-4.324359137e-03,1.087785873e-04,-1.632467170e-04,-4.321164496e-03,7.016597339e-01,-1.647243619e-04,8.364057086e-01,7.016585913e-01,-1.618801530e-04,8.364165821e-01,7.018381829e-01,-1.614754825e-04,8.252515120e-01
+54,2.770000000e+01,DOWN_FORCE_DETACH,1792672430453206202,1.102816147e-04,-1.708128544e-04,-4.487084662e-03,1.099917139e-04,-1.709432171e-04,-4.486915164e-03,9.729016946e-05,-1.707465247e-04,-4.483575908e-03,7.016481531e-01,-1.692618931e-04,8.362538565e-01,7.016478632e-01,-1.693922558e-04,8.362540260e-01,7.018266945e-01,-1.689752903e-04,8.250891006e-01
+55,2.793333333e+01,DOWN_FORCE_DETACH,1792672430885289504,1.052486326e-04,-1.719332057e-04,-4.646492743e-03,1.052023441e-04,-1.719476690e-04,-4.646642032e-03,9.175940480e-05,-1.717608366e-04,-4.643287190e-03,7.016431201e-01,-1.703822444e-04,8.360944484e-01,7.016430738e-01,-1.703967077e-04,8.360942992e-01,7.018211638e-01,-1.699896022e-04,8.249293893e-01
+56,2.813333333e+01,DOWN_FORCE_DETACH,1792672431253202231,1.328588020e-04,-1.799817392e-04,-4.770543227e-03,1.335165367e-04,-1.734587184e-04,-4.763641059e-03,1.202779195e-04,-1.732540163e-04,-4.760356337e-03,7.016707303e-01,-1.784307778e-04,8.359703980e-01,7.016713880e-01,-1.719077570e-04,8.359773001e-01,7.018496823e-01,-1.714827819e-04,8.248123202e-01
+57,2.830000000e+01,DOWN_FORCE_DETACH,1792672431585709090,1.211344996e-04,-1.847644133e-04,-4.910765075e-03,1.209588623e-04,-1.845900576e-04,-4.910639087e-03,1.069403671e-04,-1.843969082e-04,-4.907204653e-03,7.016590060e-01,-1.832134520e-04,8.358301761e-01,7.016588303e-01,-1.830390962e-04,8.358303021e-01,7.018363447e-01,-1.826256737e-04,8.246654719e-01
+58,2.846666667e+01,DOWN_SETTLE,1792672431885128226,1.306639870e-04,-1.752033705e-04,-5.033016222e-03,1.330240338e-04,-1.605204412e-04,-5.032243602e-03,1.187870146e-04,-1.603060354e-04,-5.028798946e-03,7.016685355e-01,-1.736524092e-04,8.357079250e-01,7.016708955e-01,-1.589694799e-04,8.357086976e-01,7.018481914e-01,-1.585348010e-04,8.245438776e-01
+59,2.886666667e+01,DOWN_PEAK_HOLD,1792672432681337013,1.127084880e-04,-1.736371945e-04,-5.098027186e-03,1.137018876e-04,-1.705930150e-04,-5.092859208e-03,9.878701601e-05,-1.703934565e-04,-5.090654963e-03,7.016505800e-01,-1.720862331e-04,8.356429140e-01,7.016515734e-01,-1.690420537e-04,8.356480820e-01,7.018281914e-01,-1.686222220e-04,8.244820215e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..24a2da810aa3b267757c462af1ce7faa31eed042
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-7.5746e-04,1.3907e-03,2.4544e+00,-3.6888e-02,3.6730e-02,-9.2617e-06,1.7277e-04,-1.2327e-06,6.6757e-05,8.1956e-08,1.2130e-05,-3.1156e-08,1.8523e-04,1.2130e-05
+1,6.8333e-01,DOWN_FORCE_DETACH,1.5995e-04,6.1716e-03,7.5467e-03,2.4597e+00,-3.7319e-02,3.7215e-02,-5.4153e-06,7.1018e-03,6.1548e-03,5.3322e-03,-4.3122e-04,4.9686e-04,3.8152e-06,1.0805e-02,6.5790e-04
+2,1.2167e+00,DOWN_FORCE_DETACH,3.2133e-04,1.1448e-02,8.9904e-03,2.4746e+00,-3.7420e-02,3.7576e-02,-5.8692e-06,1.2378e-02,7.5985e-03,2.0314e-02,-5.3167e-04,8.5755e-04,3.3613e-06,2.4973e-02,1.0090e-03
+3,1.7167e+00,DOWN_FORCE_DETACH,4.8688e-04,9.5872e-03,1.1100e-02,2.4759e+00,-3.7567e-02,3.7443e-02,-6.5894e-06,1.0517e-02,9.7084e-03,2.1533e-02,-6.7889e-04,7.2545e-04,2.6411e-06,2.5856e-02,9.9357e-04
+4,2.2167e+00,DOWN_FORCE_DETACH,6.4685e-04,1.4856e-02,1.2926e-02,2.4850e+00,-3.7693e-02,3.7808e-02,-7.5163e-06,1.5786e-02,1.1534e-02,3.0707e-02,-8.0511e-04,1.0904e-03,1.7142e-06,3.6403e-02,1.3554e-03
+5,2.8333e+00,DOWN_FORCE_DETACH,8.1067e-04,1.6320e-02,1.4237e-02,2.4806e+00,-3.7784e-02,3.7916e-02,-1.0063e-05,1.7251e-02,1.2845e-02,2.6270e-02,-8.9546e-04,1.1976e-03,-8.3217e-07,3.3952e-02,1.4954e-03
+6,3.4500e+00,DOWN_FORCE_DETACH,9.7254e-04,1.6906e-02,1.6597e-02,2.4841e+00,-3.7947e-02,3.7956e-02,-1.0352e-05,1.7836e-02,1.5205e-02,2.9766e-02,-1.0593e-03,1.2378e-03,-1.1213e-06,3.7886e-02,1.6292e-03
+7,4.0667e+00,DOWN_FORCE_DETACH,1.1335e-03,1.6811e-02,2.0179e-02,2.4842e+00,-3.8196e-02,3.7950e-02,-7.9247e-06,1.7742e-02,1.8787e-02,2.9848e-02,-1.3083e-03,1.2317e-03,1.3058e-06,3.9479e-02,1.7969e-03
+8,4.6833e+00,DOWN_FORCE_DETACH,1.2937e-03,1.7329e-02,2.2338e-02,2.4901e+00,-3.8346e-02,3.7982e-02,-4.5992e-06,1.8259e-02,2.0946e-02,3.5737e-02,-1.4574e-03,1.2643e-03,4.6313e-06,4.5269e-02,1.9294e-03
+9,5.2667e+00,DOWN_FORCE_DETACH,1.4594e-03,1.5386e-02,1.9181e-02,2.4843e+00,-3.8128e-02,3.7849e-02,-3.6982e-06,1.6316e-02,1.7789e-02,2.9943e-02,-1.2401e-03,1.1313e-03,5.5323e-06,3.8461e-02,1.6786e-03
+10,5.9167e+00,DOWN_FORCE_DETACH,1.6171e-03,1.8666e-02,2.4029e-02,2.4979e+00,-3.8466e-02,3.8070e-02,6.4130e-06,1.9596e-02,2.2637e-02,4.3590e-02,-1.5783e-03,1.3519e-03,1.5643e-05,5.2883e-02,2.0782e-03
+11,6.6000e+00,DOWN_FORCE_DETACH,1.7773e-03,1.8440e-02,2.5900e-02,2.4911e+00,-3.8600e-02,3.8059e-02,1.6130e-05,1.9371e-02,2.4508e-02,3.6786e-02,-1.7119e-03,1.3408e-03,2.5360e-05,4.8260e-02,2.1746e-03
+12,7.2167e+00,DOWN_FORCE_DETACH,1.9433e-03,1.7160e-02,2.5503e-02,2.4881e+00,-3.8574e-02,3.7971e-02,2.2578e-05,1.8090e-02,2.4111e-02,3.3741e-02,-1.6863e-03,1.2533e-03,3.1809e-05,4.5244e-02,2.1013e-03
+13,7.9000e+00,DOWN_FORCE_DETACH,2.1027e-03,1.5197e-02,2.6295e-02,2.4854e+00,-3.8632e-02,3.7835e-02,2.6617e-05,1.6127e-02,2.4904e-02,3.1093e-02,-1.7438e-03,1.1170e-03,3.5848e-05,4.2977e-02,2.0712e-03
+14,8.4833e+00,DOWN_FORCE_DETACH,2.2689e-03,1.4196e-02,2.7739e-02,2.4846e+00,-3.8733e-02,3.7764e-02,2.5772e-05,1.5126e-02,2.6347e-02,3.0258e-02,-1.8447e-03,1.0463e-03,3.5002e-05,4.2877e-02,2.1211e-03
+15,9.1000e+00,DOWN_FORCE_DETACH,2.4287e-03,1.2891e-02,2.8553e-02,2.4930e+00,-3.8784e-02,3.7665e-02,2.1237e-05,1.3821e-02,2.7161e-02,3.8651e-02,-1.8963e-03,9.4699e-04,3.0467e-05,4.9221e-02,2.1198e-03
+16,9.7167e+00,DOWN_FORCE_DETACH,2.5919e-03,1.3617e-02,3.0746e-02,2.4914e+00,-3.8930e-02,3.7715e-02,1.5189e-05,1.4547e-02,2.9354e-02,3.7126e-02,-2.0417e-03,9.9739e-04,2.4420e-05,4.9514e-02,2.2725e-03
+17,1.0250e+01,DOWN_FORCE_DETACH,2.7508e-03,1.2652e-02,3.1025e-02,2.4919e+00,-3.8941e-02,3.7647e-02,8.7859e-06,1.3582e-02,2.9633e-02,3.7531e-02,-2.0527e-03,9.2857e-04,1.8016e-05,4.9711e-02,2.2530e-03
+18,1.1000e+01,DOWN_FORCE_DETACH,2.9152e-03,1.2125e-02,3.1265e-02,2.4922e+00,-3.8946e-02,3.7609e-02,6.1892e-07,1.3055e-02,2.9874e-02,3.7834e-02,-2.0579e-03,8.9152e-04,9.8494e-06,4.9942e-02,2.2428e-03
+19,1.1583e+01,DOWN_FORCE_DETACH,3.0778e-03,1.2436e-02,3.0786e-02,2.4977e+00,-3.8907e-02,3.7629e-02,-6.3108e-06,1.3367e-02,2.9394e-02,4.3349e-02,-2.0192e-03,9.1057e-04,2.9197e-06,5.4053e-02,2.2150e-03
+20,1.2283e+01,DOWN_FORCE_DETACH,3.2369e-03,1.4078e-02,3.1823e-02,2.4984e+00,-3.8979e-02,3.7745e-02,-1.2710e-05,1.5008e-02,3.0431e-02,4.4052e-02,-2.0907e-03,1.0270e-03,-3.4798e-06,5.5604e-02,2.3294e-03
+21,1.2650e+01,DOWN_FORCE_DETACH,3.3993e-03,1.3181e-02,1.9641e-02,2.4966e+00,-3.8132e-02,3.7684e-02,-2.5561e-05,1.4112e-02,1.8249e-02,4.2328e-02,-1.2438e-03,9.6558e-04,-1.6331e-05,4.8206e-02,1.5747e-03
+22,1.3217e+01,DOWN_FORCE_DETACH,3.5581e-03,1.5029e-02,2.1135e-02,2.5035e+00,-3.8234e-02,3.7808e-02,-2.6122e-05,1.5959e-02,1.9744e-02,4.9200e-02,-1.3459e-03,1.0904e-03,-1.6892e-05,5.5363e-02,1.7323e-03
+23,1.3850e+01,DOWN_FORCE_DETACH,3.7253e-03,1.6477e-02,2.1858e-02,2.5009e+00,-3.8278e-02,3.7910e-02,-2.7057e-05,1.7407e-02,2.0466e-02,4.6542e-02,-1.3899e-03,1.1923e-03,-1.7826e-05,5.3741e-02,1.8314e-03
+24,1.4500e+01,DOWN_FORCE_DETACH,3.8858e-03,1.7618e-02,2.4311e-02,2.4922e+00,-3.8441e-02,3.7994e-02,-2.6375e-05,1.8549e-02,2.2919e-02,3.7920e-02,-1.5524e-03,1.2757e-03,-1.7145e-05,4.8034e-02,2.0094e-03
+25,1.5200e+01,DOWN_FORCE_DETACH,4.0475e-03,1.8561e-02,2.3929e-02,2.4922e+00,-3.8404e-02,3.8057e-02,-2.8847e-05,1.9491e-02,2.2537e-02,3.7922e-02,-1.5163e-03,1.3394e-03,-1.9617e-05,4.8228e-02,2.0233e-03
+26,1.5783e+01,DOWN_FORCE_DETACH,4.2093e-03,1.7994e-02,2.3902e-02,2.4914e+00,-3.8395e-02,3.8016e-02,-2.9494e-05,1.8924e-02,2.2510e-02,3.7064e-02,-1.5066e-03,1.2985e-03,-2.0264e-05,4.7313e-02,1.9890e-03
+27,1.6450e+01,DOWN_FORCE_DETACH,4.3703e-03,1.6335e-02,2.6587e-02,2.4987e+00,-3.8572e-02,3.7894e-02,-2.7627e-05,1.7265e-02,2.5195e-02,4.4339e-02,-1.6841e-03,1.1757e-03,-1.8396e-05,5.3840e-02,2.0540e-03
+28,1.7033e+01,DOWN_FORCE_DETACH,4.5333e-03,1.5264e-02,2.7443e-02,2.4999e+00,-3.8629e-02,3.7817e-02,-2.7589e-05,1.6194e-02,2.6051e-02,4.5580e-02,-1.7409e-03,1.0994e-03,-1.8359e-05,5.4941e-02,2.0591e-03
+29,1.7633e+01,DOWN_FORCE_DETACH,4.6947e-03,1.5735e-02,2.6086e-02,2.5010e+00,-3.8539e-02,3.7850e-02,-2.9650e-05,1.6665e-02,2.4694e-02,4.6710e-02,-1.6511e-03,1.1317e-03,-2.0420e-05,5.5402e-02,2.0018e-03
+30,1.8267e+01,DOWN_FORCE_DETACH,4.8595e-03,1.5028e-02,2.9318e-02,2.5056e+00,-3.8775e-02,3.7796e-02,-2.6138e-05,1.5958e-02,2.7926e-02,5.1280e-02,-1.8873e-03,1.0785e-03,-1.6908e-05,6.0532e-02,2.1738e-03
+31,1.8750e+01,DOWN_FORCE_DETACH,5.0214e-03,1.5368e-02,2.9899e-02,2.5085e+00,-3.8829e-02,3.7818e-02,-2.5114e-05,1.6298e-02,2.8507e-02,5.4135e-02,-1.9414e-03,1.1003e-03,-1.5884e-05,6.3316e-02,2.2316e-03
+32,1.9283e+01,DOWN_FORCE_DETACH,5.1819e-03,1.3300e-02,2.5379e-02,2.5127e+00,-3.8530e-02,3.7670e-02,-2.7697e-05,1.4230e-02,2.3987e-02,5.8333e-02,-1.6418e-03,9.5247e-04,-1.8466e-05,6.4658e-02,1.8981e-03
+33,1.9833e+01,DOWN_FORCE_DETACH,5.3408e-03,1.4566e-02,2.6960e-02,2.5145e+00,-3.8644e-02,3.7757e-02,-2.4804e-05,1.5496e-02,2.5568e-02,6.0224e-02,-1.7561e-03,1.0389e-03,-1.5574e-05,6.7236e-02,2.0405e-03
+34,2.0367e+01,DOWN_FORCE_DETACH,5.5022e-03,1.5138e-02,3.0986e-02,2.5163e+00,-3.8914e-02,3.7792e-02,-1.8083e-05,1.6069e-02,2.9594e-02,6.2024e-02,-2.0258e-03,1.0738e-03,-8.8525e-06,7.0576e-02,2.2928e-03
+35,2.0933e+01,DOWN_FORCE_DETACH,5.6666e-03,1.5480e-02,3.3108e-02,2.5165e+00,-3.9046e-02,3.7814e-02,-1.4119e-05,1.6410e-02,3.1717e-02,6.2207e-02,-2.1583e-03,1.0965e-03,-4.8890e-06,7.1728e-02,2.4209e-03
+36,2.1500e+01,DOWN_FORCE_DETACH,5.8292e-03,1.5948e-02,3.4669e-02,2.5237e+00,-3.9140e-02,3.7842e-02,-1.0867e-05,1.6878e-02,3.3277e-02,6.9377e-02,-2.2515e-03,1.1241e-03,-1.6363e-06,7.8775e-02,2.5165e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_06/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..fe851b8ef004043482622134286ebe5af30ea751
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9eca18d05146d5af2853f33aceea5a4e65cff974e9568230b6fea577a0b025
+size 17152000
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..230a1910461752a5b1ce2a7b49aa8be862ed8f68
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3ae67526ec6a3e3fc02420d5c6541e99612bc24f
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..afe00cd2c2c158f8440a8a08fd96edf4020b6bc9
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..fd856c8859138e0192d911008f5e72d454b5b617
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,5.216666667e+00,UP_FORCE_HOLD,1792672368013284829,-3.246305004e-06,-3.184726487e-05,2.234184749e-04,-1.602463148e-06,-3.254749454e-05,2.204833039e-04,-4.543780214e-07,-3.258122865e-05,2.199104453e-04,7.015346252e-01,-3.029630355e-05,8.409643597e-01,7.015362690e-01,-3.099653322e-05,8.409614245e-01,7.017289499e-01,-3.080999063e-05,8.297925870e-01
+58,5.316666667e+00,UP_SETTLE,1792672368213259767,-1.914246752e-06,-3.163303030e-05,2.302876482e-04,-1.602463148e-06,-3.254749454e-05,2.204833039e-04,-4.521840438e-07,-3.258180537e-05,2.199638038e-04,7.015359572e-01,-3.008206898e-05,8.409712288e-01,7.015362690e-01,-3.099653322e-05,8.409614245e-01,7.017289521e-01,-3.081056735e-05,8.297926403e-01
+59,5.383333333e+00,UP_SETTLE,1792672368345321684,-1.627015468e-06,-3.398105077e-05,2.338537846e-04,-1.602463148e-06,-3.254749454e-05,2.204833039e-04,-4.511449929e-07,-3.258208613e-05,2.199950799e-04,7.015362445e-01,-3.243008945e-05,8.409747950e-01,7.015362690e-01,-3.099653322e-05,8.409614245e-01,7.017289531e-01,-3.081084811e-05,8.297926716e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_06/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_06/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7466c0caedc5cf3db8004bbd2f191d0220e18bf4
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_06/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-7.6138e-04,1.3908e-03,2.4544e+00,-3.6888e-02,3.6730e-02,-9.2347e-06,1.7281e-04,-1.2320e-06,6.6757e-05,8.1956e-08,1.2130e-05,-3.1319e-08,1.8526e-04,1.2130e-05
+1,1.3333e-01,WAIT_W2,2.5382e-05,5.8028e-04,1.3818e-03,2.4549e+00,-3.6887e-02,3.6824e-02,-9.4900e-06,1.5145e-03,-1.0283e-05,5.8508e-04,7.1153e-07,1.0630e-04,-2.8665e-07,1.6236e-03,1.0630e-04
+2,2.0000e-01,WAIT_W2,4.4918e-05,1.2152e-03,1.3785e-03,2.4552e+00,-3.6887e-02,3.6869e-02,-9.6218e-06,2.1494e-03,-1.3594e-05,8.3303e-04,9.2015e-07,1.5086e-04,-4.1848e-07,2.3052e-03,1.5086e-04
+3,3.3333e-01,WAIT_W2,7.0650e-05,2.4169e-03,1.3729e-03,2.4556e+00,-3.6887e-02,3.6953e-02,-9.8888e-06,3.3511e-03,-1.9163e-05,1.3065e-03,1.2778e-06,2.3518e-04,-6.8541e-07,3.5969e-03,2.3519e-04
+4,4.5000e-01,WAIT_W2,9.8685e-05,3.3973e-03,1.3687e-03,2.4560e+00,-3.6887e-02,3.7022e-02,-1.0127e-05,4.3315e-03,-2.3378e-05,1.6966e-03,1.5348e-06,3.0395e-04,-9.2383e-07,4.6519e-03,3.0396e-04
+5,5.3333e-01,WAIT_W2,1.2071e-04,4.0584e-03,1.3662e-03,2.4563e+00,-3.6886e-02,3.7068e-02,-1.0301e-05,4.9926e-03,-2.5824e-05,1.9624e-03,1.6727e-06,3.5033e-04,-1.0974e-06,5.3645e-03,3.5034e-04
+6,6.6667e-01,WAIT_W2,1.4507e-04,5.0544e-03,1.3626e-03,2.4567e+00,-3.6886e-02,3.7138e-02,-1.0598e-05,5.9885e-03,-2.9432e-05,2.3651e-03,1.8775e-06,4.2016e-04,-1.3943e-06,6.4387e-03,4.2017e-04
+7,7.5000e-01,WAIT_W2,1.6920e-04,5.6397e-03,1.3598e-03,2.4569e+00,-3.6886e-02,3.7179e-02,-1.0792e-05,6.5739e-03,-3.2228e-05,2.6035e-03,2.0452e-06,4.6121e-04,-1.5882e-06,7.0707e-03,4.6122e-04
+8,8.1667e-01,WAIT_W2,1.8989e-04,6.0886e-03,1.3575e-03,2.4571e+00,-3.6886e-02,3.7210e-02,-1.0950e-05,7.0227e-03,-3.4538e-05,2.7871e-03,2.1830e-06,4.9268e-04,-1.7470e-06,7.5557e-03,4.9269e-04
+9,9.0000e-01,WAIT_W2,2.1615e-04,6.6265e-03,1.3545e-03,2.4573e+00,-3.6886e-02,3.7248e-02,-1.1152e-05,7.5606e-03,-3.7587e-05,3.0084e-03,2.3693e-06,5.3038e-04,-1.9491e-06,8.1373e-03,5.3039e-04
+10,9.8333e-01,WAIT_W2,2.4070e-04,7.1398e-03,1.3513e-03,2.4575e+00,-3.6886e-02,3.7284e-02,-1.1359e-05,8.0740e-03,-4.0806e-05,3.2206e-03,2.5593e-06,5.6635e-04,-2.1560e-06,8.6927e-03,5.6636e-04
+11,1.0833e+00,WAIT_W2,2.6393e-04,7.5073e-03,-6.7400e-03,2.4571e+00,-3.6320e-02,3.7310e-02,-1.7456e-05,8.4414e-03,-8.1321e-03,2.7456e-03,5.6821e-04,5.9221e-04,-8.2522e-06,1.2039e-02,8.2076e-04
+12,1.2000e+00,WAIT_W2,2.8521e-04,8.1720e-03,-6.5540e-03,2.4575e+00,-3.6332e-02,3.7357e-02,-1.8588e-05,9.1062e-03,-7.9461e-03,3.1500e-03,5.5623e-04,6.3890e-04,-9.3845e-06,1.2489e-02,8.4716e-04
+13,1.3333e+00,WAIT_W2,3.1036e-04,9.1524e-03,-1.2712e-02,2.4586e+00,-3.5900e-02,3.7425e-02,-2.3852e-05,1.0087e-02,-1.4104e-02,4.2369e-03,9.8775e-04,7.0703e-04,-1.4649e-05,1.7850e-02,1.2148e-03
+14,1.4500e+00,WAIT_W2,3.3365e-04,9.7122e-03,-1.2597e-02,2.4587e+00,-3.5908e-02,3.7464e-02,-2.3642e-05,1.0646e-02,-1.3990e-02,4.4169e-03,9.8018e-04,7.4618e-04,-1.4439e-05,1.8126e-02,1.2320e-03
+15,1.5500e+00,WAIT_W2,3.5940e-04,1.0165e-02,-1.2558e-02,2.4589e+00,-3.5910e-02,3.7496e-02,-2.3543e-05,1.1099e-02,-1.3950e-02,4.5710e-03,9.7767e-04,7.7783e-04,-1.4340e-05,1.8403e-02,1.2494e-03
+16,1.6167e+00,WAIT_W2,3.8146e-04,1.0452e-02,-1.2543e-02,2.4590e+00,-3.5911e-02,3.7516e-02,-2.3492e-05,1.1386e-02,-1.3936e-02,4.6713e-03,9.7684e-04,7.9793e-04,-1.4288e-05,1.8592e-02,1.2614e-03
+17,1.7000e+00,WAIT_W2,4.0738e-04,1.0796e-02,-1.2533e-02,2.4591e+00,-3.5912e-02,3.7540e-02,-2.3434e-05,1.1730e-02,-1.3925e-02,4.7936e-03,9.7628e-04,8.2199e-04,-1.4231e-05,1.8828e-02,1.2763e-03
+18,1.8000e+00,UP_FORCE_RAMP,4.3007e-04,1.0906e-02,-5.9038e-03,2.4581e+00,-3.6376e-02,3.7548e-02,-1.7675e-05,1.1840e-02,-7.2959e-03,3.7355e-03,5.1252e-04,8.3045e-04,-8.4713e-06,1.4401e-02,9.7590e-04
+19,1.9000e+00,UP_FORCE_RAMP,4.5371e-04,1.1318e-02,-6.1537e-03,2.4583e+00,-3.6358e-02,3.7577e-02,-1.8018e-05,1.2253e-02,-7.5457e-03,4.0302e-03,5.2990e-04,8.5929e-04,-8.8144e-06,1.4943e-02,1.0096e-03
+20,2.0167e+00,UP_FORCE_RAMP,4.7611e-04,1.1741e-02,-6.2274e-03,2.4586e+00,-3.6353e-02,3.7607e-02,-1.8227e-05,1.2675e-02,-7.6194e-03,4.2968e-03,5.3496e-04,8.8884e-04,-9.0235e-06,1.5400e-02,1.0374e-03
+21,2.1333e+00,UP_FORCE_RAMP,5.0133e-04,1.2135e-02,-6.2572e-03,2.4589e+00,-3.6351e-02,3.7634e-02,-1.8360e-05,1.3070e-02,-7.6492e-03,4.5342e-03,5.3701e-04,9.1646e-04,-9.1567e-06,1.5808e-02,1.0622e-03
+22,2.2500e+00,UP_FORCE_RAMP,5.2689e-04,1.3320e-02,4.1093e-04,2.4599e+00,-3.6818e-02,3.7717e-02,-1.2633e-05,1.4255e-02,-9.8114e-04,5.5962e-03,7.0106e-05,9.9942e-04,-3.4296e-06,1.5345e-02,1.0019e-03
+23,2.3667e+00,UP_FORCE_RAMP,5.5118e-04,1.3568e-02,1.2845e-04,2.4600e+00,-3.6798e-02,3.7734e-02,-1.3145e-05,1.4502e-02,-1.2636e-03,5.6765e-03,8.9575e-05,1.0167e-03,-3.9417e-06,1.5625e-02,1.0207e-03
+24,2.4500e+00,UP_FORCE_RAMP,5.7378e-04,1.3755e-02,7.2902e-05,2.4601e+00,-3.6795e-02,3.7747e-02,-1.3443e-05,1.4689e-02,-1.3192e-03,5.7707e-03,9.3266e-05,1.0298e-03,-4.2393e-06,1.5837e-02,1.0340e-03
+25,2.5500e+00,UP_FORCE_RAMP,5.9885e-04,1.3976e-02,3.9346e-05,2.4602e+00,-3.6793e-02,3.7763e-02,-1.3753e-05,1.4910e-02,-1.3527e-03,5.8863e-03,9.5431e-05,1.0453e-03,-4.5496e-06,1.6087e-02,1.0497e-03
+26,2.6333e+00,UP_FORCE_RAMP,6.2163e-04,1.4155e-02,2.3874e-05,2.4603e+00,-3.6792e-02,3.7776e-02,-1.3994e-05,1.5089e-02,-1.3682e-03,5.9805e-03,9.6384e-05,1.0578e-03,-4.7901e-06,1.6289e-02,1.0622e-03
+27,2.7500e+00,UP_FORCE_RAMP,6.4356e-04,1.4394e-02,1.1051e-05,2.4604e+00,-3.6791e-02,3.7792e-02,-1.4315e-05,1.5328e-02,-1.3810e-03,6.1073e-03,9.7115e-05,1.0746e-03,-5.1118e-06,1.6558e-02,1.0790e-03
+28,2.8333e+00,UP_FORCE_RAMP,6.7129e-04,1.4429e-02,5.6502e-03,2.4569e+00,-3.7186e-02,3.7797e-02,-9.7474e-06,1.5364e-02,4.2581e-03,2.5458e-03,-2.9789e-04,1.0797e-03,-5.4408e-07,1.6145e-02,1.1200e-03
+29,2.9333e+00,UP_FORCE_RAMP,6.9117e-04,1.4624e-02,5.5461e-03,2.4573e+00,-3.7179e-02,3.7811e-02,-1.0381e-05,1.5558e-02,4.1540e-03,3.0127e-03,-2.9104e-04,1.0932e-03,-1.1774e-06,1.6383e-02,1.1313e-03
+30,2.9667e+00,UP_FORCE_RAMP,7.1609e-04,1.4686e-02,5.5270e-03,2.4575e+00,-3.7178e-02,3.7815e-02,-1.0541e-05,1.5620e-02,4.1349e-03,3.1424e-03,-2.8982e-04,1.0975e-03,-1.3378e-06,1.6460e-02,1.1351e-03
+31,3.0333e+00,UP_FORCE_RAMP,7.3988e-04,2.2002e-02,5.0149e-03,2.4537e+00,-3.7142e-02,3.8334e-02,-1.1288e-05,2.2936e-02,3.6229e-03,-6.4707e-04,-2.5433e-04,1.6166e-03,-2.0843e-06,2.3230e-02,1.6365e-03
+32,3.1000e+00,UP_FORCE_RAMP,7.6434e-04,1.9090e-02,6.9227e-03,2.4469e+00,-3.7276e-02,3.8134e-02,-9.5406e-06,2.0024e-02,5.5307e-03,-7.3805e-03,-3.8838e-04,1.4160e-03,-3.3720e-07,2.2046e-02,1.4683e-03
+33,3.1833e+00,UP_FORCE_RAMP,7.8882e-04,1.9048e-02,6.8329e-03,2.4483e+00,-3.7271e-02,3.8130e-02,-1.0274e-05,1.9982e-02,5.4408e-03,-5.9977e-03,-3.8277e-04,1.4124e-03,-1.0709e-06,2.1561e-02,1.4633e-03
+34,3.3000e+00,UP_FORCE_RAMP,8.1170e-04,1.7580e-02,6.4758e-03,2.4430e+00,-3.7247e-02,3.8030e-02,-1.1249e-05,1.8515e-02,5.0837e-03,-1.1306e-02,-3.5851e-04,1.3127e-03,-2.0456e-06,2.2281e-02,1.3608e-03
+35,3.4167e+00,UP_FORCE_RAMP,8.3729e-04,1.7635e-02,6.4405e-03,2.4448e+00,-3.7245e-02,3.8033e-02,-1.1721e-05,1.8569e-02,5.0484e-03,-9.4814e-03,-3.5651e-04,1.3155e-03,-2.5181e-06,2.1452e-02,1.3629e-03
+36,3.5167e+00,UP_FORCE_RAMP,8.5863e-04,1.6025e-02,7.9481e-03,2.4388e+00,-3.7350e-02,3.7924e-02,-1.0794e-05,1.6959e-02,6.5560e-03,-1.5549e-02,-4.6189e-04,1.2058e-03,-1.5911e-06,2.3924e-02,1.2913e-03
+37,3.6333e+00,UP_FORCE_RAMP,8.8342e-04,1.6189e-02,7.9554e-03,2.4413e+00,-3.7352e-02,3.7934e-02,-1.1025e-05,1.7123e-02,6.5633e-03,-1.3056e-02,-4.6375e-04,1.2160e-03,-1.8219e-06,2.2510e-02,1.3014e-03
+38,3.7500e+00,UP_FORCE_RAMP,9.0875e-04,1.6337e-02,7.9044e-03,2.4431e+00,-3.7349e-02,3.7943e-02,-1.1356e-05,1.7271e-02,6.5123e-03,-1.1205e-02,-4.6076e-04,1.2252e-03,-2.1527e-06,2.1593e-02,1.3089e-03
+39,3.8500e+00,UP_FORCE_RAMP,9.3195e-04,1.5703e-02,1.1277e-02,2.4383e+00,-3.7586e-02,3.7902e-02,-8.6550e-06,1.6638e-02,9.8851e-03,-1.6028e-02,-6.9822e-04,1.1839e-03,5.4834e-07,2.5128e-02,1.3745e-03
+40,3.9333e+00,UP_FORCE_RAMP,9.5547e-04,1.4477e-02,1.1066e-02,2.4325e+00,-3.7572e-02,3.7819e-02,-8.9889e-06,1.5412e-02,9.6741e-03,-2.1821e-02,-6.8436e-04,1.1013e-03,2.1444e-07,2.8412e-02,1.2966e-03
+41,4.0167e+00,UP_FORCE_RAMP,9.7914e-04,1.4710e-02,1.1029e-02,2.4348e+00,-3.7571e-02,3.7834e-02,-9.5812e-06,1.5645e-02,9.6374e-03,-1.9512e-02,-6.8261e-04,1.1165e-03,-3.7780e-07,2.6802e-02,1.3086e-03
+42,4.1333e+00,UP_FORCE_RAMP,1.0040e-03,1.3222e-02,9.9007e-03,2.4309e+00,-3.7493e-02,3.7732e-02,-1.1076e-05,1.4156e-02,8.5087e-03,-2.3469e-02,-6.0461e-04,1.0144e-03,-1.8726e-06,2.8698e-02,1.1809e-03
+43,4.2167e+00,UP_FORCE_RAMP,1.0274e-03,1.3513e-02,9.8788e-03,2.4329e+00,-3.7492e-02,3.7751e-02,-1.1332e-05,1.4447e-02,8.4867e-03,-2.1398e-02,-6.0351e-04,1.0334e-03,-2.1285e-06,2.7178e-02,1.1967e-03
+44,4.3000e+00,UP_FORCE_RAMP,1.0503e-03,1.3768e-02,9.8561e-03,2.4348e+00,-3.7490e-02,3.7768e-02,-1.1528e-05,1.4702e-02,8.4641e-03,-1.9545e-02,-6.0232e-04,1.0499e-03,-2.3249e-06,2.5880e-02,1.2104e-03
+45,4.3667e+00,UP_FORCE_RAMP,1.0744e-03,1.3955e-02,9.8370e-03,2.4361e+00,-3.7489e-02,3.7780e-02,-1.1696e-05,1.4889e-02,8.4450e-03,-1.8172e-02,-6.0126e-04,1.0621e-03,-2.4922e-06,2.4964e-02,1.2205e-03
+46,4.4833e+00,UP_FORCE_RAMP,1.0997e-03,1.5631e-02,1.2952e-02,2.4316e+00,-3.7708e-02,3.7901e-02,-9.2311e-06,1.6565e-02,1.1560e-02,-2.2730e-02,-8.2013e-04,1.1831e-03,-2.7736e-08,3.0408e-02,1.4396e-03
+47,4.6000e+00,UP_FORCE_RAMP,1.1212e-03,1.5727e-02,1.2809e-02,2.4347e+00,-3.7699e-02,3.7906e-02,-9.9529e-06,1.6661e-02,1.1417e-02,-1.9656e-02,-8.1133e-04,1.1881e-03,-7.4957e-07,2.8183e-02,1.4387e-03
+48,4.6833e+00,UP_FORCE_RAMP,1.1471e-03,1.5834e-02,1.2762e-02,2.4364e+00,-3.7697e-02,3.7912e-02,-1.0402e-05,1.6768e-02,1.1370e-02,-1.7896e-02,-8.0854e-04,1.1944e-03,-1.1987e-06,2.7032e-02,1.4423e-03
+49,4.7667e+00,UP_FORCE_RAMP,1.1671e-03,1.6927e-02,1.1330e-02,2.4300e+00,-3.7597e-02,3.7993e-02,-1.1861e-05,1.7861e-02,9.9380e-03,-2.4355e-02,-7.0900e-04,1.2757e-03,-2.6573e-06,3.1796e-02,1.4595e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_07/down/camera_frames_60hz.tar
new file mode 100644
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--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..53cc4937fdf0389fad92338933ed7489057a111c
--- /dev/null
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..56eea64b8077265d1a3d8c146aab7bf800a160a2
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+58122,1792672463720096562,41004027000000,1792672463719018180,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6759999545472283,-0.004569129851321196,0.09067458113805493,0.9999999833398924,-2.7573691048913624e-05,-0.0001371856232634827,-7.199219274393762e-05,0.6761,-0.00453,0.0907790413092455,1.0,0.0,0.0,0.0,0.13025679012320884,0.12938835244464383,0.23867088807930795,0.009293086325966092,-0.00893531649554848,-0.00020967603827072863,0.33714827930874763,0.3057981752132326,0.15011825574573276,0.019075093924467715,-0.024717812572528235,-0.00024927876971822207,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.17201845454288853,0.4411917463553966,0.9539274582142732,0.006833919740736628,-0.5410969672719165,0.21834081872411693,1.203644884152231,0.23867088807930795,0.24971742593795776,0.24971742593795776,0.3797500000000042,0,0,-3.538402284650045e-05,-9.999410607720022e-05
+58285,1792672465079119480,41005386000000,1792672465079018375,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760085228804346,-0.004575314675781094,0.09064140846232285,0.9999999869767243,-2.339121348648888e-05,-0.00011643403408433311,-5.8184040810886806e-05,0.6761,-0.00453,0.09072403392503219,1.0,0.0,0.0,0.0,0.11574608015328142,0.1426322065989664,0.27910859051847864,0.01022959002176472,-0.007949312581166462,-0.0002174672684004398,0.3226375693388202,0.31904202936755516,0.19055595818490345,0.020011597620266344,-0.023731808658146218,-0.00025706999984793325,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.21810890688022652,0.34690402365052575,0.8098806500419454,0.05393643862990293,-0.447553862634117,0.15161327609389033,1.203644884152231,0.27910859051847864,0.3937642341102855,0.3937642341102855,0.4748800000000239,0,0,-4.5616854456335905e-05,-9.629788219467911e-05
+58429,1792672466279150823,41006586000000,1792672466279018557,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.67600826533146,-0.004582368760486525,0.09059011817497672,0.9999999881673612,-1.951020517894385e-05,-0.00011403671423765928,-4.151049900879845e-05,0.6761,-0.00453,0.09066561011778229,1.0,0.0,0.0,0.0,0.11854162930553513,0.13582872365664841,0.35854648627388636,0.010210894661006583,-0.00796193938390084,-0.0002811399423388923,0.3254331184910739,0.3122385464252372,0.26999385394031117,0.019992902259508206,-0.023744435460880595,-0.00032074267378638573,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.26199112921771406,0.31602094527922514,0.6611770538665525,0.07912119212071884,-0.3475678665068952,0.1257220651200479,1.203644884152231,0.35854648627388636,0.5424678302856785,0.5424678302856785,0.5588800000000412,0,0,-4.516370383647749e-05,9.968901679003323e-05
+58601,1792672467712319852,41008019000000,1792672467711018328,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760095484602099,-0.0045834820956997015,0.09053995678039227,0.9999999890539553,-1.8761639471373015e-05,-0.00011008318255735261,-2.9404891002606506e-05,0.6761,-0.00453,0.09061078506347012,1.0,0.0,0.0,0.0,0.10628712773397414,0.12541598950620844,0.41907285884248785,0.0091537920220914,-0.006946143926942549,-0.00033071378364363246,0.31317861691951293,0.3018258122747972,0.33052022650891266,0.018935799620593025,-0.022728640003922305,-0.0003703165150911259,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.281936512701673,0.37313594734347705,0.6439761691097265,0.07160132103772317,-0.33358472244766935,0.15855723510703934,1.203644884152231,0.41907285884248785,0.5596687150425044,0.5596687150425044,0.659190000000062,0,0,-3.509646299556935e-05,-8.039145324290615e-05
+58737,1792672468845293905,41009152000000,1792672468843028070,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.676010358415664,-0.004589400420194984,0.09050616481069035,0.9999999897978645,-1.6879125725199103e-05,-0.00010571532873934719,-1.9659593728365456e-05,0.6761,-0.00453,0.09057010055311902,1.0,0.0,0.0,0.0,0.11073748677295742,0.11827728415588681,0.4692247489114044,0.00914270567643574,-0.00695623276990847,-0.0003674579301444194,0.3176289759584962,0.2946871069244756,0.38067211657782923,0.018924713274937364,-0.022738728846888226,-0.0004070606615919128,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.29030534282512455,0.3179126124754059,0.5394805525682969,0.09786522689167647,-0.2658595202186793,0.12465303815641089,1.203644884152231,0.4692247489114044,0.6641643315839341,0.6641643315839341,0.7385000000000784,0,0,-3.891686612830648e-05,-6.102271052211279e-05
+58885,1792672470079320200,41010386000000,1792672470079027635,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760114486669705,-0.004593794490645337,0.09046488904355265,0.9999999901197897,-1.5190090228829562e-05,-0.00010435018193999603,-9.142514246178961e-06,0.6761,-0.00453,0.09052053571661173,1.0,0.0,0.0,0.0,0.09624864068648847,0.11966383262516292,0.5294523984984834,0.00913068749193153,-0.0069697151395099535,-0.00028306433628993446,0.30314012987202726,0.2960736553937517,0.4408997661649081,0.018912695090433154,-0.02275221121648971,-0.00032266706773742787,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.32260933893606636,0.2854226654464277,0.5225257345242421,0.11375032698657486,-0.2516289029760776,0.10281309198110372,1.203644884152231,0.5294523984984834,0.6811191496279888,0.6811191496279888,0.8248800000000963,0,0,-4.353243706764343e-05,-9.953670806884247e-05
+58948,1792672470604404808,41010911000000,1792672470603018422,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760517112625933,-0.004593370873587587,0.09047332469573477,0.9999999935782471,-1.1568286223743496e-05,-6.434960361286414e-05,-3.416664050332118e-06,0.6761,-0.00453,0.09049571854552019,1.0,0.0,0.0,0.0,0.08072479055001824,0.16663660985192327,0.5208805950089934,0.012130353896863488,-0.004975612229218187,0.0006631847198838515,0.28761627973555703,0.34304643262051204,0.4323279626754183,0.021912361495365112,-0.020758108306197943,0.000623581988436358,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.287239678248639,0.38649187650351285,0.46611861616066597,0.07439635098999724,-0.23249059537941436,0.1728538690731381,1.203644884152231,0.5208805950089934,0.737526267991565,0.737526267991565,0.8616300000001039,0,0,-5.7238562455068316e-05,-9.999999025923074e-05
+59092,1792672471804446638,41012111000000,1792672471803018520,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760519036258686,-0.0045977360684506755,0.09041324292000215,0.9999999937739307,-3.4352742620284188e-06,-6.136885426431159e-05,1.0819699642023482e-05,0.6761,-0.00453,0.09041981408567246,1.0,0.0,0.0,0.0,0.0635567888062647,0.14762338786377519,0.6107421005086611,0.01109559970755991,-0.0050019018968939545,0.0005941821706871374,0.2704482779918035,0.32403321063236395,0.5221894681750858,0.020877607306061533,-0.02078439797387371,0.000554579439239644,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.4854953814786402,0.31346215851916875,0.33014298235588224,0.11034780291494897,-0.09800622980072152,0.12228074528216853,1.203644884152231,0.6107421005086611,0.8735019017963487,0.8735019017963487,0.9456300000001213,0,0,-5.9945938280010304e-05,9.551787411484306e-05
+59236,1792672473004526594,41013311000000,1792672473003028241,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760564963922929,-0.004607858548757059,0.09036071973204872,0.9999999941341926,-2.650969784294427e-06,-5.08316965512425e-05,2.4157612964487062e-05,0.6761,-0.00453,0.09035948243733458,1.0,0.0,0.0,0.0,0.06847197872348532,0.1504741000300058,0.6887308886470793,0.011053898472342014,-0.004008401715005109,0.0005501531471758933,0.2753634679090241,0.3268839227985946,0.6001782563135041,0.020835906070843638,-0.019790897791984865,0.0005105504157283999,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.46075923913326533,0.3514962940902404,0.21200796203413544,0.09410584931530237,-0.03203769908102522,0.1484212321103654,1.203644884152231,0.6887308886470793,0.9916369221180955,0.9916369221180955,1.0296300000001386,0,0,-4.569613277075201e-05,9.77752282179722e-05
+59395,1792672474329502451,41014636000000,1792672474327017965,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760655559443837,-0.004606340302802513,0.09031040022410503,0.9999999941555059,9.231842909211696e-06,-4.178234054222681e-05,3.606746138469148e-05,0.6761,-0.00453,0.09029721172336898,1.0,0.0,0.0,0.0,0.04543890116120858,0.14642321875609796,0.7510302347879567,0.011031777715580322,-0.003011287032414732,0.0005100211690543486,0.25233039034674737,0.3228330415246867,0.6624776024543816,0.020813785314081946,-0.018793783109394488,0.0004704184376068551,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.5314986246218475,0.298965855381123,0.11777117695461846,0.11183467552610696,0.04633837778872428,0.11242771248361016,1.203644884152231,0.7510302347879567,1.0858737071976126,1.0858737071976126,1.1223800000001578,0,0,-4.663108707917007e-05,9.617281557095509e-05
+59527,1792672475429609425,41015736000000,1792672475423028050,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760721062440715,-0.004607403453531971,0.09027323412026955,0.9999999939505594,2.1825633519822632e-05,-3.2327853192355806e-05,4.494771737523749e-05,0.6761,-0.00453,0.09024109275112438,1.0,0.0,0.0,0.0,0.047159809200313985,0.1580944640398084,0.8013101115013619,0.012007724662736785,-0.0023827904612599704,0.0004833767892571675,0.2540512983858528,0.33450428680839717,0.7127574791677868,0.02178973226123841,-0.018165286538239726,0.00044377405780967406,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.4725403961436611,0.2745715079986382,0.08022405269941718,0.12316873621880021,0.04928578822904855,0.10045335895554204,1.203644884152231,0.8013101115013619,1.1234208314528138,1.1234208314528138,1.1993800000001738,0,0,-5.4603249409125716e-05,1.4462943696704505e-05
+59663,1792672476562701655,41016869000000,1792672476559018335,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760759762538744,-0.004614775149394186,0.090217495017138,0.9999999931762253,2.8341546727632034e-05,-2.9816255276349e-05,5.829375092916969e-05,0.6761,-0.00453,0.09017889242460714,1.0,0.0,0.0,0.0,0.04649820433766183,0.1598454868487089,0.8728492348909409,0.011995923213081355,-0.0024416616060824493,0.0004331392880669907,0.2533896935232006,0.33625530961729766,0.7842966025573657,0.02177793081158298,-0.018224157683062205,0.0003935365566194973,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.531223995210863,0.31402352204700124,0.022345612637035224,0.10890691282176702,0.10011828270821384,0.12678806640729387,1.203644884152231,0.8728492348909409,1.1812992715151958,1.1812992715151958,1.2786900000001902,0,0,-5.50403131363827e-05,-6.212528688565583e-05
+59826,1792672477920724634,41018227000000,1792672477915027326,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760827586010071,-0.004619999492898508,0.09015605083879065,0.9999999924331959,3.395848567667612e-05,-1.8685798084702632e-05,7.1232960130641e-05,0.6761,-0.00453,0.09010532181490646,1.0,0.0,0.0,0.0,0.03479560819506633,0.15498728579375606,0.9537459990264492,0.011968600149593134,-0.0020570741692854597,0.00037352737641870785,0.24168709738060512,0.33139710856234483,0.8651933666928739,0.021750607748094758,-0.017839570246265216,0.00033392464497121444,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.5520303897818577,0.2665971103726976,-0.09561774129617336,0.1214436129498566,0.17687687589076,0.096545974961857,1.203644884152231,0.9537459990264492,1.2992626254484043,1.2992626254484043,1.3737500000002099,0,0,-5.3031767875061856e-05,8.996017058565464e-06
+59998,1792672479354831233,41019661000000,1792672479351018292,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6760919583066539,-0.004623928470564577,0.0901001532900906,0.9999999919783084,3.585391092535714e-05,-5.0471989621035514e-06,7.858288981187509e-05,0.6761,-0.00453,0.09003283838528973,1.0,0.0,0.0,0.0,0.039304890036505946,0.1585393524846793,1.0323067041843692,0.011953997820708944,-0.002073531064800769,0.0003093236090454521,0.24619637922204474,0.33494917525326806,0.943754071850794,0.021736005419210568,-0.017856027141780525,0.0002697208775979587,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.5482120400149316,0.31487245232867667,-0.1332196496696798,0.10581134564221585,0.1980975357561645,0.12607900200264774,1.203644884152231,1.0323067041843692,1.3368645338219107,1.3368645338219107,1.4741300000002306,0,0,-4.986798223946399e-05,-9.999999025923074e-05
+60162,1792672480720856143,41021027000000,1792672480719018326,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6760985841196043,-0.004620131935254685,0.09004256082260213,0.9999999912082227,4.081602058723284e-05,5.4157455257322205e-06,8.562208369062404e-05,0.6761,-0.00453,0.08995926088738111,1.0,0.0,0.0,0.0,0.03301699451350815,0.16111307603220262,1.0928765910465954,0.01296225179167874,-0.0021062010340784955,0.00026836116160976436,0.23990848369904694,0.3375228988007914,1.0043239587130202,0.022744259390180363,-0.01788869711105825,0.00022875843016227095,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.568034953971014,0.3973506473840725,-0.3444358198557217,0.07920535048056715,0.3349089160962704,0.1791220105241611,1.203644884152231,1.0928765910465954,1.5480807040079525,1.5480807040079525,1.5697500000002504,0,0,-5.48916205031239e-05,9.99875002502037e-05
+60313,1792672481979928199,41022286000000,1792672481979027560,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761069399123417,-0.004607369602761872,0.08999072222371289,0.9999999932774685,2.2590331037810745e-05,1.9925694814828943e-05,6.309176761883462e-05,0.6761,-0.00453,0.08988920423936247,1.0,0.0,0.0,0.0,0.047174021619550977,0.18601842216803846,1.1635418037283487,0.013971875865118681,-0.002142366377805415,0.00022730253873328322,0.25406551080508977,0.36242824493662723,1.0749891713947735,0.023753883463620305,-0.01792486245478517,0.00018769980728578978,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.59197394117109,0.3498309388208982,-0.33349499014480316,0.10649983619056824,0.3291529641389082,0.14949004566084861,1.203644884152231,1.1635418037283487,1.5371398742970341,1.5371398742970341,1.6578800000002687,0,0,-5.6290036946930695e-05,-9.999996250365512e-05
+60449,1792672483112911404,41023419000000,1792672483111018520,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761122014317972,-0.004607691361425405,0.08994010202279538,0.9999999927402535,2.2118327927166626e-05,2.815991168305058e-05,6.841166778996931e-05,0.6761,-0.00453,0.08982619331501279,1.0,0.0,0.0,0.0,0.04132398274324334,0.18753726713502958,1.2333100586927623,0.01395999566112763,-0.0021575322933045267,0.00016998468276417693,0.24821547192878213,0.36394708990361835,1.144757426359187,0.023742003259629253,-0.017940028370284283,0.0001303819513166835,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.6338926266025525,0.3381133247759954,-0.4654307125519694,0.11121133407671448,0.42213255101129715,0.13798051735703773,1.203644884152231,1.2333100586927623,1.6690755967042004,1.6690755967042004,1.7371900000002851,0,0,-5.575310981936636e-05,8.154573244552552e-05
+60605,1792672484413032352,41024719000000,1792672484411018004,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761158409279114,-0.004609206638090804,0.08987264725838646,0.999999991966841,2.6735435830674417e-05,3.3415704414468105e-05,7.535110910508592e-05,0.6761,-0.00453,0.08975244355075511,1.0,0.0,0.0,0.0,0.040379214746280784,0.1937644689307216,1.3130737682645388,0.014937725133703344,-0.0012302214519176215,0.00013145160149299594,0.24727070393181957,0.3701742916993104,1.2245211359309636,0.024719732732204968,-0.017012717528897377,9.184887004550251e-05,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.6116474132882327,0.33299931549914447,-0.5252704484102207,0.11873339566396504,0.44876716714988446,0.13423919794384925,1.203644884152231,1.3130737682645388,1.7289153325624516,1.7289153325624516,1.828190000000304,0,0,-5.595471971461675e-05,-6.356674494967791e-05
+60781,1792672485880109915,41026186000000,1792672485879018318,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761210840701033,-0.004610605134494568,0.08980170990672677,0.9999999924588324,9.246439663442026e-06,4.2865549793601606e-05,6.783986629288457e-05,0.6761,-0.00453,0.08967249129361098,1.0,0.0,0.0,0.0,0.0492712105207439,0.19922757684693584,1.394704147417843,0.01493354776017168,-0.0016172227038575467,6.155220051018382e-05,0.2561626997062827,0.3756373996155246,1.3061515150842677,0.024715555358673303,-0.017399718780837303,2.1949469062690385e-05,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.6566327043644697,0.32990077048641653,-0.6624742095154775,0.13603750240339565,0.5445283528963252,0.13542787198627854,1.203644884152231,1.394704147417843,1.8661190936677086,1.8661190936677086,1.9308800000003252,0,0,-5.417418825199177e-05,8.93086244359607e-05
+60906,1792672486921095589,41027227000000,1792672486915027327,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761250177699158,-0.004611172936736869,0.0897522715249689,0.9999999928271235,3.5897793413593743e-07,4.90408558669293e-05,5.816771488228342e-05,0.6761,-0.00453,0.08961454190285709,1.0,0.0,0.0,0.0,0.04830346638717181,0.21022678162132616,1.4534387957994244,0.015924340043366382,-0.0012642378889316762,0.0009269513783955057,0.2551949555727106,0.38663660438991493,1.3648861634658491,0.025706347641868004,-0.017046733965911432,0.0008873486469480122,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.748616554561943,0.31359394330241525,-0.6707017360884423,0.1479610428283763,0.572495476986744,0.12999366155479872,1.203644884152231,1.4534387957994244,1.8743466202406731,1.8743466202406731,2.0037500000003403,0,0,-5.577704446510368e-05,-9.709033163408094e-05
+61064,1792672488238195122,41028544000000,1792672488231018601,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761342182421546,-0.00461032350992912,0.0896942081664589,0.9999999909997239,2.9967203718018718e-05,6.413978041707928e-05,6.65693015221228e-05,0.6761,-0.00453,0.08954210921125588,1.0,0.0,0.0,0.0,0.03969741888551684,0.20015472290888367,1.5254818216270285,0.01491260288109379,-0.0012399286696886495,0.00034402864128346613,0.24658890807105563,0.37656454567747244,1.4369291892934533,0.024694610479595414,-0.017022424746668405,0.0003044259098359727,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.7055980875784366,0.451179011801754,-0.8753472705738555,0.11126229528900505,0.6872317089812433,0.2223103055148516,1.203644884152231,1.5254818216270285,2.0789921547260866,2.0789921547260866,2.0959400000003594,0,0,-5.822437080108133e-05,9.376142503925706e-05
+61212,1792672489471276034,41029777000000,1792672489467027796,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761406661752001,-0.004615243408764995,0.08963705304417513,0.9999999892731258,4.231019288039289e-05,7.388862316324283e-05,7.514606901708316e-05,0.6761,-0.00453,0.08947111421308299,1.0,0.0,0.0,0.0,0.03900546967454405,0.20440448589642482,1.596127870895378,0.015895147264626236,-0.0012663851513204892,0.0009428256697524844,0.24589695886008284,0.3808143086650136,1.5075752385618029,0.025677154863127858,-0.017048881228300245,0.000903222938304991,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.6513719144990178,0.2950133545841595,-0.8941359745725302,0.16862748519413254,0.6795027911231667,0.12214851561117283,1.203644884152231,1.596127870895378,2.0977808587247613,2.0977808587247613,2.1822500000003773,0,0,-6.192163353784524e-05,2.8214491362768004e-05
+61387,1792672490930351538,41031236000000,1792672490927018636,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761452756662333,-0.004615449484744544,0.08955623571906268,0.9999999876719962,4.979103593706189e-05,7.866657816866135e-05,8.62049545996994e-05,0.6761,-0.00453,0.08938041201742311,1.0,0.0,0.0,0.0,0.03737396067650853,0.2018208659955015,1.686358770076757,0.015850993771555612,-0.00027087262499368714,0.0008854574982611273,0.24426544986204732,0.3782306887640903,1.5978061377431818,0.025633001370057237,-0.016053368701973443,0.0008458547668136339,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.7207554807896824,0.3653697293945099,-0.9901872538334614,0.1510843015872663,0.7590738888936462,0.1684040723867713,1.203644884152231,1.686358770076757,2.193832137985692,2.193832137985692,2.2843800000003984,0,0,-6.227600666367525e-05,-1.1186835824435377e-05
+61555,1792672492330311515,41032636000000,1792672492327027648,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761510559233933,-0.0046241810861177585,0.08947806047099818,0.9999999858187302,4.8532576824090956e-05,8.729980453906893e-05,9.913998615854498e-05,0.6761,-0.00453,0.08929288303501183,1.0,0.0,0.0,0.0,0.02177996886198283,0.20288804547446151,1.7666150905322655,0.01583491725515368,-0.00028927347734079845,0.0008187124382639079,0.22867145804752162,0.3792978682430503,1.6780624581986903,0.025616924853655305,-0.016071769554320554,0.0007791097068164145,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.7062243965406938,0.34131455634936386,-1.058755409669351,0.16219364158643668,0.7948032321225473,0.15456611495597858,1.203644884152231,1.7666150905322655,2.2624002938215817,2.2624002938215817,2.3823800000004187,0,0,-6.249124151066899e-05,-8.174245588599689e-05
+61703,1792672493563475023,41033869000000,1792672493559028132,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761575812277187,-0.0046257375666824635,0.08940936290647897,0.9999999838861119,5.324310983849482e-05,9.618987195657661e-05,0.00010762583420460809,0.6761,-0.00453,0.0892125092953483,1.0,0.0,0.0,0.0,0.02025096095877904,0.21490184549170374,1.8368140087932616,0.01579629288866352,0.0006802869609603326,0.0007772157874485033,0.22714245014431783,0.3913116682602925,1.7482613764596864,0.025578300487165143,-0.015102209116019423,0.0007376130560010098,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.6952283276608916,0.40034204727433254,-1.049958743370055,0.1473931321424937,0.7872031965842856,0.19190203654851126,1.203644884152231,1.8368140087932616,2.2536036275222857,2.2536036275222857,2.4686900000004366,0,0,-6.53359522276561e-05,-9.979183731990133e-05
+61842,1792672494721427333,41035027000000,1792672494715027954,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761600090792764,-0.004632259758778792,0.08933734202230788,0.999999982704543,5.301764371995819e-05,9.911098627631698e-05,0.00011575802385251562,0.6761,-0.00453,0.089136397330648,1.0,0.0,0.0,0.0,0.019739278633521318,0.2061520073721426,1.9110290628518694,0.015796132705153454,9.810044063048723e-05,0.0007082624211715209,0.2266307678190601,0.38256183014073136,1.822476430518294,0.025578140303655076,-0.01568439563634927,0.0006686596897240275,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.8142477514845577,0.3139789030639763,-1.240455525686898,0.18087764578592846,0.9378408485356049,0.14009626741863213,1.203644884152231,1.9110290628518694,2.444100409839129,2.444100409839129,2.5497500000004534,0,0,-6.611483281733259e-05,-7.919071005650974e-05
+61980,1792672495871486472,41036177000000,1792672495871027536,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761682642828628,-0.004612211672331965,0.0892683591982724,0.9999999875198862,-3.589993812690633e-05,0.00011906404855237742,3.06274159258163e-05,0.6761,-0.00453,0.0890557859450487,1.0,0.0,0.0,0.0,0.03727360626478507,0.22635993985541633,1.974553211688564,0.017848698527268954,-0.0007743687092120581,0.0006664064867488353,0.24416509545032386,0.4027697626240051,1.8860005793549888,0.027630706125770576,-0.016556864786191814,0.0006268037553013419,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.7857549826619982,0.3349478506327268,-1.3161283620514495,0.051387774630260306,1.0026124669055432,0.18532466215794488,1.203644884152231,1.974553211688564,2.5197732462036804,2.5197732462036804,2.63025000000047,0,0,-8.353741744959759e-05,6.266353325095781e-05
+62126,1792672497088579265,41037394000000,1792672497087027861,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.67617529300157,-0.00462701918827085,0.0891770173182439,0.9999999858207175,2.4039481892220427e-06,0.00012691887514795867,6.072272757533941e-05,0.6761,-0.00453,0.08895173172518829,1.0,0.0,0.0,0.0,0.018725250185697706,0.22635452780605061,2.0601302987875356,0.016774447935779473,0.0006388516124700202,0.0006084260045678433,0.2256167393712365,0.4027643505746394,1.9715776664539606,0.026556455534281095,-0.015143644464509736,0.0005688232731203499,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.817466369386592,0.39271944516754914,-1.3504597329705161,0.13873806377735023,1.0129269021537164,0.20905780087676873,1.203644884152231,2.0601302987875356,2.5541046171227473,2.5541046171227473,2.7154400000004877,0,0,-7.986313814020563e-05,-9.999999025923074e-05
+62269,1792672498280589171,41038586000000,1792672498279027678,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761796685970567,-0.00462704339431696,0.08909727404419952,0.9999999831307366,3.986068451924945e-05,0.00013057250621818236,8.089089876212472e-05,0.6761,-0.00453,0.08886656611939543,1.0,0.0,0.0,0.0,0.01875241280429779,0.2274359928357592,2.1264585793762545,0.016761776475900318,0.0006254480562766489,0.0005536311645300779,0.22564390198983658,0.40384581560434796,2.0379059470426792,0.026543784074401944,-0.015157048020703107,0.0005140284330825845,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.820091579666445,0.303381093772845,-1.476749663348669,0.21041899996961397,1.0853018656258087,0.14534395678922554,1.203644884152231,2.1264585793762545,2.6803945475009,2.6803945475009,2.798880000000505,0,0,-6.748369850015224e-05,-9.999999025923074e-05
+62445,1792672499746751522,41040052000000,1792672499743018579,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761851967269094,-0.0046360630094970596,0.08900774300073147,0.9999999802311039,4.9646548103361206e-05,0.00013816889115211194,9.708364383991669e-05,0.6761,-0.00453,0.08876096417211865,1.0,0.0,0.0,0.0,0.018174667195345412,0.22264169363977535,2.1783433880080865,0.016751555700714363,0.0006149677743377095,0.0005131231680256782,0.2250661563808842,0.3990515164083641,2.0897907556745112,0.02653356329921599,-0.015167528302642046,0.00047352043657818474,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.8434215317165538,0.3591830787083631,-1.576912965187499,0.20774796750768143,1.1515226109298224,0.17994692015606373,1.203644884152231,2.1783433880080865,2.78055784933973,2.78055784933973,2.901500000000526,0,0,-8.135214745409356e-05,-3.340765665114893e-05
+62589,1792672500946799781,41041252000000,1792672500947017601,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6761877808069532,-0.004638748085031732,0.08891146008617345,0.9999999801486751,3.590389077843141e-05,0.0001423798469327641,9.789996888016112e-05,0.6761,-0.00453,0.08866130369394379,1.0,0.0,0.0,0.0,0.02521400971270743,0.22303779963969775,2.2478808855089327,0.016738127180519605,0.0005999045123917888,0.00045773436937883314,0.23210549889824622,0.3994476224082865,2.1593282531753575,0.02652013477902123,-0.015182591564587967,0.0004181316379313397,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.8912617820511369,0.30146180334270867,-1.677212413272547,0.2354882018121556,1.2243158584727483,0.13999494255957368,1.203644884152231,2.2478808855089327,2.880857297424778,2.880857297424778,2.9855000000005436,0,0,-8.326173145803561e-05,9.863291713785855e-05
+62725,1792672502080754134,41042386000000,1792672502079017894,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761943199526497,-0.004645711058017657,0.08882081498365033,0.9999999787790543,2.188064289345362e-05,0.00015308451308020972,9.985551941311248e-05,0.6761,-0.00453,0.08856129254307343,1.0,0.0,0.0,0.0,0.026373743556175694,0.23529129298059961,2.3085887597361325,0.016699517137555096,0.0015997573373348756,0.0004244692803679557,0.23326523274171448,0.4117011157491884,2.2200361274025573,0.026481524736056722,-0.01418273873964488,0.0003848665489204623,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.8976224499621264,0.3033879718294334,-1.7180858262615872,0.24528625593159714,1.2509197489812691,0.14429486795551633,1.203644884152231,2.3085887597361325,2.921730710413818,2.921730710413818,3.06488000000056,0,0,-8.795021284454941e-05,-7.737166049371353e-05
+62876,1792672503338852800,41043644000000,1792672503339017267,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6761989550575209,-0.0046484383987798914,0.08871374412544143,0.9999999777584326,2.0740490226021104e-05,0.00016035493003167407,9.890463727878362e-05,0.6761,-0.00453,0.08844322290617848,1.0,0.0,0.0,0.0,0.026738425229004464,0.22673031092801313,2.3488828823598444,0.016692679589491104,0.001590024795263335,0.00039432598976438666,0.23362991441454325,0.4031401336966019,2.260330250026269,0.026474687187992726,-0.014192471281716421,0.00035472325831689325,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.9423027577991663,0.28878966100910225,-1.868103042454774,0.2624703273446452,1.3525165456540191,0.13655899444402617,1.203644884152231,2.3488828823598444,3.0717479266070047,3.0717479266070047,3.1529400000005783,0,0,-0.00010156035669808971,8.800276759946541e-05
+63004,1792672504405950495,41044711000000,1792672504403018629,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762008389347866,-0.00464727438692319,0.0886024563080659,0.9999999774198525,1.7286317370386153e-05,0.00016586146015637815,9.37780269239349e-05,0.6761,-0.00453,0.08832828138944708,1.0,0.0,0.0,0.0,0.02667837807685361,0.2279240062367883,2.3994588158736043,0.016673447183606672,0.0015747616719042727,0.0013737422802162,0.2335698672623924,0.40433382900537707,2.310906183540029,0.026455454782108298,-0.014207734405075483,0.0013341395487687065,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.9370008716628868,0.27136361707705003,-1.74617441576301,0.28352312667348734,1.2684519199256061,0.1277955871570187,1.203644884152231,2.3994588158736043,2.949819299915241,2.949819299915241,3.2276300000005937,0,0,-0.00011232675926483993,-9.999958780338431e-05
+63124,1792672505405936202,41045711000000,1792672505399018846,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762036774034005,-0.004653469426541558,0.08849402903533156,0.9999999766286551,1.6071585913600175e-05,0.00017061011622249308,9.391190544228865e-05,0.6761,-0.00453,0.08821344176015693,1.0,0.0,0.0,0.0,0.026575383375856132,0.23016368688247027,2.4433979517291573,0.016670590752608946,0.0015679670534130864,0.0006895154495069862,0.23346687256139492,0.40657350965105904,2.354845319395582,0.026452598351110572,-0.01421452902356667,0.0006499127180594928,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.930106160790576,0.23423695185435692,-1.886621651027765,0.31305355110220306,1.3494851759899307,0.10955859983442667,1.203644884152231,2.4433979517291573,3.090266535179996,3.090266535179996,3.2976300000006082,0,0,-0.00011831060235253788,-9.999999025923074e-05
+63239,1792672506364004283,41046669000000,1792672506359018735,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762049479032431,-0.004659369136410924,0.08837746179744614,0.9999999754482117,2.9887674472630684e-05,0.00017003302357357266,0.00010364332241164893,0.6761,-0.00453,0.08809502220802828,1.0,0.0,0.0,0.0,0.02652980579936845,0.23015916212344548,2.469704121218367,0.016660415165680537,0.0015593673741527165,0.0013045702072934358,0.23342129498490724,0.40656898489203425,2.381151488884792,0.026442422764182162,-0.01422312870282704,0.0012649674758459424,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.954856286080784,0.16274832247714102,-1.9684354389098144,0.3514557678035688,1.4042263994233566,0.06366011120311446,1.203644884152231,2.469704121218367,3.1720803230620453,3.1720803230620453,3.364690000000622,0,0,-0.0001304020481138465,-2.8702397429586315e-05
+63355,1792672507331045492,41047636000000,1792672507331018259,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762072241021487,-0.004660145394022586,0.08824934503056804,0.9999999753589739,2.1017626856958016e-05,0.00017165608311541577,0.00010400656057808068,0.6761,-0.00453,0.08796456513481155,1.0,0.0,0.0,0.0,0.03648257878296948,0.21884737817393154,2.5030898973214453,0.01565878150765012,0.0006394476266670893,0.0012712590201357768,0.24337406796850827,0.3952572009425203,2.41453726498787,0.025440789106151742,-0.015143048450312667,0.0012316562886882834,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.0129954154292806,0.2891269891820959,-1.9968472211931039,0.3338126570616786,1.4315631576178776,0.1458872342499896,1.203644884152231,2.5030898973214453,3.200492105345335,3.200492105345335,3.432380000000636,0,0,-0.00013741105662631726,-9.9999032691872e-05
+63460,1792672508206124428,41048511000000,1792672508199018780,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762044489970112,-0.004665803190484401,0.08811757922890945,0.9999999760109037,9.03891745238974e-06,0.0001665364577100484,0.00010772633190998809,0.6761,-0.00453,0.08783723064988568,1.0,0.0,0.0,0.0,0.036371147745133,0.20970862969304668,2.5295378868686984,0.015655136194832227,0.0005547407330520546,0.0012468951401033556,0.2432626369306718,0.38611845246163545,2.440985254535123,0.025437143793333852,-0.015227755343927701,0.0012072924086558622,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,0.9660639590123906,0.2642832487963571,-2.0170335527482095,0.349489162763509,1.4264921717931516,0.12731213715358297,1.203644884152231,2.5295378868686984,3.2206784369004406,3.2206784369004406,3.493630000000649,0,0,-0.00015240936583202214,-9.9934403834051e-05
+63559,1792672509031152654,41049336000000,1792672509031018435,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762040921255935,-0.004671241165346525,0.0879844330747764,0.9999999763018022,-2.0589346174647177e-07,0.00016502290383903556,0.00010773420187174375,0.6761,-0.00453,0.08770577173644481,1.0,0.0,0.0,0.0,0.037063216381485575,0.2080953260055172,2.559309852627939,0.014628629070011718,0.0005655921402657731,0.001211631462532505,0.24395470556702437,0.38450514877410596,2.470757220294364,0.02441063666851334,-0.015216903936713983,0.0011720287310850116,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.0242353261199324,0.226852797968673,-2.0600757524137103,0.38293217977960353,1.4682894031322649,0.10673874783811638,1.203644884152231,2.559309852627939,3.2637206365659415,3.2637206365659415,3.551380000000661,0,0,-0.0001643053853903328,-9.999999025923074e-05
+63669,1792672509947100923,41050252000000,1792672509947017983,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762061795177707,-0.0046682449894598094,0.0878367082072252,0.9999999749533466,4.827414848980832e-06,0.0001715527135208729,0.00010992057604931039,0.6761,-0.00453,0.08754722850620443,1.0,0.0,0.0,0.0,0.036696206132400516,0.20204486063505253,2.5591942904240255,0.014617260463852753,0.0009667880188283882,0.001138587380534346,0.2435876953179393,0.3784546834036413,2.47064165809045,0.024399268062354377,-0.014815708058151368,0.0010989846490868525,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.0314718840353985,0.24551250358768403,-2.2008356885449647,0.3877482506616908,1.5487996396414545,0.12188915252475019,1.203644884152231,2.5591942904240255,3.404480572697196,3.404480572697196,3.615500000000674,0,0,-0.00018153396707101954,9.975042600108281e-05
+63762,1792672510722161470,41051027000000,1792672510719028256,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762073351080596,-0.004673804853508858,0.0876960623893756,0.9999999743764725,2.3532395734458858e-05,0.00017312946274644544,0.00011028297388103673,0.6761,-0.00453,0.08739991708231121,1.0,0.0,0.0,0.0,0.036856357660672856,0.1989300937924439,2.5695216877763523,0.014625346898885274,0.0005642207118207402,0.0012034644322121359,0.24374784684621165,0.37533991656103266,2.480969055442777,0.024407354497386898,-0.015218275365159016,0.0011638617007646425,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.0640475862449854,0.22069150829636378,-2.1338570027526003,0.4253774752676082,1.509982874750847,0.11519344892626263,1.203644884152231,2.5695216877763523,3.337501886904831,3.337501886904831,3.6697500000006853,0,0,-0.00019843467088528766,-9.999999025923074e-05
+63850,1792672511456207959,41051761000000,1792672511451018228,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762055771210476,-0.004674259611857195,0.08754786836281893,0.9999999750120978,2.207499204934969e-05,0.00016972578289975774,0.00011011140490746115,0.6761,-0.00453,0.0872492865602146,1.0,0.0,0.0,0.0,0.03801706501643015,0.2090805527297304,2.5893903488053356,0.014623045353168445,0.0005590021192138604,0.0011874481520655416,0.24490855420196894,0.38549037549831916,2.5008377164717603,0.02440505295167007,-0.015223493957765896,0.0011478454206180482,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.1491779955172265,0.1460890797599293,-2.163469169208882,0.45480374441976323,1.5500124955767165,0.06262291537648948,1.203644884152231,2.5893903488053356,3.367114053361113,3.367114053361113,3.721130000000696,0,0,-0.00021270807374770685,-9.999811675787668e-05
+63934,1792672512156296617,41052461000000,1792672512155018312,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762075023187769,-0.004679261110768227,0.08740383818301055,0.999999973820474,8.905025378560244e-06,0.000173614782898191,0.00011653550269632389,0.6761,-0.00453,0.08709471530313229,1.0,0.0,0.0,0.0,0.03677345861412229,0.1994502385532612,2.5994033852209113,0.014619770719858196,0.0005580328168914642,0.0011789727563556987,0.24366494779966108,0.37586006132184996,2.510850752887336,0.02440177831835982,-0.015224463260088292,0.0011393700249082053,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.133969030572174,0.17225794486870427,-2.1609353414691683,0.46855112916519714,1.541200721045068,0.07908330266397938,1.203644884152231,2.5994033852209113,3.364580225621399,3.364580225621399,3.770130000000706,0,0,-0.00022995453284188472,-9.987799062661224e-05
+64010,1792672512789298015,41053094000000,1792672512787028237,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762107884938883,-0.0046797940463491035,0.08725950844085852,0.9999999727294121,-6.477949019791275e-06,0.0001810111051357519,0.00011479135743855464,0.6761,-0.00453,0.08694335238058824,1.0,0.0,0.0,0.0,0.036849359243165764,0.1891839492860851,2.615730500609834,0.014248663234596977,0.0005678118411218038,0.0011624473006352756,0.24374084842870455,0.36559377205467386,2.527177868276259,0.0240306708330986,-0.015214684235857952,0.0011228445691877822,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.2054079009369874,0.11265890532190481,-2.249648523247287,0.4994928441692979,1.6176718080905332,0.041141557368575846,1.203644884152231,2.615730500609834,3.453293407399518,3.453293407399518,3.8144400000007153,0,0,-0.0002484889930755972,-4.3571936820614634e-05
+64082,1792672513389289894,41053694000000,1792672513383028015,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762085699845074,-0.004684926116806494,0.08710225505238753,0.9999999727444375,-1.2398806043629837e-05,0.0001786274508041959,0.00011786641616979967,0.6761,-0.00453,0.08679018730842028,1.0,0.0,0.0,0.0,0.03704571280078006,0.1970292278864529,2.6289992137737843,0.01356875334619457,0.0015036478979217095,0.0011582121973269658,0.24393720198631885,0.3734390506550417,2.540446581440209,0.023350760944696194,-0.014278848179058046,0.0011186094658794724,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.2109303214109806,0.12065429263677473,-2.2704641331616373,0.5108396217403819,1.6341482996170125,0.050171684648238304,1.203644884152231,2.6289992137737843,3.474109017313868,3.474109017313868,3.856440000000724,0,0,-0.000262587092752925,-5.095550634216274e-05
+64150,1792672513956379779,41054261000000,1792672513955028352,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762077534471765,-0.0046901818723656145,0.08694841794568908,0.9999999718804192,2.866823629583156e-06,0.0001777150973506086,0.00012685089925659746,0.6761,-0.00453,0.08663762947432463,1.0,0.0,0.0,0.0,0.028726948072561348,0.18840920790634771,2.6285591099533656,0.01357413772328205,0.0015895117732701615,0.00026911404496650484,0.23561843725810014,0.3648190306749365,2.5400064776197904,0.023356145321783674,-0.014192984303709594,0.00022951131351901143,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.2240513602463803,0.17631985743677692,-2.2437842391626037,0.5151931566723037,1.6169396706357426,0.0968925144761689,1.203644884152231,2.6285591099533656,3.4474291233148344,3.4474291233148344,3.896130000000732,0,0,-0.00027860342260574287,-9.999999025923074e-05
+64221,1792672514548303066,41054852000000,1792672514547018138,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762135212837962,-0.004694953520854733,0.08679297916443116,0.9999999705671485,-1.0867249681022486e-05,0.00018584211849904947,0.0001251126543516986,0.6761,-0.00453,0.08646759632273254,1.0,0.0,0.0,0.0,0.027106833825701643,0.1862535116756955,2.622634722513512,0.013566871961635056,0.0015864036953609287,0.0011634293285670476,0.23399832301124043,0.3626633344442843,2.5340820901799366,0.02334887956013668,-0.014196092381618827,0.0011238265971195542,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.3071448057842567,0.1739707369762172,-2.1861503506076327,0.5253518783653891,1.6057455547815256,0.0897102332289848,1.203644884152231,2.622634722513512,3.3897952347598634,3.3897952347598634,3.9375000000007407,0,0,-0.00029750169109751665,-9.99995600478087e-05
+64281,1792672515047416909,41055352000000,1792672515047028129,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762097602405359,-0.004704153340123324,0.08663649295372143,0.9999999694922058,-2.6477414137662563e-06,0.00018146921967240756,0.0001397152948382043,0.6761,-0.00453,0.08631485075544121,1.0,0.0,0.0,0.0,0.01849547842458013,0.18146269980429888,2.6490005118211988,0.01348674305732621,0.0018063943848541167,0.00114083666324148,0.22538696761011892,0.35787252257288765,2.5604478794876235,0.023268750655827834,-0.01397610169212564,0.0011012339317939867,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.3355062686234818,0.11998471869763018,-2.2992754621785334,0.5398872994160612,1.695132605913337,0.058973576800050276,1.203644884152231,2.6490005118211988,3.5029203463307645,3.5029203463307645,3.972500000000748,0,0,-0.0003145618385033951,-9.999999025923074e-05
+64337,1792672515514411662,41055819000000,1792672515511027895,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762031655634684,-0.004708212771247787,0.08648485778043391,0.9999999685693356,6.303692877778176e-07,0.00017715257269180533,0.00015139604034252263,0.6761,-0.00453,0.08616443296973342,1.0,0.0,0.0,0.0,0.024147485300278493,0.17644437858816883,2.66873206967263,0.012536858912888983,0.0015953921911644586,0.0011084853974026585,0.23103897448581728,0.3528542013567576,2.580179437339055,0.022318866511390607,-0.014187103885815297,0.001068882665955165,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.3215118673013495,0.10353573924865243,-2.2866080491227336,0.5625423989996757,1.6886664625175225,0.049806496314902915,1.203644884152231,2.66873206967263,3.4902529332749648,3.4902529332749648,4.005190000000755,0,0,-0.0003293709152460674,-9.99995739255965e-05
+64393,1792672515981446091,41056286000000,1792672515979018258,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.676193022997269,-0.004709437378849002,0.08631823614665053,0.9999999729925183,-4.815031731213242e-05,0.00016757284663856766,0.00012271395727482794,0.6761,-0.00453,0.08600717863924386,1.0,0.0,0.0,0.0,0.03777414198544629,0.1758371563656881,2.6689241361951,0.012564119598262027,0.0005818575450502479,0.0011001080433380912,0.24466563117098508,0.3522469791342769,2.580371503861525,0.02234612719676365,-0.015200638531929508,0.0010605053118905978,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.3704480075644359,0.10089215975488548,-2.2739988439091245,0.56496240891165,1.7004082489040317,0.05398409692546264,1.203644884152231,2.6689241361951,3.4776437280613557,3.4776437280613557,4.0378800000007615,0,0,-0.0003452409708768186,-9.998397529210052e-05
+64445,1792672516414486575,41056719000000,1792672516411018576,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.6762281135837982,-0.004715350329570215,0.08619589186708004,0.9999999622299045,-2.715274678084132e-05,0.00020783122549429265,0.00015182873255429168,0.6761,-0.00453,0.08585348533297886,1.0,0.0,0.0,0.0,0.018971711766687327,0.17527754951718924,2.6660205820424663,0.0124511030488629,0.001990183214040068,0.0011313646901430587,0.22586320095222612,0.351687372285778,2.577467949708891,0.022233110647364523,-0.013792312862939688,0.0010917619586955653,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.5044873250974238,0.112700801988582,-2.2523495479640188,0.5620863010391006,1.7227793502838915,0.06531493416191463,1.203644884152231,2.6660205820424663,3.45599443211625,3.45599443211625,4.068190000000768,0,0,-0.00036457215479432224,-9.999999025923074e-05
+64497,1792672516847467653,41057152000000,1792672516843028080,DOWN_FORCE_DETACH,7,0.037,0.03700251132249832,0.6762129005449156,-0.004728323713980507,0.0860234070250853,0.9999999539737207,0.00011867450061489701,0.00018670036279867805,0.0001858891018558661,0.6761,-0.00453,0.08569120525799663,1.0,0.0,0.0,0.0,0.0094681690050204,0.17045119075413442,2.6786514256149236,0.012506751549825683,0.0026073994341271386,0.0011202135839488252,0.2163596581905592,0.3468610135227232,2.5900987932813484,0.022288759148327307,-0.013175096642852617,0.0010806108525013318,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.4814090566925964,0.1828065011532888,-2.4036636659837116,0.5108864045794849,1.8200585565704162,0.0537418379771851,1.203644884152231,2.6786514256149236,3.6073085501359428,3.6073085501359428,4.098500000000774,0,0,-0.00038275658518075053,9.832019506739726e-05
+64541,1792672517214420387,41057519000000,1792672517211018545,DOWN_FORCE_DETACH,7,0.037,0.037001851946115494,0.676211217124386,-0.004722001840773074,0.08587329710577082,0.9999999708641191,-4.32785253794365e-06,0.00019330074937797914,0.00011104375413286469,0.6761,-0.00453,0.08554748410439761,1.0,0.0,0.0,0.0,0.036252357219700326,0.20409013545838997,2.679873356261145,0.01508039840038263,0.0005483773491852875,0.0011147783392155496,0.24314384640523912,0.38049995822697874,2.59132072392757,0.024862405998884254,-0.015234118727794468,0.0010751756077680562,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.5714290160118645,0.22399165340989619,-2.139943927624544,0.3791461755680324,1.7160190708340504,0.14461922379847583,1.203644884152231,2.679873356261145,3.343588811776775,3.343588811776775,4.124190000000779,0,0,-0.0004008088847304566,-9.999999025923074e-05
+64658,1792672518181475183,41058486000000,1792672518179027773,DOWN_PEAK_HOLD,7,0.037,0.037001851946115494,0.6761991288879985,-0.004717602825394959,0.08575119703669533,0.9999999723158355,6.544619132500283e-06,0.00016705271725074924,0.00013733808776281292,0.6761,-0.00453,0.08546303857689637,1.0,0.0,0.0,0.0,0.027930028434577203,0.16785115937630704,2.5078197686357,0.011554065232625295,0.001648886051742333,0.0012318459320868743,0.234821517620116,0.3442609821448958,2.4192671363021248,0.02133607283112692,-0.014133610025237423,0.001192243200639381,0.2068914891855388,0.17640982276858877,-0.08855263233357519,0.009782007598501624,-0.015782496076979756,-3.960273144749343e-05,1,1.4080229053445523,0.08676547452410914,-1.9446168296108304,0.5693850916518571,1.5295974261811534,0.04314085451873916,1.203644884152231,2.5078197686357,3.1482617137630613,0.0,0.0,0,0,0.0,0.0
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d4ca841ecc7784d0b60c44bb19dd326f06216174
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..da2249fddb00ffa4c09f9098ff393494d982cd27
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,2.450000000e+00,DOWN_FORCE_DETACH,1792672462822734984,5.178501200e-06,-3.780804507e-05,-1.483910815e-04,-3.320908436e-06,-4.172506233e-05,-1.477444041e-04,-3.603965613e-06,-4.172229766e-05,-1.471613486e-04,7.015430500e-01,-3.625708375e-05,8.405925501e-01,7.015345506e-01,-4.017410100e-05,8.405931968e-01,7.017258102e-01,-3.995289050e-05,8.294255181e-01
+6,2.916666667e+00,DOWN_FORCE_DETACH,1792672463719056975,4.946420379e-06,-4.600569732e-05,-1.715401897e-04,2.189007830e-06,-4.733758543e-05,-1.669830215e-04,1.975042401e-06,-4.732489251e-05,-1.664150258e-04,7.015428179e-01,-4.445473600e-05,8.405694010e-01,7.015400605e-01,-4.578662411e-05,8.405739582e-01,7.017313892e-01,-4.555548535e-05,8.294062644e-01
+7,3.633333333e+00,DOWN_FORCE_DETACH,1792672465082849101,1.300167129e-05,-4.551496644e-05,-2.061819419e-04,1.051880487e-05,-5.637448078e-05,-2.048745107e-04,1.037977536e-05,-5.635515096e-05,-2.042916117e-04,7.015508732e-01,-4.396400512e-05,8.405347592e-01,7.015483903e-01,-5.482351946e-05,8.405360667e-01,7.017397939e-01,-5.458574380e-05,8.293683878e-01
+8,4.250000000e+00,DOWN_FORCE_DETACH,1792672466282919489,1.032672877e-05,-5.605057243e-05,-2.608529554e-04,1.215941894e-05,-5.731936155e-05,-2.428574106e-04,1.194795468e-05,-5.732145557e-05,-2.422517851e-04,7.015481982e-01,-5.449961110e-05,8.404800882e-01,7.015500309e-01,-5.576840023e-05,8.404980838e-01,7.017413621e-01,-5.555204841e-05,8.293304276e-01
+9,4.966666667e+00,DOWN_FORCE_DETACH,1792672467711018274,1.283549888e-05,-5.658268066e-05,-3.097561604e-04,1.219763391e-05,-6.027552700e-05,-3.029748686e-04,1.180614767e-05,-6.025136818e-05,-3.022195671e-04,7.015507070e-01,-5.503171934e-05,8.404311850e-01,7.015500691e-01,-5.872456567e-05,8.404379663e-01,7.017412203e-01,-5.848196102e-05,8.292704598e-01
+10,5.533333333e+00,DOWN_FORCE_DETACH,1792672468843082260,1.289535670e-05,-6.695392142e-05,-3.432637893e-04,1.436259987e-05,-6.848872836e-05,-3.401204268e-04,1.394662118e-05,-6.846317636e-05,-3.393800900e-04,7.015507668e-01,-6.540296009e-05,8.403976774e-01,7.015522341e-01,-6.693776704e-05,8.404008208e-01,7.017433607e-01,-6.669376920e-05,8.292332993e-01
+11,6.183333333e+00,DOWN_FORCE_DETACH,1792672470075132766,1.585680587e-05,-6.650329833e-05,-3.796433283e-04,1.306414600e-05,-7.120502617e-05,-3.607617040e-04,1.252970977e-05,-7.116361982e-05,-3.601624794e-04,7.015537283e-01,-6.495233701e-05,8.403612979e-01,7.015509356e-01,-6.965406485e-05,8.403801795e-01,7.017419438e-01,-6.939421266e-05,8.292125169e-01
+12,6.466666667e+00,DOWN_FORCE_DETACH,1792672470605185255,5.813957119e-05,-7.177506352e-05,-3.713522621e-04,6.102576104e-05,-6.867399458e-05,-3.613670652e-04,6.158977780e-05,-6.865775554e-05,-3.608928768e-04,7.015960111e-01,-7.022410220e-05,8.403695889e-01,7.015988972e-01,-6.712303326e-05,8.403795741e-01,7.017910039e-01,-6.688834838e-05,8.292117865e-01
+13,7.100000000e+00,DOWN_FORCE_DETACH,1792672471803246821,5.345133496e-05,-7.326434271e-05,-4.375672522e-04,5.394156269e-05,-6.997549680e-05,-4.218765729e-04,5.423281191e-05,-6.995850749e-05,-4.212221875e-04,7.015913228e-01,-7.171338138e-05,8.403033739e-01,7.015918130e-01,-6.842453548e-05,8.403190646e-01,7.017836469e-01,-6.818910033e-05,8.291514572e-01
+14,7.733333333e+00,DOWN_FORCE_DETACH,1792672473001420301,6.331505012e-05,-7.900804919e-05,-4.826391244e-04,6.043069805e-05,-8.049006872e-05,-4.858396234e-04,6.064391901e-05,-8.044493539e-05,-4.850567169e-04,7.016011865e-01,-7.745708787e-05,8.402583021e-01,7.015983022e-01,-7.893910740e-05,8.402551016e-01,7.017900580e-01,-7.867552823e-05,8.290876227e-01
+15,8.416666667e+00,DOWN_FORCE_DETACH,1792672474331373704,6.914995996e-05,-7.811731342e-05,-5.353902293e-04,6.281322436e-05,-8.012382195e-05,-5.277549879e-04,6.298790526e-05,-8.011259639e-05,-5.270142627e-04,7.016070214e-01,-7.656635210e-05,8.402055510e-01,7.016006847e-01,-7.857286063e-05,8.402131862e-01,7.017924020e-01,-7.834318923e-05,8.290456651e-01
+16,8.966666667e+00,DOWN_FORCE_DETACH,1792672475429453279,7.665841479e-05,-8.127077452e-05,-5.729437388e-04,7.491606355e-05,-8.735761656e-05,-5.699819390e-04,7.523945621e-05,-8.734398959e-05,-5.691536448e-04,7.016145299e-01,-7.971981319e-05,8.401679974e-01,7.016127875e-01,-8.580665524e-05,8.401709592e-01,7.018046536e-01,-8.557458244e-05,8.290035258e-01
+17,9.533333333e+00,DOWN_FORCE_DETACH,1792672476561483168,8.015881286e-05,-8.449944865e-05,-6.282838933e-04,7.804065343e-05,-8.879901269e-05,-6.139223851e-04,7.834394035e-05,-8.880257189e-05,-6.130989519e-04,7.016180303e-01,-8.294848733e-05,8.401126573e-01,7.016159121e-01,-8.724805137e-05,8.401270188e-01,7.018077581e-01,-8.703316473e-05,8.289595805e-01
+18,1.023333333e+01,DOWN_FORCE_DETACH,1792672477924094047,9.091592265e-05,-9.187569123e-05,-6.839435197e-04,8.408993924e-05,-9.457702854e-05,-6.797356142e-04,8.430564507e-05,-9.460621886e-05,-6.787909516e-04,7.016287874e-01,-9.032472991e-05,8.400569977e-01,7.016219614e-01,-9.302606722e-05,8.400612056e-01,7.018137198e-01,-9.283681170e-05,8.288938885e-01
+19,1.100000000e+01,DOWN_FORCE_DETACH,1792672479353661444,9.583750747e-05,-9.567303122e-05,-7.449113811e-04,9.418541460e-05,-9.519096393e-05,-7.407591538e-04,9.447720912e-05,-9.517828640e-05,-7.398206557e-04,7.016337090e-01,-9.412206990e-05,8.399960298e-01,7.016320569e-01,-9.364000260e-05,8.400001820e-01,7.018238913e-01,-9.340887925e-05,8.288328587e-01
+20,1.171666667e+01,DOWN_FORCE_DETACH,1792672480719699812,1.023007036e-04,-9.070467806e-05,-8.038290762e-04,1.032142406e-04,-9.207843770e-05,-8.022059516e-04,1.036038335e-04,-9.207293634e-05,-8.012460370e-04,7.016401722e-01,-8.915371674e-05,8.399371121e-01,7.016410857e-01,-9.052747638e-05,8.399387352e-01,7.018330180e-01,-9.030352918e-05,8.287714334e-01
+21,1.238333333e+01,DOWN_FORCE_DETACH,1792672481983769062,1.093527186e-04,-8.101560249e-05,-8.603451199e-04,1.049572362e-04,-8.380792515e-05,-8.410822468e-04,1.052741818e-04,-8.379932617e-05,-8.402560817e-04,7.016472242e-01,-7.946464117e-05,8.398805961e-01,7.016428287e-01,-8.225696383e-05,8.398998589e-01,7.018346883e-01,-8.202991902e-05,8.287324233e-01
+22,1.295000000e+01,DOWN_FORCE_DETACH,1792672483111833994,1.159773134e-04,-8.008905704e-05,-9.082790500e-04,1.132628291e-04,-8.108418932e-05,-9.000864134e-04,1.136106436e-04,-8.107494723e-05,-8.992205364e-04,7.016538488e-01,-7.853809572e-05,8.398326621e-01,7.016511343e-01,-7.953322800e-05,8.398408548e-01,7.018430248e-01,-7.930554007e-05,8.286734589e-01
+23,1.360000000e+01,DOWN_FORCE_DETACH,1792672484410415847,1.223786038e-04,-7.805541088e-05,-9.676644068e-04,1.170678926e-04,-7.905379973e-05,-9.600066044e-04,1.173456689e-04,-7.906555855e-05,-9.591070211e-04,7.016602501e-01,-7.650444956e-05,8.397732768e-01,7.016549394e-01,-7.750283841e-05,8.397809346e-01,7.018467598e-01,-7.729615139e-05,8.286135724e-01
+24,1.435000000e+01,DOWN_FORCE_DETACH,1792672485875978651,1.261297175e-04,-8.508586274e-05,-1.042335457e-03,1.260148643e-04,-8.501942312e-05,-1.042267021e-03,1.262652781e-04,-8.502381854e-05,-1.041223875e-03,7.016640012e-01,-8.353490142e-05,8.396986057e-01,7.016638863e-01,-8.346846180e-05,8.396986742e-01,7.018556794e-01,-8.325441138e-05,8.285314555e-01
+25,1.490000000e+01,DOWN_FORCE_DETACH,1792672486922114700,1.295553166e-04,-8.496916752e-05,-1.093919815e-03,1.292584672e-04,-8.154525106e-05,-1.084535474e-03,1.294393328e-04,-8.154613962e-05,-1.083618375e-03,7.016674268e-01,-8.341820620e-05,8.396470214e-01,7.016671299e-01,-7.999428974e-05,8.396564057e-01,7.018588535e-01,-7.977673246e-05,8.284890610e-01
+26,1.560000000e+01,DOWN_FORCE_DETACH,1792672488236137771,1.391330643e-04,-8.283193648e-05,-1.151465963e-03,1.374612095e-04,-8.403938893e-05,-1.148788645e-03,1.376463715e-04,-8.404519864e-05,-1.147805728e-03,7.016770045e-01,-8.128097516e-05,8.395894752e-01,7.016753327e-01,-8.248842761e-05,8.395921525e-01,7.018670605e-01,-8.227579148e-05,8.284248737e-01
+27,1.625000000e+01,DOWN_FORCE_DETACH,1792672489468206160,1.440220331e-04,-8.724575224e-05,-1.210074300e-03,1.416052040e-04,-8.544309546e-05,-1.192067200e-03,1.418019442e-04,-8.542948122e-05,-1.191199325e-03,7.016818935e-01,-8.569479092e-05,8.395308669e-01,7.016794767e-01,-8.389213414e-05,8.395488740e-01,7.018712161e-01,-8.366007407e-05,8.283814801e-01
+28,1.700000000e+01,DOWN_FORCE_DETACH,1792672490932508726,1.507573474e-04,-9.204854339e-05,-1.289884760e-03,1.494466648e-04,-8.951306511e-05,-1.274630274e-03,1.495667031e-04,-8.948625489e-05,-1.273691939e-03,7.016886288e-01,-9.049758207e-05,8.394510564e-01,7.016873181e-01,-8.796210379e-05,8.394663109e-01,7.018789808e-01,-8.771684773e-05,8.282989875e-01
+29,1.770000000e+01,DOWN_FORCE_DETACH,1792672492328361481,1.570262770e-04,-9.762943187e-05,-1.366067465e-03,1.557365773e-04,-9.712654201e-05,-1.360362605e-03,1.557061437e-04,-9.714281394e-05,-1.359246478e-03,7.016948978e-01,-9.607847055e-05,8.393748737e-01,7.016936081e-01,-9.557558069e-05,8.393805786e-01,7.018851203e-01,-9.537340678e-05,8.282134329e-01
+30,1.831666667e+01,DOWN_FORCE_DETACH,1792672493560454975,1.602578356e-04,-1.018196296e-04,-1.439302967e-03,1.581733790e-04,-1.000007081e-04,-1.428638552e-03,1.580418933e-04,-9.999706509e-05,-1.427524891e-03,7.016981293e-01,-1.002686683e-04,8.393016382e-01,7.016960449e-01,-9.844974676e-05,8.393123026e-01,7.018874560e-01,-9.822765793e-05,8.281451545e-01
+31,1.893333333e+01,DOWN_FORCE_DETACH,1792672494723068114,1.660641215e-04,-1.049559122e-04,-1.506978277e-03,1.639654869e-04,-9.976065683e-05,-1.492246706e-03,1.637533789e-04,-9.976837173e-05,-1.491111836e-03,7.017039356e-01,-1.034049509e-04,8.392339629e-01,7.017018370e-01,-9.820969551e-05,8.392486945e-01,7.018931675e-01,-9.799896457e-05,8.280815676e-01
+32,1.953333333e+01,DOWN_FORCE_DETACH,1792672495871116869,1.728164536e-04,-8.607899332e-05,-1.577818661e-03,1.689545255e-04,-8.895845567e-05,-1.569873642e-03,1.686013025e-04,-8.897673668e-05,-1.568685175e-03,7.017106879e-01,-8.452803199e-05,8.391631225e-01,7.017068260e-01,-8.740749435e-05,8.391710675e-01,7.018980154e-01,-8.720732952e-05,8.280039942e-01
+33,2.016666667e+01,DOWN_FORCE_DETACH,1792672497084900306,1.787703365e-04,-9.815237521e-05,-1.671904407e-03,1.770982483e-04,-9.834835889e-05,-1.660904525e-03,1.766634385e-04,-9.834801118e-05,-1.659632153e-03,7.017166418e-01,-9.660141389e-05,8.390690368e-01,7.017149697e-01,-9.679739757e-05,8.390800367e-01,7.019060776e-01,-9.657860402e-05,8.279130472e-01
+34,2.080000000e+01,DOWN_FORCE_DETACH,1792672498283223664,1.829659832e-04,-1.075653708e-04,-1.750752421e-03,1.807578946e-04,-1.026479619e-04,-1.748438266e-03,1.801025563e-04,-1.026424471e-04,-1.747192963e-03,7.017208375e-01,-1.060144094e-04,8.389901888e-01,7.017186294e-01,-1.010970006e-04,8.389925029e-01,7.019095167e-01,-1.008730400e-04,8.278254864e-01
+35,2.155000000e+01,DOWN_FORCE_DETACH,1792672499745389414,1.914259541e-04,-1.097040116e-04,-1.838986295e-03,1.893969801e-04,-1.092082794e-04,-1.833025421e-03,1.886985646e-04,-1.092013986e-04,-1.831846285e-03,7.017292974e-01,-1.081530503e-04,8.389019549e-01,7.017272685e-01,-1.076573181e-04,8.389079158e-01,7.019181127e-01,-1.074319915e-04,8.277408331e-01
+36,2.215000000e+01,DOWN_FORCE_DETACH,1792672500945543207,1.979403070e-04,-1.113303558e-04,-1.927239735e-03,1.938580941e-04,-1.099016246e-04,-1.920077775e-03,1.929712800e-04,-1.098790686e-04,-1.918859573e-03,7.017358118e-01,-1.097793945e-04,8.388137015e-01,7.017317296e-01,-1.083506633e-04,8.388208634e-01,7.019223854e-01,-1.081096614e-04,8.276538198e-01
+37,2.271666667e+01,DOWN_FORCE_DETACH,1792672502077413358,1.994956576e-04,-1.159898837e-04,-2.027745219e-03,1.975135860e-04,-1.133522758e-04,-2.012620321e-03,1.963775306e-04,-1.133274146e-04,-2.011309241e-03,7.017373671e-01,-1.144389224e-04,8.387131960e-01,7.017353851e-01,-1.118013145e-04,8.387283209e-01,7.019257917e-01,-1.115580074e-04,8.275613702e-01
+38,2.338333333e+01,DOWN_FORCE_DETACH,1792672503341604549,2.015002267e-04,-1.219950873e-04,-2.133794403e-03,2.010422168e-04,-1.224410469e-04,-2.116435292e-03,1.996068846e-04,-1.224203191e-04,-2.115063069e-03,7.017393717e-01,-1.204441259e-04,8.386071468e-01,7.017389137e-01,-1.208900856e-04,8.386245059e-01,7.019290210e-01,-1.206509120e-04,8.274576163e-01
+39,2.395000000e+01,DOWN_FORCE_DETACH,1792672504405504595,2.047323396e-04,-1.185443819e-04,-2.243570276e-03,2.045195882e-04,-1.183312000e-04,-2.243212021e-03,2.027613389e-04,-1.183180313e-04,-2.241637270e-03,7.017426038e-01,-1.169934205e-04,8.384973709e-01,7.017423911e-01,-1.167802387e-04,8.384977292e-01,7.019321755e-01,-1.165486241e-04,8.273310421e-01
+40,2.446666667e+01,DOWN_FORCE_DETACH,1792672505401697554,2.082027118e-04,-1.239853284e-04,-2.351530662e-03,2.081633539e-04,-1.239046116e-04,-2.351201264e-03,2.061156579e-04,-1.239058648e-04,-2.349469601e-03,7.017460742e-01,-1.224343671e-04,8.383894105e-01,7.017460348e-01,-1.223536503e-04,8.383897399e-01,7.019355298e-01,-1.221364576e-04,8.272232098e-01
+41,2.498333333e+01,DOWN_FORCE_DETACH,1792672506366020603,2.103651667e-04,-1.301555853e-04,-2.465623117e-03,2.097765702e-04,-1.246606526e-04,-2.462837473e-03,2.073154668e-04,-1.246568267e-04,-2.461078614e-03,7.017482366e-01,-1.286046240e-04,8.382753181e-01,7.017476481e-01,-1.231096913e-04,8.382781037e-01,7.019367296e-01,-1.228874195e-04,8.271116008e-01
+42,2.548333333e+01,DOWN_FORCE_DETACH,1792672507333677209,2.090212898e-04,-1.359981008e-04,-2.600970429e-03,2.087376677e-04,-1.361358922e-04,-2.600965588e-03,2.057835451e-04,-1.361339580e-04,-2.598957762e-03,7.017468928e-01,-1.344471394e-04,8.381399708e-01,7.017466091e-01,-1.345849309e-04,8.381399756e-01,7.019351977e-01,-1.343645508e-04,8.269737216e-01
+43,2.591666667e+01,DOWN_FORCE_DETACH,1792672508204242006,2.089804134e-04,-1.383121574e-04,-2.729324985e-03,2.080661173e-04,-1.385454244e-04,-2.720545282e-03,2.046971370e-04,-1.384710408e-04,-2.718425182e-03,7.017468519e-01,-1.367611961e-04,8.380116162e-01,7.017459376e-01,-1.369944631e-04,8.380203959e-01,7.019341113e-01,-1.367016336e-04,8.268542542e-01
+44,2.633333333e+01,DOWN_FORCE_DETACH,1792672509027894969,2.088472671e-04,-1.423771205e-04,-2.861719881e-03,2.051342283e-04,-1.415042402e-04,-2.856952181e-03,2.012193613e-04,-1.414752812e-04,-2.854641528e-03,7.017467187e-01,-1.408261592e-04,8.378792213e-01,7.017430057e-01,-1.399532789e-04,8.378839890e-01,7.019306335e-01,-1.397058741e-04,8.267180379e-01
+45,2.678333333e+01,DOWN_FORCE_DETACH,1792672509944260293,2.107152830e-04,-1.461179348e-04,-3.007462363e-03,2.106754671e-04,-1.462988209e-04,-3.007155078e-03,2.063468929e-04,-1.462287873e-04,-3.004702017e-03,7.017485868e-01,-1.445669735e-04,8.377334788e-01,7.017485469e-01,-1.447478596e-04,8.377337861e-01,7.019357610e-01,-1.444593801e-04,8.265679774e-01
+46,2.720000000e+01,DOWN_FORCE_DETACH,1792672510723842076,2.113986652e-04,-1.453110563e-04,-3.150151544e-03,2.114690052e-04,-1.441770734e-04,-3.143543164e-03,2.066690108e-04,-1.441135771e-04,-3.141023795e-03,7.017492701e-01,-1.437600949e-04,8.375907896e-01,7.017493405e-01,-1.426261120e-04,8.375973980e-01,7.019360831e-01,-1.423441699e-04,8.264316556e-01
+47,2.758333333e+01,DOWN_FORCE_DETACH,1792672511457771686,2.082523224e-04,-1.497027232e-04,-3.298802775e-03,2.084468997e-04,-1.486447871e-04,-3.279234613e-03,2.030452761e-04,-1.485832065e-04,-3.276664647e-03,7.017461238e-01,-1.481517619e-04,8.374421384e-01,7.017463184e-01,-1.470938258e-04,8.374617066e-01,7.019324594e-01,-1.468137993e-04,8.262960148e-01
+48,2.795000000e+01,DOWN_FORCE_DETACH,1792672512156055402,2.128315834e-04,-1.520920731e-04,-3.441713441e-03,2.103611514e-04,-1.566862956e-04,-3.440903697e-03,2.044829280e-04,-1.565748966e-04,-3.438074777e-03,7.017507031e-01,-1.505411118e-04,8.372992277e-01,7.017482326e-01,-1.551353343e-04,8.373000375e-01,7.019338970e-01,-1.548054894e-04,8.261346046e-01
+49,2.828333333e+01,DOWN_FORCE_DETACH,1792672512785957261,2.133879621e-04,-1.552367101e-04,-3.590595575e-03,2.137483618e-04,-1.558436847e-04,-3.580560053e-03,2.074585473e-04,-1.557497559e-04,-3.577687493e-03,7.017512594e-01,-1.536857488e-04,8.371503456e-01,7.017516198e-01,-1.542927234e-04,8.371603811e-01,7.019368727e-01,-1.539803487e-04,8.259949919e-01
+50,2.860000000e+01,DOWN_FORCE_DETACH,1792672513386087231,2.104326707e-04,-1.604177511e-04,-3.745744577e-03,2.113549796e-04,-1.565063978e-04,-3.726146566e-03,2.044745128e-04,-1.563890324e-04,-3.723176131e-03,7.017483042e-01,-1.588667897e-04,8.369951966e-01,7.017492265e-01,-1.549554364e-04,8.370147946e-01,7.019338886e-01,-1.546196252e-04,8.258495033e-01
+51,2.890000000e+01,DOWN_FORCE_DETACH,1792672513951932866,2.113282991e-04,-1.631122329e-04,-3.897105237e-03,2.112330060e-04,-1.629016827e-04,-3.896888746e-03,2.036645893e-04,-1.627622946e-04,-3.893590167e-03,7.017491998e-01,-1.615612716e-04,8.368438360e-01,7.017491045e-01,-1.613507214e-04,8.368440524e-01,7.019330787e-01,-1.609928875e-04,8.256790892e-01
+52,2.921666667e+01,DOWN_FORCE_DETACH,1792672514550045277,2.173414938e-04,-1.686668778e-04,-4.055820992e-03,2.171874288e-04,-1.688734043e-04,-4.056092823e-03,2.091338680e-04,-1.687683138e-04,-4.052757464e-03,7.017552130e-01,-1.671159165e-04,8.366851202e-01,7.017550589e-01,-1.673224429e-04,8.366848484e-01,7.019385480e-01,-1.669989067e-04,8.255199219e-01
+53,2.948333333e+01,DOWN_FORCE_DETACH,1792672515049999160,2.137421477e-04,-1.786008505e-04,-4.210327007e-03,2.137337122e-04,-1.786046196e-04,-4.210270108e-03,2.051585923e-04,-1.784529990e-04,-4.206809179e-03,7.017516136e-01,-1.770498892e-04,8.365306142e-01,7.017516052e-01,-1.770536583e-04,8.365306711e-01,7.019345727e-01,-1.766835919e-04,8.253658702e-01
+54,2.971666667e+01,DOWN_FORCE_DETACH,1792672515514218619,2.053062863e-04,-1.853055765e-04,-4.365630867e-03,2.092010811e-04,-1.837610697e-04,-4.349423877e-03,1.999611420e-04,-1.835820121e-04,-4.345886854e-03,7.017431778e-01,-1.837546151e-04,8.363753103e-01,7.017470726e-01,-1.822101084e-04,8.363915173e-01,7.019293753e-01,-1.818126049e-04,8.252267925e-01
+55,2.995000000e+01,DOWN_FORCE_DETACH,1792672515982342079,1.975751680e-04,-1.833046998e-04,-4.527941712e-03,1.974744304e-04,-1.834631816e-04,-4.527790358e-03,1.873869696e-04,-1.832473653e-04,-4.523916926e-03,7.017354466e-01,-1.817537385e-04,8.362129995e-01,7.017353459e-01,-1.819122203e-04,8.362131508e-01,7.019168011e-01,-1.814779582e-04,8.250487625e-01
+56,3.016666667e+01,DOWN_FORCE_DETACH,1792672516412223294,2.325603253e-04,-1.861543250e-04,-4.650038105e-03,2.325556489e-04,-1.860612061e-04,-4.649946235e-03,2.227692607e-04,-1.858471209e-04,-4.646202184e-03,7.017704318e-01,-1.846033637e-04,8.360909031e-01,7.017704271e-01,-1.845102447e-04,8.360909950e-01,7.019521834e-01,-1.840777137e-04,8.249264772e-01
+57,3.038333333e+01,DOWN_FORCE_DETACH,1792672516846214516,2.214481178e-04,-2.050211115e-04,-4.816023460e-03,2.170517333e-04,-2.000537211e-04,-4.811094647e-03,2.063856315e-04,-1.998505558e-04,-4.807176610e-03,7.017593196e-01,-2.034701501e-04,8.359249177e-01,7.017549232e-01,-1.985027597e-04,8.359298465e-01,7.019357998e-01,-1.980811487e-04,8.247655028e-01
+58,3.056666667e+01,DOWN_FORCE_DETACH,1792672517212426946,2.167472033e-04,-1.885187091e-04,-4.970118042e-03,2.164833130e-04,-1.888407573e-04,-4.970086652e-03,2.052256413e-04,-1.886325146e-04,-4.965962481e-03,7.017546187e-01,-1.869677478e-04,8.357708231e-01,7.017543548e-01,-1.872897960e-04,8.357708545e-01,7.019346398e-01,-1.868631075e-04,8.246067169e-01
+59,3.105000000e+01,DOWN_PEAK_HOLD,1792672518178114581,2.042200033e-04,-1.941623987e-04,-5.094352225e-03,2.055261690e-04,-1.964946770e-04,-5.087142678e-03,1.935198230e-04,-1.962887132e-04,-5.084251400e-03,7.017420915e-01,-1.926114374e-04,8.356465890e-01,7.017433977e-01,-1.949437157e-04,8.356537985e-01,7.019229339e-01,-1.945193060e-04,8.244884280e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d5cbf7e201044bb7e3db00a8c614a28b21c41fb1
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-1.8259e-03,1.2478e-03,2.4541e+00,-3.6873e-02,3.6653e-02,-7.2273e-06,1.9076e-04,-9.5030e-07,6.9618e-05,1.7509e-07,1.3381e-05,-5.7698e-09,2.0307e-04,1.3382e-05
+1,7.0000e-01,DOWN_FORCE_DETACH,1.6930e-04,4.9180e-03,1.2290e-03,2.4567e+00,-3.6868e-02,3.7125e-02,-8.2334e-06,6.9347e-03,-1.9692e-05,2.6526e-03,4.8578e-06,4.8609e-04,-1.0118e-06,7.4247e-03,4.8611e-04
+2,1.2000e+00,DOWN_FORCE_DETACH,3.3884e-04,5.4522e-03,9.3575e-03,2.4703e+00,-3.7435e-02,3.7153e-02,-2.4542e-06,7.4689e-03,8.1087e-03,1.6274e-02,-5.6224e-04,5.1315e-04,4.7674e-06,1.9657e-02,7.6122e-04
+3,1.5667e+00,DOWN_FORCE_DETACH,5.1706e-04,1.1136e-02,1.2138e-02,2.4896e+00,-3.7627e-02,3.7540e-02,-2.0785e-06,1.3152e-02,1.0889e-02,3.5563e-02,-7.5407e-04,9.0055e-04,5.1430e-06,3.9450e-02,1.1746e-03
+4,1.8667e+00,DOWN_FORCE_DETACH,6.8431e-04,1.3843e-02,9.5498e-03,2.4919e+00,-3.7443e-02,3.7729e-02,-6.4647e-06,1.5860e-02,8.3011e-03,3.7895e-02,-5.7057e-04,1.0896e-03,7.5682e-07,4.1911e-02,1.2300e-03
+5,2.4500e+00,DOWN_FORCE_DETACH,8.5686e-04,1.4896e-02,1.4744e-02,2.4859e+00,-3.7803e-02,3.7809e-02,-6.5793e-06,1.6913e-02,1.3495e-02,3.1809e-02,-9.3022e-04,1.1699e-03,6.4226e-07,3.8471e-02,1.4947e-03
+6,2.9167e+00,DOWN_FORCE_DETACH,1.0249e-03,1.4368e-02,1.6724e-02,2.4854e+00,-3.7938e-02,3.7774e-02,-8.5418e-06,1.6385e-02,1.5475e-02,3.1341e-02,-1.0656e-03,1.1348e-03,-1.3202e-06,3.8603e-02,1.5567e-03
+7,3.6333e+00,DOWN_FORCE_DETACH,1.1965e-03,1.3891e-02,2.0194e-02,2.4866e+00,-3.8176e-02,3.7742e-02,-1.0354e-05,1.5908e-02,1.8945e-02,3.2549e-02,-1.3034e-03,1.1022e-03,-3.1323e-06,4.0883e-02,1.7070e-03
+8,4.2500e+00,DOWN_FORCE_DETACH,1.3646e-03,1.5860e-02,2.0724e-02,2.4872e+00,-3.8210e-02,3.7881e-02,-1.2842e-05,1.7877e-02,1.9475e-02,3.3111e-02,-1.3368e-03,1.2413e-03,-5.6203e-06,4.2370e-02,1.8243e-03
+9,4.9667e+00,DOWN_FORCE_DETACH,1.5338e-03,1.8197e-02,2.2116e-02,2.4923e+00,-3.8307e-02,3.8042e-02,-1.3593e-05,2.0213e-02,2.0867e-02,3.8297e-02,-1.4345e-03,1.4026e-03,-6.3718e-06,4.8070e-02,2.0063e-03
+10,5.5333e+00,DOWN_FORCE_DETACH,1.7094e-03,1.8712e-02,2.5112e-02,2.4928e+00,-3.8520e-02,3.8077e-02,-1.0771e-05,2.0729e-02,2.3863e-02,3.8769e-02,-1.6477e-03,1.4381e-03,-3.5498e-06,5.0022e-02,2.1870e-03
+11,6.1833e+00,DOWN_FORCE_DETACH,1.8784e-03,1.9980e-02,2.5885e-02,2.4848e+00,-3.8581e-02,3.8171e-02,-6.9175e-06,2.1997e-02,2.4637e-02,3.0792e-02,-1.7081e-03,1.5317e-03,3.0407e-07,4.5155e-02,2.2943e-03
+12,6.4667e+00,DOWN_FORCE_DETACH,2.0496e-03,4.9156e-03,2.5210e-02,2.4792e+00,-3.8537e-02,3.7113e-02,-3.1527e-06,6.9323e-03,2.3961e-02,2.5119e-02,-1.6639e-03,4.7403e-04,4.0688e-06,3.5400e-02,1.7301e-03
+13,7.1000e+00,DOWN_FORCE_DETACH,2.2193e-03,1.1565e-02,2.5424e-02,2.4882e+00,-3.8557e-02,3.7575e-02,1.0321e-06,1.3581e-02,2.4175e-02,3.4128e-02,-1.6846e-03,9.3574e-04,8.2536e-06,4.3973e-02,1.9271e-03
+14,7.7333e+00,DOWN_FORCE_DETACH,2.3919e-03,1.1348e-02,2.8516e-02,2.4962e+00,-3.8782e-02,3.7555e-02,7.2326e-06,1.3364e-02,2.7268e-02,4.2132e-02,-1.9089e-03,9.1566e-04,1.4454e-05,5.1935e-02,2.1172e-03
+15,8.4167e+00,DOWN_FORCE_DETACH,2.5648e-03,1.2465e-02,2.8026e-02,2.4933e+00,-3.8758e-02,3.7636e-02,7.7813e-06,1.4481e-02,2.6778e-02,3.9269e-02,-1.8848e-03,9.9631e-04,1.5003e-05,4.9687e-02,2.1320e-03
+16,8.9667e+00,DOWN_FORCE_DETACH,2.7336e-03,9.8717e-03,3.0205e-02,2.4954e+00,-3.8916e-02,3.7452e-02,8.3811e-06,1.1888e-02,2.8956e-02,4.1384e-02,-2.0431e-03,8.1262e-04,1.5603e-05,5.1889e-02,2.1988e-03
+17,9.5333e+00,DOWN_FORCE_DETACH,2.9024e-03,1.0812e-02,3.0577e-02,2.4962e+00,-3.8943e-02,3.7517e-02,4.9670e-06,1.2829e-02,2.9328e-02,4.2168e-02,-2.0707e-03,8.7767e-04,1.2189e-05,5.2942e-02,2.2490e-03
+18,1.0233e+01,DOWN_FORCE_DETACH,3.0748e-03,1.1364e-02,3.2436e-02,2.5005e+00,-3.9066e-02,3.7551e-02,-1.9012e-06,1.3381e-02,3.1187e-02,4.6464e-02,-2.1931e-03,9.1210e-04,5.3204e-06,5.7538e-02,2.3752e-03
+19,1.1000e+01,DOWN_FORCE_DETACH,3.2469e-03,1.1293e-02,3.2715e-02,2.5003e+00,-3.9071e-02,3.7545e-02,-1.3787e-05,1.3310e-02,3.1466e-02,4.6258e-02,-2.1984e-03,9.0539e-04,-6.5659e-06,5.7507e-02,2.3776e-03
+20,1.1717e+01,DOWN_FORCE_DETACH,3.4168e-03,1.1561e-02,3.1784e-02,2.5016e+00,-3.8995e-02,3.7562e-02,-2.6864e-05,1.3578e-02,3.0535e-02,4.7570e-02,-2.1227e-03,9.2310e-04,-1.9643e-05,5.8135e-02,2.3149e-03
+21,1.2383e+01,DOWN_FORCE_DETACH,3.5897e-03,1.4219e-02,2.8987e-02,2.4940e+00,-3.8796e-02,3.7755e-02,-3.9039e-05,1.6236e-02,2.7739e-02,3.9944e-02,-1.9229e-03,1.1154e-03,-3.1818e-05,5.1270e-02,2.2232e-03
+22,1.2950e+01,DOWN_FORCE_DETACH,3.7568e-03,1.4224e-02,2.7926e-02,2.4975e+00,-3.8718e-02,3.7752e-02,-4.3897e-05,1.6240e-02,2.6678e-02,4.3475e-02,-1.8455e-03,1.1127e-03,-3.6675e-05,5.3531e-02,2.1553e-03
+23,1.3600e+01,DOWN_FORCE_DETACH,3.9281e-03,1.5709e-02,2.6935e-02,2.4986e+00,-3.8646e-02,3.7855e-02,-4.5611e-05,1.7725e-02,2.5686e-02,4.4594e-02,-1.7732e-03,1.2160e-03,-3.8390e-05,5.4430e-02,2.1504e-03
+24,1.4350e+01,DOWN_FORCE_DETACH,4.1024e-03,1.6448e-02,2.7812e-02,2.4969e+00,-3.8700e-02,3.7908e-02,-4.2624e-05,1.8464e-02,2.6563e-02,4.2858e-02,-1.8274e-03,1.2689e-03,-3.5402e-05,5.3697e-02,2.2251e-03
+25,1.4900e+01,DOWN_FORCE_DETACH,4.2740e-03,1.6351e-02,2.7368e-02,2.5019e+00,-3.8661e-02,3.7896e-02,-4.1502e-05,1.8367e-02,2.6119e-02,4.7894e-02,-1.7881e-03,1.2569e-03,-3.4280e-05,5.7562e-02,2.1859e-03
+26,1.5600e+01,DOWN_FORCE_DETACH,4.4435e-03,1.5830e-02,2.8274e-02,2.5021e+00,-3.8713e-02,3.7857e-02,-4.0776e-05,1.7846e-02,2.7025e-02,4.8064e-02,-1.8407e-03,1.2176e-03,-3.3554e-05,5.7957e-02,2.2073e-03
+27,1.6250e+01,DOWN_FORCE_DETACH,4.6157e-03,1.6601e-02,2.8832e-02,2.4958e+00,-3.8742e-02,3.7914e-02,-4.2173e-05,1.8618e-02,2.7583e-02,4.1775e-02,-1.8697e-03,1.2747e-03,-3.4951e-05,5.3410e-02,2.2631e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_07/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..de7b0ed4c7a36ab958a15f442e7c0092ceaf3fed
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0efa24c0abc3de2e1875e633c51896560fda64eb4b123a48620efbccd60b9f23
+size 17377280
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bbc6dafabc3cbb5b99eadd4b6bd608eca5c9edc2
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5f66b814813195d70ea9b7a27ba42f1a7a36febd
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..d861cacada9f10319d062ef073fe5439814c85f7
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9b1df0bf82a1c9c8733c5ad98c13b452f514fe81
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+7,6.166666667e-01,WAIT_W2,1792672440233686130,-8.211358291e-07,-2.303057205e-06,-1.478005777e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.377654271e-07,1.482173037e-09,4.650579910e-08,7.015370503e-01,-7.520958836e-07,8.407394632e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295519e-01,1.770895611e-06,8.295727259e-01
+8,7.500000000e-01,WAIT_W2,1792672440499877485,-9.883193195e-07,-6.077699276e-06,6.057928412e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.616022445e-07,1.713318383e-09,5.483485199e-08,7.015368832e-01,-4.526737955e-06,8.407415470e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295758e-01,1.771126756e-06,8.295727342e-01
+9,8.833333333e-01,WAIT_W2,1792672440767966325,-1.186847861e-06,-5.402608047e-06,-1.865215184e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.838725412e-07,1.918043648e-09,6.268221120e-08,7.015366846e-01,-3.851646726e-06,8.407390760e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295980e-01,1.771331481e-06,8.295727421e-01
+10,9.833333333e-01,WAIT_W2,1792672440965751930,-7.433594492e-07,-3.595513071e-06,-6.848962196e-07,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.996166407e-07,2.044357926e-09,6.826731780e-08,7.015371281e-01,-2.044551750e-06,8.407402563e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296138e-01,1.771457796e-06,8.295727477e-01
+11,1.066666667e+00,WAIT_W2,1792672441133720108,8.793424893e-07,5.274888401e-06,2.307623399e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.121456236e-07,2.149990989e-09,7.273120073e-08,7.015387508e-01,6.825849722e-06,8.407432488e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296263e-01,1.771563429e-06,8.295727521e-01
+12,1.150000000e+00,WAIT_W2,1792672441299573212,-8.448677832e-07,1.121570329e-05,-1.955151791e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.241640440e-07,2.245357417e-09,7.703101157e-08,7.015370266e-01,1.276666461e-05,8.407389860e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296383e-01,1.771658795e-06,8.295727564e-01
+13,1.283333333e+00,WAIT_W2,1792672441564232932,3.966070917e-07,2.155272727e-05,-2.950756016e-07,4.618955795e-07,2.149478371e-05,-2.366029664e-07,6.816454268e-07,2.149668505e-05,-1.828304912e-07,7.015382681e-01,2.310368859e-05,8.407406461e-01,7.015383334e-01,2.304574503e-05,8.407407046e-01,7.017300958e-01,2.326609849e-05,8.295724966e-01
+14,1.400000000e+00,WAIT_W2,1792672441798774519,-5.330704511e-07,2.049200863e-05,4.265913192e-07,4.618955795e-07,2.149478371e-05,-2.366029664e-07,6.967240436e-07,2.150390154e-05,-1.771203736e-07,7.015373384e-01,2.204296995e-05,8.407413678e-01,7.015383334e-01,2.304574503e-05,8.407407046e-01,7.017301109e-01,2.327331498e-05,8.295725023e-01
+15,1.500000000e+00,WAIT_W2,1792672441997743968,-2.856779366e-06,2.403619187e-05,-4.401761399e-06,4.618955795e-07,2.149478371e-05,-2.366029664e-07,7.091070986e-07,2.150555233e-05,-1.729412902e-07,7.015350147e-01,2.558715319e-05,8.407365394e-01,7.015383334e-01,2.304574503e-05,8.407407046e-01,7.017301233e-01,2.327496577e-05,8.295725064e-01
+16,1.616666667e+00,WAIT_W2,1792672442229893835,2.105405125e-06,1.731988886e-05,1.377944555e-06,4.618955795e-07,2.149478371e-05,-2.366029664e-07,7.228090613e-07,2.150645440e-05,-1.683644724e-07,7.015399769e-01,1.887085018e-05,8.407423191e-01,7.015383334e-01,2.304574503e-05,8.407407046e-01,7.017301370e-01,2.327586783e-05,8.295725110e-01
+17,1.716666667e+00,WAIT_W2,1792672442429725866,-4.253213776e-07,8.045814211e-06,2.315280991e-07,4.618955795e-07,2.149478371e-05,-2.366029664e-07,7.339045720e-07,2.150685604e-05,-1.646339689e-07,7.015374462e-01,9.596775532e-06,8.407411727e-01,7.015383334e-01,2.304574503e-05,8.407407046e-01,7.017301481e-01,2.327626948e-05,8.295725148e-01
+18,1.850000000e+00,UP_FORCE_RAMP,1792672442695837329,2.909885993e-07,1.827692225e-06,1.513931314e-06,-9.512087759e-07,-5.313271924e-07,-3.626910232e-07,-7.104357873e-07,-5.337816494e-07,-2.515943383e-07,7.015381625e-01,3.378653546e-06,8.407424551e-01,7.015369203e-01,1.019634129e-06,8.407405785e-01,7.017287037e-01,1.235631788e-06,8.295724278e-01
+19,1.900000000e+00,UP_FORCE_RAMP,1792672442793913874,-8.799667371e-07,-3.856689046e-07,6.830979791e-07,-9.512087759e-07,-5.313271924e-07,-3.626910232e-07,-7.058688261e-07,-5.360923261e-07,-2.500833233e-07,7.015369915e-01,1.165292416e-06,8.407416243e-01,7.015369203e-01,1.019634129e-06,8.407405785e-01,7.017287083e-01,1.233321112e-06,8.295724293e-01
+20,2.050000000e+00,UP_FORCE_RAMP,1792672443095862426,-2.407902959e-07,-1.547099556e-05,9.026723401e-07,-9.512087759e-07,-5.313271924e-07,-3.626910232e-07,-6.927491396e-07,-5.386374860e-07,-2.451585869e-07,7.015376307e-01,-1.392003424e-05,8.407418439e-01,7.015369203e-01,1.019634129e-06,8.407405785e-01,7.017287214e-01,1.230775952e-06,8.295724342e-01
+21,2.150000000e+00,UP_FORCE_RAMP,1792672443295803570,-1.557377824e-06,-1.296551680e-05,-1.059480349e-06,-9.512087759e-07,-5.313271924e-07,-3.626910232e-07,-6.844598190e-07,-5.392519845e-07,-2.419628146e-07,7.015363141e-01,-1.141455548e-05,8.407398817e-01,7.015369203e-01,1.019634129e-06,8.407405785e-01,7.017287297e-01,1.230161453e-06,8.295724374e-01
+22,2.283333333e+00,UP_FORCE_RAMP,1792672443559932507,-3.570550581e-06,-2.260951624e-05,-2.623219234e-06,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.629795050e-07,-2.243233347e-05,4.117559808e-06,7.015343009e-01,-2.105855492e-05,8.407383180e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017303771e-01,-2.066292003e-05,8.295767969e-01
+23,2.383333333e+00,UP_FORCE_RAMP,1792672443765048467,-5.148200512e-06,-2.527421615e-05,-3.036195818e-06,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.716627267e-07,-2.243618547e-05,4.123615048e-06,7.015327233e-01,-2.372325482e-05,8.407379050e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017303858e-01,-2.066677203e-05,8.295768030e-01
+24,2.483333333e+00,UP_FORCE_RAMP,1792672443960363891,-1.506673225e-06,-2.650589317e-05,1.360765754e-06,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.795216369e-07,-2.243766637e-05,4.128752393e-06,7.015363648e-01,-2.495493185e-05,8.407423020e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017303937e-01,-2.066825294e-05,8.295768081e-01
+25,2.583333333e+00,UP_FORCE_RAMP,1792672444126377080,-3.163170792e-08,-3.811283052e-05,5.763478560e-06,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.869093215e-07,-2.243842866e-05,4.133407282e-06,7.015378398e-01,-3.656186920e-05,8.407467047e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017304011e-01,-2.066901522e-05,8.295768128e-01
+26,2.683333333e+00,UP_FORCE_RAMP,1792672444325951047,1.466972321e-08,-3.898561489e-05,7.266189908e-06,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.939141723e-07,-2.243887253e-05,4.137726726e-06,7.015378862e-01,-3.743465357e-05,8.407482074e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017304081e-01,-2.066945909e-05,8.295768171e-01
+27,2.766666667e+00,UP_FORCE_RAMP,1792672444494628917,-2.443801015e-07,-3.679952042e-05,1.312476112e-05,6.190429304e-07,-2.243099120e-05,4.058600596e-06,9.994850912e-07,-2.243911771e-05,4.141123826e-06,7.015376271e-01,-3.524855910e-05,8.407540659e-01,7.015384905e-01,-2.088002987e-05,8.407449998e-01,7.017304136e-01,-2.066970427e-05,8.295768205e-01
+28,2.833333333e+00,UP_FORCE_RAMP,1792672444626306595,-3.717454843e-06,-4.183487466e-05,1.139058221e-05,-1.435784625e-06,-4.214627896e-05,1.192082406e-05,-1.067088048e-06,-4.215559170e-05,1.195151230e-05,7.015341540e-01,-4.028391334e-05,8.407523318e-01,7.015364357e-01,-4.059531764e-05,8.407528620e-01,7.017283471e-01,-4.038617827e-05,8.295846309e-01
+29,2.966666667e+00,UP_FORCE_RAMP,1792672444857826225,-7.514587352e-06,-4.023325423e-05,1.903913461e-05,-1.435784625e-06,-4.214627896e-05,1.192082406e-05,-1.060518427e-06,-4.215971087e-05,1.196379411e-05,7.015303569e-01,-3.868229291e-05,8.407599803e-01,7.015364357e-01,-4.059531764e-05,8.407528620e-01,7.017283536e-01,-4.039029744e-05,8.295846432e-01
+30,3.033333333e+00,UP_FORCE_RAMP,1792672444989937921,-1.736453942e-05,-4.555306375e-05,2.969167919e-05,-2.078167022e-05,-3.913874323e-05,2.149054393e-05,-2.078966641e-05,-3.915063090e-05,2.150672441e-05,7.015205069e-01,-4.400210243e-05,8.407706329e-01,7.015170898e-01,-3.758778191e-05,8.407624317e-01,7.017086245e-01,-3.738121746e-05,8.295941861e-01
+31,3.100000000e+00,UP_FORCE_RAMP,1792672445125775841,-1.690775153e-05,-4.586994858e-05,3.791762459e-05,-2.078167022e-05,-3.913874323e-05,2.149054393e-05,-2.079575024e-05,-3.915080175e-05,2.151667003e-05,7.015209637e-01,-4.431898726e-05,8.407788588e-01,7.015170898e-01,-3.758778191e-05,8.407624317e-01,7.017086184e-01,-3.738138831e-05,8.295941961e-01
+32,3.183333333e+00,UP_FORCE_RAMP,1792672445290405664,-1.090032966e-05,-4.121384914e-05,5.587362637e-05,-1.235883821e-05,-4.290051400e-05,4.819019181e-05,-1.209392868e-05,-4.293320035e-05,4.798466897e-05,7.015269712e-01,-3.966288782e-05,8.407968148e-01,7.015255126e-01,-4.134955268e-05,8.407891314e-01,7.017173202e-01,-4.116378692e-05,8.296206641e-01
+33,3.300000000e+00,UP_FORCE_RAMP,1792672445489791644,-9.724992898e-06,-4.058762060e-05,6.661873785e-05,-1.235883821e-05,-4.290051400e-05,4.819019181e-05,-1.209231278e-05,-4.293437142e-05,4.801553756e-05,7.015281465e-01,-3.903665928e-05,8.408075599e-01,7.015255126e-01,-4.134955268e-05,8.407891314e-01,7.017173218e-01,-4.116495798e-05,8.296206949e-01
+34,3.383333333e+00,UP_FORCE_RAMP,1792672445655993259,-5.080450255e-06,-4.696804316e-05,7.724455249e-05,-6.539356481e-06,-4.439820117e-05,7.010657693e-05,-6.115285655e-06,-4.441435678e-05,6.986697018e-05,7.015327910e-01,-4.541708183e-05,8.408181857e-01,7.015313321e-01,-4.284723985e-05,8.408110478e-01,7.017232989e-01,-4.264494334e-05,8.296425464e-01
+35,3.466666667e+00,UP_FORCE_RAMP,1792672445822201286,-6.907565286e-06,-5.241065017e-05,7.795686667e-05,-6.539356481e-06,-4.439820117e-05,7.010657693e-05,-6.111366737e-06,-4.441508117e-05,6.989505019e-05,7.015309639e-01,-5.085968884e-05,8.408188981e-01,7.015313321e-01,-4.284723985e-05,8.408110478e-01,7.017233028e-01,-4.264566773e-05,8.296425744e-01
+36,3.600000000e+00,UP_FORCE_RAMP,1792672446054565616,-6.583130967e-06,-5.761520051e-05,8.505956833e-05,-6.539356481e-06,-4.439820117e-05,7.010657693e-05,-6.106358575e-06,-4.441603395e-05,6.993240553e-05,7.015312884e-01,-5.606423919e-05,8.408260008e-01,7.015313321e-01,-4.284723985e-05,8.408110478e-01,7.017233078e-01,-4.264662051e-05,8.296426118e-01
+37,3.700000000e+00,UP_FORCE_RAMP,1792672446254006543,-6.854383696e-06,-6.386262786e-05,8.939567433e-05,-6.122249126e-06,-5.695364776e-05,8.800023670e-05,-5.593782833e-06,-5.699392278e-05,8.772070014e-05,7.015310171e-01,-6.231166654e-05,8.408303369e-01,7.015317492e-01,-5.540268644e-05,8.408289414e-01,7.017238204e-01,-5.522450934e-05,8.296604001e-01
+38,3.783333333e+00,UP_FORCE_RAMP,1792672446421937441,-2.328737829e-06,-5.816451354e-05,9.918539569e-05,-6.122249126e-06,-5.695364776e-05,8.800023670e-05,-5.590945473e-06,-5.699567559e-05,8.774982435e-05,7.015355427e-01,-5.661355222e-05,8.408401266e-01,7.015317492e-01,-5.540268644e-05,8.408289414e-01,7.017238232e-01,-5.522626215e-05,8.296604292e-01
+39,3.866666667e+00,UP_FORCE_RAMP,1792672446586254199,-2.259464273e-07,-5.780428313e-05,1.099143076e-04,-1.530827444e-07,-5.778138215e-05,1.097384048e-04,5.827591067e-07,-5.782779750e-05,1.092627833e-04,7.015376455e-01,-5.625332181e-05,8.408508555e-01,7.015377184e-01,-5.623042083e-05,8.408506796e-01,7.017299969e-01,-5.605838406e-05,8.296819422e-01
+40,3.983333333e+00,UP_FORCE_RAMP,1792672446788711432,2.118293766e-06,-5.822153418e-05,1.229257429e-04,-1.530827444e-07,-5.778138215e-05,1.097384048e-04,5.957507961e-07,-5.782643791e-05,1.093240773e-04,7.015399898e-01,-5.667057286e-05,8.408638669e-01,7.015377184e-01,-5.623042083e-05,8.408506796e-01,7.017300099e-01,-5.605702448e-05,8.296820035e-01
+41,4.083333333e+00,UP_FORCE_RAMP,1792672446988417236,3.866685645e-06,-6.092511675e-05,1.365769285e-04,4.197046945e-06,-6.095698068e-05,1.311702463e-04,5.122320990e-06,-6.097242605e-05,1.306807838e-04,7.015417382e-01,-5.937415543e-05,8.408775181e-01,7.015420685e-01,-5.940601936e-05,8.408721114e-01,7.017345365e-01,-5.920301261e-05,8.297033602e-01
+42,4.216666667e+00,UP_FORCE_RAMP,1792672447236642971,5.633866493e-06,-5.792742800e-05,1.415357287e-04,4.197046945e-06,-6.095698068e-05,1.311702463e-04,5.133034400e-06,-6.097393609e-05,1.307451223e-04,7.015435053e-01,-5.637646668e-05,8.408824769e-01,7.015420685e-01,-5.940601936e-05,8.408721114e-01,7.017345472e-01,-5.920452265e-05,8.297034245e-01
+43,4.316666667e+00,UP_FORCE_RAMP,1792672447420285650,4.369259654e-06,-5.823986801e-05,1.471516897e-04,4.197046945e-06,-6.095698068e-05,1.311702463e-04,5.139642299e-06,-6.097466543e-05,1.307852436e-04,7.015422407e-01,-5.668890669e-05,8.408880929e-01,7.015420685e-01,-5.940601936e-05,8.408721114e-01,7.017345538e-01,-5.920525200e-05,8.297034646e-01
+44,4.383333333e+00,UP_FORCE_RAMP,1792672447552057429,6.016096868e-06,-6.457300850e-05,1.512264870e-04,5.921002504e-06,-6.440397427e-05,1.507995697e-04,7.018964351e-06,-6.444917555e-05,1.502736883e-04,7.015438876e-01,-6.302204718e-05,8.408921677e-01,7.015437925e-01,-6.285301295e-05,8.408917408e-01,7.017364331e-01,-6.267976211e-05,8.297229531e-01
+45,4.466666667e+00,UP_FORCE_RAMP,1792672447718205381,2.797169502e-06,-6.415162043e-05,1.507049411e-04,5.921002504e-06,-6.440397427e-05,1.507995697e-04,7.025352807e-06,-6.444649458e-05,1.503249718e-04,7.015406687e-01,-6.260065911e-05,8.408916461e-01,7.015437925e-01,-6.285301295e-05,8.408917408e-01,7.017364395e-01,-6.267708114e-05,8.297230044e-01
+46,4.533333333e+00,UP_FORCE_RAMP,1792672447850003986,3.550876700e-06,-5.926282796e-05,1.564316265e-04,5.921002504e-06,-6.440397427e-05,1.507995697e-04,7.029583334e-06,-6.444711292e-05,1.503550988e-04,7.015414224e-01,-5.771186664e-05,8.408973728e-01,7.015437925e-01,-6.285301295e-05,8.408917408e-01,7.017364437e-01,-6.267769949e-05,8.297230345e-01
+47,4.633333333e+00,UP_FORCE_RAMP,1792672448018152031,1.900383954e-06,-5.996493553e-05,1.607088861e-04,5.921002504e-06,-6.440397427e-05,1.507995697e-04,7.035430263e-06,-6.444782625e-05,1.503957263e-04,7.015397719e-01,-5.841397421e-05,8.409016501e-01,7.015437925e-01,-6.285301295e-05,8.408917408e-01,7.017364496e-01,-6.267841281e-05,8.297230751e-01
+48,4.733333333e+00,UP_FORCE_RAMP,1792672448218279097,-1.806548545e-06,-5.709337401e-05,1.638166393e-04,5.921002504e-06,-6.440397427e-05,1.507995697e-04,7.040754442e-06,-6.444838267e-05,1.504326420e-04,7.015360649e-01,-5.554241269e-05,8.409047578e-01,7.015437925e-01,-6.285301295e-05,8.408917408e-01,7.017364549e-01,-6.267896923e-05,8.297231120e-01
+49,4.816666667e+00,UP_FORCE_RAMP,1792672448384086840,-4.128561497e-06,-6.199848353e-05,1.681966023e-04,-2.786643662e-06,-5.537213609e-05,1.676368459e-04,-1.789684210e-06,-5.542065507e-05,1.672185176e-04,7.015337429e-01,-6.044752221e-05,8.409091378e-01,7.015350848e-01,-5.382117477e-05,8.409085780e-01,7.017276245e-01,-5.365124164e-05,8.297398979e-01
+50,4.883333333e+00,UP_FORCE_RAMP,1792672448500066144,-5.059816956e-06,-5.994836222e-05,1.729423092e-04,-2.786643662e-06,-5.537213609e-05,1.676368459e-04,-1.791380034e-06,-5.541971893e-05,1.672496442e-04,7.015328117e-01,-5.839740089e-05,8.409138835e-01,7.015350848e-01,-5.382117477e-05,8.409085780e-01,7.017276228e-01,-5.365030549e-05,8.297399290e-01
+51,4.983333333e+00,UP_FORCE_RAMP,1792672448683936350,-4.262483605e-06,-5.543888747e-05,1.789682640e-04,-2.786643662e-06,-5.537213609e-05,1.676368459e-04,-1.791564299e-06,-5.541947796e-05,1.672894371e-04,7.015336090e-01,-5.388792615e-05,8.409199095e-01,7.015350848e-01,-5.382117477e-05,8.409085780e-01,7.017276226e-01,-5.365006452e-05,8.297399688e-01
+52,5.100000000e+00,UP_FORCE_RAMP,1792672448918009499,-6.801522710e-06,-5.685999176e-05,1.882370001e-04,-6.504495799e-06,-5.693312754e-05,1.881353413e-04,-5.538588441e-06,-5.697105864e-05,1.876382756e-04,7.015310700e-01,-5.530903044e-05,8.409291782e-01,7.015313670e-01,-5.538216622e-05,8.409290765e-01,7.017238756e-01,-5.520164520e-05,8.297603177e-01
+53,5.200000000e+00,UP_FORCE_HOLD,1792672449118196826,-7.088237578e-06,-5.978923984e-05,1.979541450e-04,-6.504495799e-06,-5.693312754e-05,1.881353413e-04,-5.545568251e-06,-5.696893699e-05,1.876959131e-04,7.015307832e-01,-5.823827852e-05,8.409388953e-01,7.015313670e-01,-5.538216622e-05,8.409290765e-01,7.017238686e-01,-5.519952356e-05,8.297603753e-01
+54,5.266666667e+00,UP_FORCE_HOLD,1792672449250058402,-7.208120023e-06,-5.665990915e-05,2.021374835e-04,-6.504495799e-06,-5.693312754e-05,1.881353413e-04,-5.546576476e-06,-5.696922428e-05,1.877240623e-04,7.015306634e-01,-5.510894783e-05,8.409430787e-01,7.015313670e-01,-5.538216622e-05,8.409290765e-01,7.017238676e-01,-5.519981084e-05,8.297604034e-01
+55,5.333333333e+00,UP_FORCE_HOLD,1792672449382173647,-4.557952499e-06,-5.363991321e-05,2.114350512e-04,-5.364236370e-06,-6.117477406e-05,2.073445607e-04,-4.285834418e-06,-6.121529903e-05,2.068113121e-04,7.015333135e-01,-5.208895189e-05,8.409523762e-01,7.015325072e-01,-5.962381274e-05,8.409482857e-01,7.017251283e-01,-5.944588560e-05,8.297794907e-01
+56,5.416666667e+00,UP_SETTLE,1792672449548172873,-7.182708927e-06,-5.907566305e-05,2.157723129e-04,-5.364236370e-06,-6.117477406e-05,2.073445607e-04,-4.286063240e-06,-6.121618354e-05,2.068540458e-04,7.015306888e-01,-5.752470173e-05,8.409567135e-01,7.015325072e-01,-5.962381274e-05,8.409482857e-01,7.017251281e-01,-5.944677011e-05,8.297795334e-01
+57,5.450000000e+00,UP_SETTLE,1792672449616183803,-7.852998707e-06,-5.731449763e-05,2.168998870e-04,-5.364236370e-06,-6.117477406e-05,2.073445607e-04,-4.286192361e-06,-6.121643383e-05,2.068690887e-04,7.015300185e-01,-5.576353631e-05,8.409578411e-01,7.015325072e-01,-5.962381274e-05,8.409482857e-01,7.017251280e-01,-5.944702039e-05,8.297795485e-01
+58,5.466666667e+00,UP_SETTLE,1792672449650216271,-6.125485974e-05,-6.092215684e-05,1.788926266e-04,-6.090229250e-05,-6.095440697e-05,1.788693428e-04,-6.118539386e-05,-6.101902523e-05,1.786514296e-04,7.014766166e-01,-5.937119552e-05,8.409198338e-01,7.014769692e-01,-5.940344565e-05,8.409198105e-01,7.016682288e-01,-5.924961179e-05,8.297513308e-01
+59,5.466666667e+00,UP_SETTLE,1792672449650216271,-6.125485974e-05,-6.092215684e-05,1.788926266e-04,-6.090229250e-05,-6.095440697e-05,1.788693428e-04,-6.118539386e-05,-6.101902523e-05,1.786514296e-04,7.014766166e-01,-5.937119552e-05,8.409198338e-01,7.014769692e-01,-5.940344565e-05,8.409198105e-01,7.016682288e-01,-5.924961179e-05,8.297513308e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_07/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_07/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..747009471d971ea415d4768c61a2cd0a7848ed0f
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_07/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-1.8241e-03,1.2480e-03,2.4541e+00,-3.6872e-02,3.6653e-02,-7.2049e-06,1.9074e-04,-9.5752e-07,6.9618e-05,1.7881e-07,1.3378e-05,-5.9517e-09,2.0305e-04,1.3379e-05
+1,6.6667e-02,XJC_ZERO_HOLD_BEFORE_UP,2.6434e-05,-1.0767e-03,1.2455e-03,2.4544e+00,-3.6872e-02,3.6705e-02,-7.2411e-06,9.3809e-04,-3.4390e-06,3.4547e-04,7.6741e-07,6.5792e-05,-4.2077e-08,9.9969e-04,6.5797e-05
+2,1.3333e-01,WAIT_W2,5.1424e-05,-3.5300e-04,1.2435e-03,2.4547e+00,-3.6871e-02,3.6756e-02,-7.2932e-06,1.6618e-03,-5.4270e-06,6.1631e-04,1.3001e-06,1.1653e-04,-9.4231e-08,1.7724e-03,1.1653e-04
+3,2.5000e-01,WAIT_W2,7.1698e-05,8.5772e-04,1.2407e-03,2.4551e+00,-3.6871e-02,3.6841e-02,-7.4181e-06,2.8725e-03,-8.2912e-06,1.0748e-03,2.1309e-06,2.0142e-04,-2.1910e-07,3.0670e-03,2.0143e-04
+4,3.6667e-01,WAIT_W2,9.8842e-05,2.0003e-03,1.2384e-03,2.4556e+00,-3.6870e-02,3.6921e-02,-7.5802e-06,4.0151e-03,-1.0526e-05,1.5130e-03,2.8498e-06,2.8151e-04,-3.8127e-07,4.2908e-03,2.8152e-04
+5,4.8333e-01,WAIT_W2,1.2471e-04,3.0784e-03,1.2358e-03,2.4560e+00,-3.6869e-02,3.6997e-02,-7.7748e-06,5.0932e-03,-1.3146e-05,1.9310e-03,3.5465e-06,3.5706e-04,-5.7581e-07,5.4470e-03,3.5708e-04
+6,5.3333e-01,WAIT_W2,1.4505e-04,3.5215e-03,1.2345e-03,2.4561e+00,-3.6869e-02,3.7028e-02,-7.8677e-06,5.5362e-03,-1.4447e-05,2.1038e-03,3.8482e-06,3.8810e-04,-6.6872e-07,5.9225e-03,3.8812e-04
+7,6.1667e-01,WAIT_W2,1.7366e-04,4.2350e-03,1.2319e-03,2.4564e+00,-3.6868e-02,3.7078e-02,-8.0326e-06,6.2498e-03,-1.7051e-05,2.3832e-03,4.3549e-06,4.3809e-04,-8.3361e-07,6.6888e-03,4.3812e-04
+8,7.5000e-01,WAIT_W2,1.9802e-04,5.3160e-03,1.2275e-03,2.4569e+00,-3.6868e-02,3.7153e-02,-8.3332e-06,7.3308e-03,-2.1426e-05,2.8105e-03,5.1446e-06,5.1383e-04,-1.1342e-06,7.8511e-03,5.1386e-04
+9,8.8333e-01,WAIT_W2,2.2503e-04,6.3261e-03,1.2225e-03,2.4573e+00,-3.6867e-02,3.7224e-02,-8.6647e-06,8.3409e-03,-2.6413e-05,3.2134e-03,5.9195e-06,5.8458e-04,-1.4657e-06,8.9385e-03,5.8461e-04
+10,9.8333e-01,WAIT_W2,2.4950e-04,7.0405e-03,1.2186e-03,2.4575e+00,-3.6866e-02,3.7274e-02,-8.9347e-06,9.0553e-03,-3.0338e-05,3.5002e-03,6.4932e-06,6.3461e-04,-1.7357e-06,9.7083e-03,6.3465e-04
+11,1.0667e+00,WAIT_W2,2.7039e-04,7.6087e-03,1.2153e-03,2.4578e+00,-3.6866e-02,3.7314e-02,-9.1738e-06,9.6235e-03,-3.3631e-05,3.7293e-03,6.9551e-06,6.7440e-04,-1.9748e-06,1.0321e-02,6.7444e-04
+12,1.1500e+00,WAIT_W2,2.9720e-04,8.1538e-03,1.2119e-03,2.4580e+00,-3.6865e-02,3.7352e-02,-9.4240e-06,1.0169e-02,-3.7099e-05,3.9499e-03,7.4059e-06,7.1257e-04,-2.2250e-06,1.0909e-02,7.1261e-04
+13,1.2833e+00,WAIT_W2,3.2369e-04,8.9797e-03,1.2066e-03,2.4583e+00,-3.6865e-02,3.7410e-02,-9.8398e-06,1.0994e-02,-4.2308e-05,4.2858e-03,8.0839e-06,7.7037e-04,-2.6408e-06,1.1800e-02,7.7042e-04
+14,1.4000e+00,WAIT_W2,3.4871e-04,9.5555e-03,-5.5914e-03,2.4587e+00,-3.6388e-02,3.7450e-02,-1.6285e-05,1.1570e-02,-6.8403e-03,4.6310e-03,4.8431e-04,8.1054e-04,-9.0859e-06,1.4217e-02,9.4425e-04
+15,1.5000e+00,WAIT_W2,3.7342e-04,1.0116e-02,-5.5001e-03,2.4589e+00,-3.6394e-02,3.7489e-02,-1.6392e-05,1.2131e-02,-6.7491e-03,4.8451e-03,4.7831e-04,8.4985e-04,-9.1926e-06,1.4704e-02,9.7525e-04
+16,1.6167e+00,WAIT_W2,3.9821e-04,1.0738e-02,-5.4569e-03,2.4591e+00,-3.6397e-02,3.7533e-02,-1.6590e-05,1.2753e-02,-6.7059e-03,5.0797e-03,4.7566e-04,8.9335e-04,-9.3911e-06,1.5278e-02,1.0121e-03
+17,1.7167e+00,WAIT_W2,4.2460e-04,1.1241e-02,-5.4418e-03,2.4593e+00,-3.6398e-02,3.7568e-02,-1.6790e-05,1.3256e-02,-6.6907e-03,5.2707e-03,4.7488e-04,9.2859e-04,-9.5910e-06,1.5757e-02,1.0430e-03
+18,1.8500e+00,UP_FORCE_RAMP,4.5052e-04,1.2336e-02,1.7852e-03,2.4596e+00,-3.6903e-02,3.7645e-02,-1.0810e-05,1.4350e-02,5.3629e-04,5.5857e-03,-3.0708e-05,1.0055e-03,-3.6111e-06,1.5408e-02,1.0060e-03
+19,1.9000e+00,UP_FORCE_RAMP,4.7091e-04,1.2538e-02,1.5862e-03,2.4597e+00,-3.6889e-02,3.7659e-02,-1.1000e-05,1.4553e-02,3.3729e-04,5.6581e-03,-1.6719e-05,1.0196e-03,-3.8012e-06,1.5618e-02,1.0198e-03
+20,2.0500e+00,UP_FORCE_RAMP,4.9967e-04,1.3133e-02,1.4183e-03,2.4600e+00,-3.6878e-02,3.7701e-02,-1.1730e-05,1.5147e-02,1.6933e-04,5.9092e-03,-4.9546e-06,1.0612e-03,-4.5310e-06,1.6260e-02,1.0612e-03
+21,2.1500e+00,UP_FORCE_RAMP,5.2342e-04,1.3508e-02,1.3762e-03,2.4601e+00,-3.6875e-02,3.7727e-02,-1.2150e-05,1.5523e-02,1.2724e-04,6.0730e-03,-1.9744e-06,1.0875e-03,-4.9515e-06,1.6669e-02,1.0875e-03
+22,2.2833e+00,UP_FORCE_RAMP,5.4861e-04,1.3367e-02,8.5138e-03,2.4587e+00,-3.7374e-02,3.7718e-02,-6.0161e-06,1.5382e-02,7.2649e-03,4.6329e-03,-5.0152e-04,1.0785e-03,1.1829e-06,1.7631e-02,1.1894e-03
+23,2.3833e+00,UP_FORCE_RAMP,5.7311e-04,1.3784e-02,8.2183e-03,2.4590e+00,-3.7354e-02,3.7747e-02,-6.7271e-06,1.5799e-02,6.9694e-03,4.9763e-03,-4.8103e-04,1.1076e-03,4.7185e-07,1.7971e-02,1.2076e-03
+24,2.4833e+00,UP_FORCE_RAMP,5.9642e-04,1.4143e-02,8.1238e-03,2.4593e+00,-3.7347e-02,3.7772e-02,-7.4074e-06,1.6158e-02,6.8748e-03,5.2445e-03,-4.7456e-04,1.1327e-03,-2.0838e-07,1.8326e-02,1.2281e-03
+25,2.5833e+00,UP_FORCE_RAMP,6.2178e-04,1.4478e-02,8.0748e-03,2.4595e+00,-3.7344e-02,3.7796e-02,-7.9943e-06,1.6493e-02,6.8259e-03,5.4855e-03,-4.7123e-04,1.1561e-03,-7.9536e-07,1.8674e-02,1.2485e-03
+26,2.6833e+00,UP_FORCE_RAMP,6.4400e-04,1.4796e-02,8.0454e-03,2.4598e+00,-3.7342e-02,3.7818e-02,-8.5381e-06,1.6811e-02,6.7964e-03,5.7087e-03,-4.6926e-04,1.1784e-03,-1.3391e-06,1.9010e-02,1.2684e-03
+27,2.7667e+00,UP_FORCE_RAMP,6.7061e-04,1.5049e-02,8.0285e-03,2.4599e+00,-3.7341e-02,3.7836e-02,-8.9742e-06,1.7063e-02,6.7795e-03,5.8837e-03,-4.6812e-04,1.1960e-03,-1.7753e-06,1.9281e-02,1.2844e-03
+28,2.8333e+00,UP_FORCE_RAMP,6.9686e-04,1.5932e-02,1.4462e-02,2.4571e+00,-3.7791e-02,3.7900e-02,-3.4983e-06,1.7947e-02,1.3213e-02,3.0153e-03,-9.1870e-04,1.2604e-03,3.7006e-06,2.2489e-02,1.5597e-03
+29,2.9667e+00,UP_FORCE_RAMP,7.2138e-04,1.6216e-02,1.4163e-02,2.4578e+00,-3.7771e-02,3.7919e-02,-4.6476e-06,1.8231e-02,1.2914e-02,3.7179e-03,-8.9841e-04,1.2799e-03,2.5514e-06,2.2649e-02,1.5637e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_08/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..48c5416f251053282780a1b919dc8765b9911af7
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:109f5a09586e9ad7e9d7d4b276da4a32eab8a4477ec2a1dfc10e68693040aa54
+size 104980480
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..393fad836e86c2ec53ce6e8f414b32bf0834dc1d
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/fem_node.csv
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ed1cdde783488ec68386c5638adaa79ae7882128
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/franka_data.csv
@@ -0,0 +1,61 @@
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+67912,1792672545215705057,41085519000000,1792672545215018153,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760536844781787,-0.0045593381733174555,0.09087520031280234,0.9999999858032111,0.0001018106824904323,-9.726771879448113e-05,-3.1650693070420977e-06,0.6761,-0.00453,0.09096717381821982,1.0,0.0,0.0,0.0,0.11504075532058108,0.11821722354599684,0.010419970197146827,0.008404967270687319,-0.008543696505460135,-3.217196953832524e-05,0.32866681282188326,0.32286496963705574,-0.09029170934864011,0.02009293216072259,-0.02468106423274539,-4.51006843861018e-05,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.0363453463943999,0.31264337526191416,1.1763469403941125,0.047641741828248686,-0.7119883816142859,0.11957257335608913,1.203644884152231,0.010419970197146827,0.027297943758118448,0.027297943758118448,0.08463000000000066,0,0,-4.8169790571293284e-05,8.118536567652261e-05
+68060,1792672546448775464,41086752000000,1792672546447018687,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6760654152630818,-0.004564119181893888,0.09084279904485099,0.9999999881450782,0.00010300923849825446,-6.65990521644115e-05,1.0313637016151041e-05,0.6761,-0.00453,0.09090244627782625,1.0,0.0,0.0,0.0,0.11463297403091341,0.1380036439174518,0.07091895912077822,0.009445885460600142,-0.008581061399276967,-6.952926718227831e-05,0.3282590315322156,0.3426513900085107,-0.02979272042500872,0.021133850350635412,-0.024718429126562223,-8.245798203005486e-05,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.04454685268628233,0.4018933573166332,1.064240257066668,0.07815712342542283,-0.6589894346323291,0.17545042357851123,1.203644884152231,0.07091895912077822,0.1394046270855629,0.1394046270855629,0.17093999999999232,0,0,-5.2837118809352705e-05,9.980202361615226e-05
+68224,1792672547815835335,41088119000000,1792672547815019182,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760513934413832,-0.004576350332252222,0.09076838162023335,0.9999999860554845,9.899762781327194e-05,-9.459355445796337e-05,2.4154180311328737e-05,0.6761,-0.00453,0.09084432390156179,1.0,0.0,0.0,0.0,0.13301271421811953,0.12130341127754513,0.1813304141668979,0.009065055139017238,-0.009610404639586932,-0.0001763233187237962,0.3466387717194217,0.325951157368604,0.08061873462111097,0.020753020029052507,-0.025747772366872188,-0.00018925203357157276,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.077870053870739,0.43490303109957756,0.9887927713499317,0.0848286280949241,-0.5999159690004852,0.19507692499686669,1.203644884152231,0.1813304141668979,0.2148521128022992,0.2148521128022992,0.26662999999998077,0,0,-2.443879187494081e-05,-9.872205416894814e-05
+68412,1792672549381861711,41089685000000,1792672549375018409,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6760534434393862,-0.00457666934026217,0.09074394321480221,0.9999999863355702,0.00010080060234093757,-8.754020476334653e-05,3.078432765344122e-05,0.6761,-0.00453,0.09079850066255925,1.0,0.0,0.0,0.0,0.13194178232019885,0.13549112314292766,0.22152858093925804,0.009387407967086762,-0.008643474948607167,-0.0001895930020955009,0.345567839821501,0.34013886923398656,0.12081690139347111,0.02107537285712203,-0.024780842675892423,-0.00020252171694327747,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.13823500005964154,0.3396390163980804,0.8983261073565131,0.11859470161294067,-0.5287700084265862,0.13981881459016426,1.203644884152231,0.22152858093925804,0.30531877679571784,0.30531877679571784,0.37625000000000347,0,0,-3.911493471761419e-05,-5.5764597132973395e-05
+68567,1792672550673927793,41090977000000,1792672550667029066,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760583300693296,-0.004581764351956643,0.09070539906918716,0.9999999874198209,9.849764274628777e-05,-7.283398918791569e-05,3.995806181539559e-05,0.6761,-0.00453,0.0907465947814509,1.0,0.0,0.0,0.0,0.12340341793913415,0.12880109430962278,0.2764740052470162,0.009375579652169001,-0.008633076031360404,-0.00023429303459026484,0.3370294754404363,0.3334488404006817,0.17576232570122927,0.02106354454220427,-0.02477044375864566,-0.0002472217494380414,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.16689801737978052,0.4683749675292101,0.7502953604748838,0.08159452736440366,-0.4342694071852063,0.21925298837633772,1.203644884152231,0.2764740052470162,0.45334952367734715,0.45334952367734715,0.4666900000000222,0,0,-4.388702093818952e-05,9.463768243923027e-05
+68719,1792672551940941921,41092244000000,1792672551939018544,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760605876624934,-0.004593353745719561,0.09066103564610799,0.9999999876758424,9.567317597423244e-05,-6.468313115304641e-05,5.247775990663306e-05,0.6761,-0.00453,0.09069016753354654,1.0,0.0,0.0,0.0,0.12298135045737321,0.12984112396008235,0.34193551662313043,0.00936309081250879,-0.008638746936521124,-0.000287561737447881,0.3366074079586754,0.33448887005114125,0.2412238370773435,0.02105105570254406,-0.02477611466380638,-0.00030049045229565757,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.19679164853631884,0.40334051507773044,0.6882035734938583,0.09829398469010647,-0.3900914794478644,0.17733690478194247,1.203644884152231,0.34193551662313043,0.5154413106583726,0.5154413106583726,0.5553800000000405,0,0,-4.515494557846977e-05,7.330222126367687e-05
+68895,1792672553406978431,41093710000000,1792672553403018759,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760615571325691,-0.0045969478213717585,0.09060721789681421,0.999999987549927,9.45865975735503e-05,-5.864004099434927e-05,6.291050297354237e-05,0.6761,-0.00453,0.09062727498347582,1.0,0.0,0.0,0.0,0.12252215106067774,0.13291868857675865,0.4308521999352699,0.00931971452657588,-0.007644914949623036,-0.0003503786352576947,0.3361482085619799,0.33756643466781755,0.33014052038948294,0.02100767941661115,-0.02378228267690829,-0.00036330735010547125,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.22968997595207546,0.38885467250344335,0.5936209855674297,0.10004972936588222,-0.32128358224816167,0.16524469383454035,1.203644884152231,0.4308521999352699,0.6100238985848012,0.6100238985848012,0.6580000000000618,0,0,-3.951903101214076e-05,5.9957171933923e-05
+69082,1792672554966122666,41095269000000,1792672554959018944,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.676057301364569,-0.004599095249335065,0.09054839240594381,0.9999999866523974,9.470343696114102e-05,-6.206184513473592e-05,7.292225832350829e-05,0.6761,-0.00453,0.0905649499581866,1.0,0.0,0.0,0.0,0.11953919773365093,0.12324880280393735,0.512052801716304,0.008286528082285576,-0.007643088282000162,-0.00040402111523298555,0.3331652552349531,0.32789654889499625,0.411341122170517,0.019974492972320845,-0.023780456009285418,-0.0004169498300807621,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.24768247859266662,0.23370145321551533,0.48559357179739854,0.14080825766373314,-0.24900092293284112,0.06340587853593445,1.203644884152231,0.512052801716304,0.7180513123548324,0.7180513123548324,0.7671300000000844,0,0,-3.9942086008129416e-05,5.643439046922292e-05
+69270,1792672556532101935,41096835000000,1792672556527018407,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6760587635092876,-0.004604402885936609,0.09049399133307888,0.999999986018514,9.380234028575149e-05,-5.888756560165924e-05,8.449385650532504e-05,0.6761,-0.00453,0.09050143373501468,1.0,0.0,0.0,0.0,0.10469608098555525,0.12496063944957486,0.5991519368549673,0.00825688678597095,-0.007667348427787015,-0.0002607444074242021,0.3183221384868574,0.32960838554063376,0.49844025730918035,0.01994485167600622,-0.02380471615507227,-0.00027367312227197867,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.27119745253299815,0.4160883374382923,0.3835698198055944,0.09350949455355126,-0.1792736648017641,0.18558596428256324,1.203644884152231,0.5991519368549673,0.8200750643466366,0.8200750643466366,0.876750000000107,0,0,-3.8237327745467627e-05,-1.4496234464259739e-05
+69445,1792672557991178848,41098294000000,1792672557991018560,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760605585317639,-0.0046112863456532855,0.09044399418205058,0.9999999846300541,9.768478597026153e-05,-5.4466576328839954e-05,9.835563258373796e-05,0.6761,-0.00453,0.09043857653523227,1.0,0.0,0.0,0.0,0.11206536757928184,0.10834323789515232,0.6729531561437934,0.00824113333409376,-0.0076816509143668305,0.00047517145679394916,0.325691425080584,0.3129909839862112,0.5722414765980064,0.01992909822412903,-0.023819018641652086,0.0004622427419461726,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.3316810385148481,0.29533813992099794,0.2880123632465376,0.12908731599199716,-0.10675287792939595,0.10858808844380399,1.203644884152231,0.6729531561437934,0.9156325209056932,0.9156325209056932,0.9788800000001282,0,0,-4.625660789691571e-05,2.003406596779033e-05
+69617,1792672559424291711,41099727000000,1792672559423028026,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6760690903442222,-0.004612690571716401,0.09039256238934483,0.999999982940483,0.00010699399607208934,-4.32620410831501e-05,0.00011064618663998986,0.6761,-0.00453,0.09037065879465464,1.0,0.0,0.0,0.0,0.1031720697235016,0.11154036745139556,0.7530626536558183,0.008198826288024035,-0.006685717175213816,0.000425043377345222,0.31679812722480377,0.31618811354245446,0.6523509741100313,0.019886791178059304,-0.022823084902499072,0.00041211466249744546,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.36879188137963415,0.392795122389219,0.2558564350996341,0.09519684091900105,-0.07726131517752632,0.17058539469286288,1.203644884152231,0.7530626536558183,0.9477884490525967,0.9477884490525967,1.0791900000001489,0,0,-4.820018013470951e-05,-9.996864033657288e-05
+69781,1792672560791286050,41101094000000,1792672560787027814,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760791110133665,-0.004621882278577147,0.0903454215386596,0.9999999812527547,0.00011256856743481181,-2.984238688584902e-05,0.00012399638810724984,0.6761,-0.00453,0.09030732614318347,1.0,0.0,0.0,0.0,0.08492740824163622,0.11733876749381439,0.8228593787244687,0.009178489998225091,-0.0057062551629668765,0.00039365334397735213,0.2985534657429384,0.3219865135848733,0.7221476991786817,0.02086645488826036,-0.021843622890252132,0.00038072462912957557,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.36766993554096894,0.4007374272228454,0.07747393736677598,0.08764912830481848,0.03249772153529763,0.17620461649816288,1.203644884152231,0.8228593787244687,1.126170946785455,1.126170946785455,1.1748800000001687,0,0,-4.655676192203006e-05,9.990488577938379e-05
+69945,1792672562157441850,41102460000000,1792672562155018540,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6760826170732018,-0.004621960640082269,0.09028924187777607,0.9999999776164404,0.00012914945351748055,-2.6871857689559055e-05,0.00013714337380641786,0.6761,-0.00453,0.09024325769731092,1.0,0.0,0.0,0.0,0.07832871685685619,0.1289953763959335,0.8938960820872819,0.00914970789849279,-0.004715748908081803,0.0003453387403480951,0.29195477435815836,0.3336431224869924,0.7931844025414949,0.02083767278852806,-0.02085311663536706,0.00033241002550031854,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.42869590465751495,0.39725191578368374,0.018545599586685557,0.0976624264798987,0.08466511310948802,0.17698379526838937,1.203644884152231,0.8938960820872819,1.1850992845655455,1.1850992845655455,1.2705000000001885,0,0,-5.1775873514985034e-05,-7.809520671664955e-05
+70084,1792672563316402842,41103619000000,1792672563311027773,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6760906390123596,-0.004629853630899473,0.09024492044302664,0.9999999753001861,0.00013393027812542058,-1.7061082065932474e-05,0.000150379824284252,0.6761,-0.00453,0.09018327289565194,1.0,0.0,0.0,0.0,0.06561883496491536,0.12706579123996314,0.9572465998652159,0.009126795957970127,-0.0047221375182427,0.0002984648923042303,0.27924489246621753,0.33171353733102205,0.8565349203194289,0.020814760848005397,-0.020859505245527956,0.00028553617745645375,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.43519876227492366,0.336898326113164,-0.17163862617317152,0.11616210591192933,0.20191130965338527,0.14096726186863737,1.203644884152231,0.9572465998652159,1.3752835103254024,1.3752835103254024,1.3516300000002053,0,0,-5.3796195308127064e-05,9.999896330293296e-05
+70252,1792672564716450400,41105019000000,1792672564715018491,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.676097075287358,-0.004634320058900133,0.09018423063529293,0.9999999709878022,0.0001466971079061091,-6.651336023428202e-06,0.00016704184247450673,0.6761,-0.00453,0.09010940614955888,1.0,0.0,0.0,0.0,0.06472052208752307,0.12450813242555137,1.040772094184847,0.009082948444806043,-0.0037271528188957855,0.0002454177627762077,0.27834657958882525,0.32915587851661027,0.9400604146390601,0.020770913334841313,-0.01986452054618104,0.00023248904792843114,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.4761902382637217,0.31193543536939466,-0.21193070514548185,0.11755696190223533,0.23419142265201304,0.12182064859876193,1.203644884152231,1.040772094184847,1.4155755892977129,1.4155755892977129,1.4496300000002256,0,0,-4.965021862116258e-05,9.986740187451488e-05
+70463,1792672566474609977,41106777000000,1792672566467027926,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761050822941221,-0.0046485314623372605,0.09011220454248374,0.9999999664750602,0.00015162910595483485,4.194119020386921e-06,0.00018837135249561647,0.6761,-0.00453,0.09001783451254274,1.0,0.0,0.0,0.0,0.05488617523613645,0.12749718491945045,1.1244555005722519,0.00904023705673421,-0.0027316606737838693,0.00019351233665658543,0.2685122327374386,0.33214493101050935,1.0237438210264649,0.02072820194676948,-0.018869028401069125,0.00018058362180880887,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.4659329067666753,0.33136016699806714,-0.310369275779242,0.11344391030523561,0.2911572710881734,0.1383922673959852,1.203644884152231,1.1244555005722519,1.514014159931473,1.514014159931473,1.572690000000251,0,0,-5.580501192117981e-05,5e-05
+70619,1792672567774607418,41108077000000,1792672567771018342,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761213031680868,-0.004619723047941443,0.09005387088810093,0.9999999928552322,-5.682278718354343e-05,4.95320386634063e-05,7.081519353524648e-06,0.6761,-0.00453,0.08994965872594277,1.0,0.0,0.0,0.0,0.09884263737257445,0.1990488717011401,1.1981281977178388,0.014504446906121186,-0.0065948520677633175,0.00014664954678609326,0.31246869487387663,0.403696617792199,1.0974165181720519,0.026192411796156456,-0.022732219795048574,0.0001337208319383167,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.3568568049870599,0.4027916848470013,-0.15533120771110243,0.0022541523732794535,0.18323210486869587,0.20033680654102975,1.203644884152231,1.1981281977178388,1.3589760918633333,1.3589760918633333,1.66369000000027,0,0,-5.246473494121962e-05,-9.999999025923074e-05
+70763,1792672568974728111,41109277000000,1792672568967018876,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6761292078684438,-0.00461205710204357,0.08999111056153343,0.9999999932613503,-3.051387654128893e-05,5.7656634703582604e-05,2.5783322522381584e-05,0.6761,-0.00453,0.08986134129541093,1.0,0.0,0.0,0.0,0.0719166358865195,0.17496140523542275,1.2966706320158292,0.01311983285556936,-0.0038632299049205857,8.676347644513205e-05,0.2855426933878217,0.37960915132648165,1.1959589524700422,0.02480779774560463,-0.02000059763220584,7.383476159735549e-05,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.5568984990340661,0.35040733439135435,-0.32868938929551156,0.002522707083822618,0.3444215732045318,0.18680562781100066,1.203644884152231,1.2966706320158292,1.5323342734477425,1.5323342734477425,1.7476900000002873,0,0,-8.197318110000763e-05,-9.87162948870079e-05
+70962,1792672570632768523,41110935000000,1792672570631018311,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761293349563697,-0.004613689322800656,0.08989425452701026,0.9999999927458539,-2.03238237557967e-06,5.42752543202601e-05,5.478341634811844e-05,0.6761,-0.00453,0.08975746862627816,1.0,0.0,0.0,0.0,0.07113041556519609,0.17137155117907205,1.4272050753295216,0.013117286588953475,-0.004679409167269808,-3.091318558901378e-05,0.28475647306649826,0.37601929727013095,1.3264933957837346,0.024805251478988745,-0.020816776894555064,-4.384190043679034e-05,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6152180791666657,0.36090741786729325,-0.6255589317533776,0.11037415222779384,0.5275398324499285,0.1628300790910281,1.203644884152231,1.4272050753295216,1.8292038159056085,1.8292038159056085,1.8637500000003113,0,0,-3.977920804279644e-05,9.440005307859706e-05
+71106,1792672571832810630,41112135000000,1792672571827018410,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6761340174405017,-0.004608391975053657,0.08986084903809773,0.9999999916371202,1.3098126801878289e-05,6.131041697220897e-05,6.510065985519115e-05,0.6761,-0.00453,0.08971764986910367,1.0,0.0,0.0,0.0,0.08006624771004836,0.1766765934302411,1.466418967345069,0.013162757553928664,-0.004127226013945141,0.0009470156581265909,0.29369230521135054,0.3813243395213,1.365707287799282,0.024850722443963934,-0.020264593741230397,0.0009340869432788144,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.5856295803943318,0.40375734640928473,-0.6179324952218643,0.130462426781589,0.5063848407623643,0.18589339439718208,1.203644884152231,1.466418967345069,1.8215773793740953,1.8215773793740953,1.9477500000003287,0,0,-3.111999681146139e-05,-9.999953229223308e-05
+71285,1792672573324813797,41113627000000,1792672573319018471,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6761412263538977,-0.004614167248096448,0.08981578085442182,0.9999999900482819,1.7946049812076702e-05,7.275933202303969e-05,7.56988747732494e-05,0.6761,-0.00453,0.0896564366235662,1.0,0.0,0.0,0.0,0.07311556711884779,0.1853996370465963,1.5182938104173676,0.014089712617751535,-0.003933340274568566,0.0009463727114377345,0.28674162462014996,0.3900473831376552,1.4175821308715806,0.025777677507786805,-0.020070708001853822,0.000933443996589958,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6002365233955377,0.39805188550501436,-0.8562614169387317,0.1514740655108001,0.6546729036200306,0.1793106119648995,1.203644884152231,1.5182938104173676,2.0599063010909626,2.0599063010909626,2.0521900000003503,0,0,-4.885132727919383e-05,9.978172041258943e-05
+71457,1792672574757939627,41115060000000,1792672574755018229,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761456786132729,-0.004614565724112577,0.08974880222357925,0.9999999899616493,2.473670817801415e-05,7.826078514270565e-05,6.915859120195839e-05,0.6761,-0.00453,0.0895792613742339,1.0,0.0,0.0,0.0,0.06940810197185723,0.18832709619656324,1.6064304628321346,0.014073184666344388,-0.00395286235353183,0.0008738857995801978,0.2830341594731594,0.39297484228762214,1.5057187832863477,0.025761149556379658,-0.020090230080817086,0.0008609570847324213,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.5661863676223424,0.39922068498482743,-0.8597796459174837,0.1530490579812524,0.6452521563811268,0.1802840076202748,1.203644884152231,1.6064304628321346,2.0634245300697147,2.0634245300697147,2.152500000000371,0,0,-5.3046580072810356e-05,-9.400251392574873e-05
+71601,1792672575958030707,41116260000000,1792672575951018778,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761517643966477,-0.004616460338332459,0.08969671126006191,0.9999999882942461,3.8567216936166756e-05,8.926694514879623e-05,7.347349418202525e-05,0.6761,-0.00453,0.08951749906932868,1.0,0.0,0.0,0.0,0.06986076406117428,0.1905953848420407,1.6688093458364932,0.014061919081307817,-0.003966181848467271,0.0008247093742272632,0.28348682156247645,0.3952431309330996,1.5680976662907062,0.025749883971343087,-0.020103549575752527,0.0008117806593794867,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.5798295967691793,0.4515222087084945,-0.8875490993986935,0.14653313138220367,0.6622620135735401,0.22305982180083705,1.203644884152231,1.6688093458364932,2.0911939835509243,2.0911939835509243,2.2365000000003885,0,0,-5.458790664911029e-05,-9.997584290844514e-05
+71745,1792672577158064997,41117460000000,1792672577151019914,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761569523707267,-0.0046247650693730675,0.0896395849275133,0.9999999864190546,4.3663272793416727e-05,9.743372369566363e-05,8.488193693430869e-05,0.6761,-0.00453,0.08944846212473,1.0,0.0,0.0,0.0,0.07708784654438153,0.20441060331658695,1.7394583290943688,0.015051163324313697,-0.0039491350729776685,0.0007802219579312734,0.2907139040456837,0.40905834940764585,1.6387466495485818,0.026739128214348967,-0.020086502800262925,0.0007672932430834969,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6033866298318546,0.34666069945507655,-1.0413944540333215,0.18134263080594273,0.7679621779661284,0.15694665771769598,1.203644884152231,1.7394583290943688,2.2450393381855527,2.2450393381855527,2.320500000000406,0,0,-5.724243715399558e-05,4.4646200844427534e-05
+71832,1792672577883076124,41118185000000,1792672577883018273,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761603618199418,-0.0045868572768625465,0.08960268207727444,0.9999999842971301,7.622773049318517e-05,0.00010130764691050758,8.230855227805961e-05,0.6761,-0.00453,0.0894070769108869,1.0,0.0,0.0,0.0,0.08447658799507521,0.2085246861154223,1.7899348511492676,0.01581332868780358,-0.004185344551388959,0.0007479835187581415,0.2981026454963774,0.4131724322064812,1.6892231716034807,0.02750129357783885,-0.020322712278674215,0.000735054803910365,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.7134515741709536,0.26343457961613054,-1.0654499921216067,0.2121381814935853,0.8113482156539987,0.10391594599844539,1.203644884152231,1.7899348511492676,2.2690948762738374,2.2690948762738374,2.3712500000004164,0,0,-5.780100905824893e-05,-9.999994862586731e-05
+71860,1792672578117033661,41118419000000,1792672578115018459,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761621083295015,-0.004611433501352742,0.08959251516990645,0.9999999841964105,6.259144578592523e-05,0.00010337494186358759,9.190198958340938e-05,0.6761,-0.00453,0.08939358396023052,1.0,0.0,0.0,0.0,0.07884979172990034,0.2142303162911096,1.8004422501536863,0.016066678664978924,-0.0039604641329347885,0.0007433501860550266,0.2924758492312025,0.4188780623821685,1.6997305706078993,0.027754643555014193,-0.020097831860220045,0.0007304214712072501,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6844029136794242,0.39344747790717594,-1.1245519364664942,0.16612415125896002,0.8414473771224489,0.18912754640751667,1.203644884152231,1.8004422501536863,2.328196820618725,2.328196820618725,2.38763000000042,0,0,-5.817834572843938e-05,9.98738272902699e-05
+71952,1792672578883115514,41119185000000,1792672578879018762,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761665064560239,-0.004622136479886705,0.08955526934387589,0.999999982691991,5.7061636971177946e-05,0.00011203500832342663,0.00010124726478611129,0.6761,-0.00453,0.08935021192033193,1.0,0.0,0.0,0.0,0.049295138422834756,0.18353330770527893,1.8489343184535914,0.013976075575002099,-0.0019791344934952347,0.0007081422366752095,0.26292119592413693,0.3881810537963378,1.7482226389078044,0.02566404046503737,-0.01811650222078049,0.000695213521827433,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6525922995098017,0.4270835062867161,-1.1278457372198443,0.16889120839651953,0.8307360876272516,0.20827398048636758,1.203644884152231,1.8489343184535914,2.331490621372075,2.331490621372075,2.441250000000431,0,0,-5.638731670062758e-05,-9.29564855908282e-05
+72132,1792672580383202862,41120685000000,1792672580383027565,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761706148437536,-0.004633074516191735,0.08947971089626176,0.9999999804938458,5.866417934769508e-05,0.00011743048950398417,0.00011499463761095473,0.6761,-0.00453,0.08926208164651048,1.0,0.0,0.0,0.0,0.04096029742068577,0.19222427071573484,1.929852186075854,0.014894755627953817,-0.0020092854115334007,0.0006530275385101179,0.25458635492198795,0.39687201680679374,1.829140506530067,0.026582720517989086,-0.018146653138818657,0.0006400988236623414,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.633094939406054,0.4255753238549489,-1.2178852138285252,0.17109290891003626,0.8788004026728619,0.20821818521538715,1.203644884152231,1.929852186075854,2.421530097980756,2.421530097980756,2.5462500000004527,0,0,-6.135893051570219e-05,-9.999305136532683e-05
+72292,1792672581717156669,41122019000000,1792672581715027538,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6761757409988035,-0.0046331517074439735,0.08940184613899987,0.9999999787167023,6.237663455565057e-05,0.00012272445316170513,0.00012270828595351807,0.6761,-0.00453,0.08917437875662898,1.0,0.0,0.0,0.0,0.04059862063394762,0.1933713365972377,2.0197402242871796,0.013924169693615235,-0.001001872434027367,0.0005849128543501216,0.2542246781352498,0.3980190826882966,1.9190285447413928,0.025612134583650505,-0.017139240161312623,0.0005719841395023451,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.7587914733052539,0.3476339035598731,-1.3784213181627643,0.19811420661332113,1.0160302010836162,0.16035572855041813,1.203644884152231,2.0197402242871796,2.582066202314995,2.582066202314995,2.639630000000472,0,0,-6.206775004094644e-05,9.999999025923074e-05
+72451,1792672583042283285,41123344000000,1792672583035028259,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6761827855282603,-0.00463886196458914,0.08933592063488865,0.9999999766914804,6.1433293360983e-05,0.00013516088100693898,0.00012655982712864462,0.6761,-0.00453,0.08909471345495613,1.0,0.0,0.0,0.0,0.030676404836168736,0.18896124450564245,2.099029847939138,0.014917886897891953,-0.001037463848232792,0.0005310518808613801,0.2443024623374709,0.39360899059670135,1.998318168393351,0.026605851787927223,-0.017174831575518048,0.0005181231660136036,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.6918725319789201,0.371992151811264,-1.4263398520012422,0.20060069959890142,1.0234867143238295,0.17843053120652586,1.203644884152231,2.099029847939138,2.629984736153473,2.629984736153473,2.732380000000491,0,0,-6.122535047978073e-05,-7.353646444408497e-05
+72587,1792672584175362420,41124477000000,1792672584175028287,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.676190727202278,-0.004626065826359357,0.08926063867356951,0.9999999822597617,-2.5979689286128144e-05,0.00015567344584231557,4.487955892659372e-05,0.6761,-0.00453,0.08901564979580627,1.0,0.0,0.0,0.0,0.049174269059846704,0.21715062042952876,2.171194458611287,0.016973796704695444,-0.002105517296880393,0.0004828242711694412,0.2628003265611489,0.42179836652058766,2.0704827790655003,0.028661761594730713,-0.01824288502416565,0.00046989555632166464,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.7562052791768821,0.3403104417503853,-1.4829794209229856,0.08124025455706599,1.100852611986741,0.1900544859026373,1.203644884152231,2.171194458611287,2.6866243050752168,2.6866243050752168,2.8116900000005076,0,0,-8.257774237604843e-05,-2.5731704293657745e-05
+72763,1792672585642422016,41125944000000,1792672585639027938,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6761975239323886,-0.004636996596067765,0.08915378269741667,0.9999999795693545,2.1761484337202855e-05,0.00016071927425062658,7.745907133858381e-05,0.6761,-0.00453,0.08889599097117759,1.0,0.0,0.0,0.0,0.03891196997312105,0.20811483442834128,2.281565457628,0.015900772845060366,-0.0010987946839239593,0.0008202550627673663,0.2525380274744232,0.4127625805194002,2.1808537780822133,0.027588737735095636,-0.017236162411209215,0.0008073263479195898,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.810774264866128,0.22661817362916445,-1.516996165231444,0.23054564584358295,1.1177679913530987,0.09512686079640502,1.203644884152231,2.281565457628,2.720641049383675,2.720641049383675,2.914380000000529,0,0,-7.040778894215472e-05,-9.999770042424245e-05
+72898,1792672586767439418,41127069000000,1792672586763027790,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762014144314188,-0.004644257358527314,0.0890944650574599,0.9999999768995119,4.131864017880553e-05,0.00016584383614843762,9.182827523721815e-05,0.6761,-0.00453,0.08882482207647147,1.0,0.0,0.0,0.0,0.038818196143098255,0.2095615308130141,2.3219789239991644,0.015889217428883277,-0.001060709146400201,0.001163132489913425,0.25244425364440043,0.414209276904073,2.2212672444533776,0.027577182318918547,-0.017198076873685457,0.0011502037750656484,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.7559461301088206,0.3225380584232939,-1.6857606737578519,0.23271536307298069,1.2028458831840572,0.15420328945388317,1.203644884152231,2.3219789239991644,2.8894055579100826,2.8894055579100826,2.993130000000545,0,0,-5.981961912901313e-05,-9.999997638144293e-05
+73046,1792672588000434328,41128302000000,1792672587999018181,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762061326244134,-0.004645221976178983,0.0890230674998423,0.9999999743150918,4.6881644226687344e-05,0.00017236985238963404,0.00010441947055300599,0.6761,-0.00453,0.08874497612043762,1.0,0.0,0.0,0.0,0.03718178324447921,0.21932696730323914,2.382093269945064,0.01585080003492623,-0.00011098342061586011,0.0013132379907602367,0.2508078407457814,0.42397471339429804,2.281381590399277,0.0275387649249615,-0.016248351147901116,0.0013003092759124601,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8295805785503695,0.3227006818307334,-1.750211158306978,0.2391355660151155,1.2610539724310357,0.15429412734845732,1.203644884152231,2.382093269945064,2.9538560424592086,2.9538560424592086,3.079440000000563,0,0,-7.098381688971778e-05,-9.999967107011116e-05
+73190,1792672589200551501,41129502000000,1792672589199027987,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762084493764844,-0.004651961205709766,0.08894144248685679,0.9999999739907737,3.439686612205934e-05,0.00017618600940518583,0.00010600312264435769,0.6761,-0.00453,0.08865607089658471,1.0,0.0,0.0,0.0,0.03409287980972764,0.22433041513691238,2.4424234085998564,0.016373985153934806,-0.0001298165729647742,0.0013108471378556726,0.2477189373110298,0.4289781612279713,2.3417117290540697,0.028061950043970076,-0.01626718430025003,0.001297918423007896,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8152137031685686,0.3225883180033452,-1.8387969354243818,0.24658684851217189,1.310956897756745,0.1516516811066015,1.203644884152231,2.4424234085998564,3.042441819576613,3.042441819576613,3.1634400000005805,0,0,-7.495534371934476e-05,-8.046846108745171e-05
+73294,1792672590067605698,41130369000000,1792672590063027449,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762160167168667,-0.004643424242677887,0.08888211690580972,0.9999999721422859,3.111821989180232e-05,0.0001882728597569311,0.00010364978900541067,0.6761,-0.00453,0.0885873485290793,1.0,0.0,0.0,0.0,0.028036945361814086,0.2253114451464695,2.4890233026970385,0.015805543105695357,0.0008777258060614097,0.0012832138831625488,0.24166300286311626,0.4299591912375284,2.388311623151252,0.027493507995730627,-0.015259641921223846,0.0012702851683147722,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.9593725997864107,0.3070163003891915,-1.9867780527931496,0.25583043129474403,1.4426385413968217,0.14575814018387953,1.203644884152231,2.4890233026970385,3.1904229369453807,3.1904229369453807,3.224130000000593,0,0,-8.438368622323977e-05,9.510498918808281e-05
+73425,1792672591158635419,41131460000000,1792672591151027485,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762198597161895,-0.004653610555318164,0.08879738876036802,0.9999999710890718,2.1150725024708502e-05,0.00019490105971540296,0.00010407182062055893,0.6761,-0.00453,0.08849557395909893,1.0,0.0,0.0,0.0,0.023038686798590197,0.217649448817892,2.5517729385897265,0.01579714061287343,0.0008643967639713809,0.0012342922316775373,0.23666474429989237,0.4222971949089509,2.45106125904394,0.0274851055029087,-0.015272970963313875,0.0012213635168297607,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8946559422317227,0.27620296628934415,-1.9978247340741244,0.27695594547722024,1.4295271674696344,0.12645030380590108,1.203644884152231,2.5517729385897265,3.2014696182263553,3.2014696182263553,3.300500000000609,0,0,-8.587895514580867e-05,7.400700471749672e-05
+73553,1792672592225698037,41132527000000,1792672592223017945,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762221693368033,-0.004653306381628994,0.08870834652524325,0.9999999702675845,2.4900447690835333e-05,0.00019839472842039327,0.00010453322024964596,0.6761,-0.00453,0.08840173780298283,1.0,0.0,0.0,0.0,0.027885080527644324,0.21978437491308733,2.612695248524073,0.01578061068954858,0.0008524920251842712,0.0011859274359235711,0.2415111380289465,0.42443212100414623,2.511983568978286,0.027468575579583848,-0.015284875702100985,0.0011729987210757945,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8979564630345199,0.29585633096600084,-2.0697758542079154,0.27919277123993796,1.4740955991258666,0.1393265659817577,1.203644884152231,2.612695248524073,3.273420738360146,3.273420738360146,3.3751900000006243,0,0,-8.809736178475169e-05,9.994797631052705e-05
+73681,1792672593292640748,41133594000000,1792672593291018304,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762267269258616,-0.004654364102493538,0.08861841195909533,0.9999999696872316,1.5261266039590824e-05,0.00020531266438730453,9.839819039796763e-05,0.6761,-0.00453,0.08830591756942227,1.0,0.0,0.0,0.0,0.0159005958191544,0.2207846129346821,2.6428386370006796,0.015754431750879816,0.0018072552273520736,0.0011700109389854818,0.22952665332045658,0.425432359025741,2.542126957454893,0.027442396640915086,-0.014330112499933182,0.0011570822241377052,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8533272440164504,0.2538470702860985,-1.9976265388329564,0.3188232051924085,1.4085037253086559,0.11518914629354324,1.203644884152231,2.6428386370006796,3.2012714229851875,3.2012714229851875,3.4498800000006398,0,0,-9.487825737150424e-05,-9.974204381724689e-05
+73745,1792672593825736292,41134127000000,1792672593819018503,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762282724641033,-0.004658040419836771,0.08857495509882522,0.9999999688445013,1.3741783427309172e-05,0.0002102780549265882,9.668590447662928e-05,0.6761,-0.00453,0.0882531666996033,1.0,0.0,0.0,0.0,0.030711141890269134,0.22780272819661235,2.6634295078612364,0.016664521286685004,0.0004527516234485371,0.0011505600483991698,0.2443371993915713,0.43245047428767125,2.5627178283154497,0.028352486176720273,-0.01568461610383672,0.0011376313335513932,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.8963378051057065,0.37208942305517795,-2.103774488792574,0.2839604932444088,1.4856300776901614,0.1934787542656155,1.203644884152231,2.6634295078612364,3.307419372944805,3.307419372944805,3.4871900000006475,0,0,-0.00010234517098669927,-9.986612511803656e-05
+73880,1792672594950780353,41135252000000,1792672594947017907,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762333360106673,-0.0046674722598942075,0.08846289336348888,0.9999999665531403,2.2369938713903618e-05,0.00021612755180795042,0.00010547535260912926,0.6761,-0.00453,0.08813580636912043,1.0,0.0,0.0,0.0,0.028239131230136133,0.22313257539068365,2.713430791549124,0.01576056997870388,0.0008305125130280196,0.0011045933969701285,0.2418651887314383,0.42778032148174255,2.612719112003337,0.02744853486873915,-0.015306855214257236,0.0010916646821223519,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.9392925637351237,0.2943635214317508,-2.159390210555186,0.3223619027169594,1.5270751520990036,0.14765550126537502,1.203644884152231,2.713430791549124,3.363035094707417,3.363035094707417,3.565940000000664,0,0,-0.00010681557699040856,-9.921876795016544e-05
+74012,1792672596050748284,41136352000000,1792672596047018261,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762346957736366,-0.004667655888194855,0.08834641239608414,0.9999999657288682,2.329919716799825e-05,0.00021817656778042274,0.00010881755276590199,0.6761,-0.00453,0.08801213874062472,1.0,0.0,0.0,0.0,0.02809316711291429,0.21556884349171557,2.7731965111855246,0.015748082752224633,0.0008182689581375368,0.0010562896685369421,0.24171922461421647,0.42021658958277447,2.672484831639738,0.027436047642259903,-0.01531909876914772,0.0010433609536891655,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.0372535962289084,0.2800468925972479,-2.2250426460603716,0.33956601400813524,1.5902248031478408,0.13677337878509457,1.203644884152231,2.7731965111855246,3.4286875302126028,3.4286875302126028,3.6429400000006797,0,0,-0.00011883405621612576,-9.917689866434926e-05
+74136,1792672597083895002,41137385000000,1792672597083018004,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762347004589722,-0.004671296000451918,0.08821950939157834,0.9999999656440561,9.850813610125794e-06,0.00021875688891057936,0.00011046780614455902,0.6761,-0.00453,0.08788821672820206,1.0,0.0,0.0,0.0,0.03725719165148331,0.2179713867172844,2.8034410076309406,0.015742492631495023,0.0008113658293143842,0.0010329698255100682,0.2508832491527855,0.4226191328083433,2.702729328085154,0.027430457521530293,-0.015326001897970872,0.0010200411106622916,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.0142328123407096,0.26235424661559464,-2.222669036584536,0.3660718663770733,1.5771892880248393,0.1263756643802038,1.203644884152231,2.8034410076309406,3.426313920736767,3.426313920736767,3.7152500000006947,0,0,-0.00012444023956700712,-9.999997638144293e-05
+74263,1792672598142894150,41138444000000,1792672598139018306,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762400941302323,-0.004677502998668959,0.08809437964412338,0.9999999645875537,-2.299543629788841e-07,0.00022463017242263072,0.0001086691707909859,0.6761,-0.00453,0.08774786455186076,1.0,0.0,0.0,0.0,0.03706693982433165,0.21737386080048804,2.82352964991685,0.015738591464124325,0.0008070906115975086,0.001016717159107349,0.2506929973256338,0.42202160689154694,2.722817970371063,0.027426556354159595,-0.015330277115687747,0.0010037884442595723,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,0.995394802304019,0.302899350806006,-2.3489872750490584,0.36972935802801626,1.647740856968708,0.1549377549933612,1.203644884152231,2.82352964991685,3.5526321592012895,3.5526321592012895,3.78938000000071,0,0,-0.0001417171612519682,-9.999999025923074e-05
+74379,1792672599108911217,41139410000000,1792672599107018002,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.676236571967201,-0.004683043235290602,0.08794834507606959,0.999999965228867,-1.994470674770911e-06,0.00021964777654521963,0.00011285391257122564,0.6761,-0.00453,0.08760645980744626,1.0,0.0,0.0,0.0,0.02874421909740274,0.2120804923504439,2.8431797385364814,0.014713440689064283,0.0008205707303207618,0.0009855587136405346,0.24237027659870491,0.4167282384415028,2.7424680589906947,0.026401405579099552,-0.015316796996964494,0.000972629998792758,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.0118046407670465,0.25681134288576923,-2.3564153742920486,0.39815402591285354,1.6476762535363587,0.12593780195533744,1.203644884152231,2.8431797385364814,3.5600602584442793,3.5600602584442793,3.857000000000724,0,0,-0.0001571906034184264,-9.999595182297866e-05
+74491,1792672600043014369,41140344000000,1792672600043027215,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.676235700412593,-0.0046803964164388225,0.0877942690998616,0.9999999653727598,1.4482420876273018e-05,0.00021760834863102996,0.00011460458040315885,0.6761,-0.00453,0.08745176637541056,1.0,0.0,0.0,0.0,0.037869427856131704,0.20674749428564487,2.883240670397805,0.014706194252698292,0.0008136773284401211,0.0009570133188969905,0.2514954853574339,0.4113952403767038,2.7825289908520183,0.02639415914273356,-0.015323690398845135,0.000944084604049214,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.0857657026531105,0.22670750329623776,-2.45891512905596,0.42557776086873944,1.7321503781384093,0.11360973433351684,1.203644884152231,2.883240670397805,3.662560013208191,3.662560013208191,3.9223800000007376,0,0,-0.00017344520347224252,-8.513926548020306e-05
+74603,1792672600976017194,41141277000000,1792672600975018091,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762371018972461,-0.004687085048672204,0.0876332080435835,0.999999964673973,1.571819652383404e-05,0.00022135283343467437,0.00011336127457291275,0.6761,-0.00453,0.08728351167389185,1.0,0.0,0.0,0.0,0.03757402461885692,0.20747745939575302,2.903266766945848,0.01470250239043406,0.0008092506037298639,0.0009408057613430923,0.2512000821201591,0.4121252054868119,2.8025550874000613,0.02639046728046933,-0.015328117123555392,0.0009278770464953158,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.1122796901962488,0.19069873265596088,-2.4294251997272873,0.46141023417559157,1.7139784650933747,0.09170872167293148,1.203644884152231,2.903266766945848,3.6330700838795185,3.6330700838795185,3.987690000000751,0,0,-0.00019052592737797547,-9.99841140699786e-05
+74691,1792672601708999079,41142010000000,1792672601703018301,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762405927514575,-0.004687255700381691,0.08750199572986501,0.9999999628832701,6.9352743982909524e-06,0.00022790640367836837,0.00011699100817255255,0.6761,-0.00453,0.08714019073384785,1.0,0.0,0.0,0.0,0.038277743186461405,0.20676245862418063,2.913291651584107,0.014297746724059805,0.0008146685898052283,0.0009249265300645259,0.2519038006877636,0.41141020471523954,2.8125799720383204,0.025985711614095075,-0.015322699137480028,0.0009119978152167494,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.1627649892428948,0.2526118495985996,-2.5564908856445623,0.45624439101066205,1.807739245117311,0.12901885585030398,1.203644884152231,2.913291651584107,3.7601357697967934,3.7601357697967934,4.039000000000762,0,0,-0.00019992594948256779,4.7686750906969055e-05
+74774,1792672602401092881,41142702000000,1792672602399018457,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762396125159698,-0.004694522966402508,0.08736026350828442,0.9999999624213693,-7.074331288007497e-06,0.00022698454127250138,0.0001225891355905563,0.6761,-0.00453,0.08699599091296366,1.0,0.0,0.0,0.0,0.032617622497653986,0.20502531566341842,2.923046562262441,0.013709433196962818,0.0008170060895856569,0.0009130417002325661,0.24624367999895616,0.4096730617544773,2.822334882716654,0.025397398086998087,-0.015320361637699599,0.0009001129853847896,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.2279466417503337,0.14984951691433318,-2.511334155729743,0.5040148099048944,1.796705092338179,0.06467863167537874,1.203644884152231,2.923046562262441,3.7149790398819738,3.7149790398819738,4.087440000000772,0,0,-0.00021726177641265133,-9.982059209623912e-05
+74858,1792672603101054104,41143402000000,1792672603099018705,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762409096827696,-0.004693715333094488,0.08720515434514829,0.9999999616374433,-1.7467921202979506e-05,0.00023101288756686723,0.00012039889475404928,0.6761,-0.00453,0.08683862765023635,1.0,0.0,0.0,0.0,0.03745676442603732,0.20206106623478576,2.9530537378919504,0.014634707931166648,-0.0001628125721017705,0.0008847971097727669,0.2510828219273395,0.40670881232584466,2.8523420583461636,0.026322672821201917,-0.016300180299387027,0.0008718683949249904,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.2634179578746594,0.2431514880464092,-2.6693295677766735,0.4807820042463727,1.9048072830457987,0.12819378068293907,1.203644884152231,2.9530537378919504,3.872974451928904,3.872974451928904,4.136440000000782,0,0,-0.00023264244811552347,9.932565467186123e-05
+74930,1792672603701078048,41144002000000,1792672603699018192,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.676239717356632,-0.004693532244676913,0.08706348976852352,0.9999999616707144,9.496627308270942e-07,0.00022878398280585442,0.00012553255199885684,0.6761,-0.00453,0.08669626924514201,1.0,0.0,0.0,0.0,0.030933035472209575,0.1876627195131148,2.963134911381806,0.013672781359940784,0.0008168041352526866,0.0008799882815592402,0.24455909297351175,0.3923104656041737,2.8624232318360194,0.025360746249976054,-0.01532056359203257,0.0008670595667114637,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.2569732333853263,0.16014392189013674,-2.6390410462760463,0.5223996456692143,1.8860396770785044,0.07848090985956811,1.203644884152231,2.963134911381806,3.842685930428277,3.842685930428277,4.178440000000791,0,0,-0.00024264295340862925,7.692024957444159e-05
+74998,1792672604268122740,41144569000000,1792672604267018575,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762409622179532,-0.004704597881806151,0.08692019558079782,0.9999999605349401,-8.668033771041862e-06,0.00023041700116679142,0.00013117108518894267,0.6761,-0.00453,0.08655373990533606,1.0,0.0,0.0,0.0,0.02945906393689504,0.1907987763109686,2.9631241062235727,0.013669026781634668,0.0008168348658899108,0.0008792547287959783,0.24308512143819722,0.3954465224020275,2.862412426677786,0.025356991671669937,-0.015320532861395345,0.0008663260139482018,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.3918207541986143,0.11888370270974104,-2.6281478671705782,0.547030746105136,1.9164950550418676,0.05152027359357976,1.203644884152231,2.9631241062235727,3.8317927513228094,3.8317927513228094,4.218130000000799,0,0,-0.0002596206786734375,-6.99227162545057e-05
+75082,1792672604968215997,41145269000000,1792672604967017850,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762446653991991,-0.004707731589326386,0.08674106777744747,0.999999957261705,-1.10776282898749e-05,0.0002415815938267382,0.0001357758167269024,0.6761,-0.00453,0.08636257293675959,1.0,0.0,0.0,0.0,0.0285013854098157,0.19689516661180856,2.9631212462385936,0.013649987126046093,0.001540500895570198,0.000894814843212965,0.24212744291111787,0.40154291270286746,2.862409566692807,0.025337952016081362,-0.014596866831715058,0.0008818861283651885,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.4178232726882212,0.159853322617675,-2.5922968416922623,0.5385546642251944,1.905824547989543,0.08190714844684782,1.203644884152231,2.9631212462385936,3.795941725844493,3.795941725844493,4.267130000000809,0,0,-0.0002862313314658512,-9.957398380689426e-05
+75150,1792672605534136929,41145835000000,1792672605531027311,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762367217082952,-0.0047200314339464235,0.08656768539408637,0.9999999577533591,-7.7569338050669e-06,0.0002297423215902332,0.0001519685500837447,0.6761,-0.00453,0.08619502498633277,1.0,0.0,0.0,0.0,0.028939157207222593,0.17511317810025395,2.9928133240253105,0.012641775251732032,0.0008410402234422538,0.0008444788870225977,0.24256521470852477,0.37976092419131285,2.892101644479524,0.024329740141767302,-0.015296327503843002,0.0008315501721748212,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.4106841266038381,0.08953673517951545,-2.525243295857672,0.5828104651308167,1.864297274223595,0.041681917330780464,1.203644884152231,2.9928133240253105,3.7288881800099025,3.7288881800099025,4.306750000000817,0,0,-0.0003046880347565547,-9.999999025923074e-05
+75214,1792672606068263557,41146369000000,1792672606063027765,DOWN_FORCE_DETACH,8,0.0365,0.03650213032960892,0.6762294526333139,-0.0047169579206400285,0.08639930303403123,0.9999999609948902,-5.552460369969216e-05,0.00022648253108787077,0.000122783403447298,0.6761,-0.00453,0.08602764721643748,1.0,0.0,0.0,0.0,0.03838833226736202,0.18613295355892812,3.022975280553619,0.012637670080712954,0.0008224689028294811,0.0008211910757564234,0.2520143897686642,0.390780699649987,2.9222636010078324,0.024325634970748224,-0.015314898824455775,0.0008082623609086468,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.3866407368099702,0.08642797835145598,-2.617610228924357,0.5772674672339699,1.923789601686388,0.04018652829821976,1.203644884152231,3.022975280553619,3.821255113076588,3.821255113076588,4.344130000000825,0,0,-0.00032206751418159394,-9.999999025923074e-05
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+75329,1792672607026301531,41147327000000,1792672607023028108,DOWN_FORCE_DETACH,8,0.0365,0.03650147467851639,0.6762489939430961,-0.004732391181292085,0.08608967217860444,0.9999999433273925,0.00011440605078384741,0.00024099486708364066,0.00018335977133779332,0.6761,-0.00453,0.0857027714221209,1.0,0.0,0.0,0.0,0.010771780559080374,0.18938290462316387,3.033200801490106,0.013600838462439317,0.0028285058364477117,0.0008524097346391295,0.22439783806038255,0.3940306507142228,2.9324891219443194,0.025288803352474586,-0.013308861890837544,0.000839481019791353,0.21362605750130217,0.2046477460910589,-0.10071167954578694,0.01168796489003527,-0.016137367727285256,-1.2928714847776556e-05,1,1.5666592028798405,0.21387279858145045,-2.588286380513331,0.5148528587003866,1.964884044813388,0.07361201115829716,1.203644884152231,3.033200801490106,3.7919312646655623,3.7919312646655623,4.411190000000839,0,0,-0.0003595154447852674,-9.999999025923074e-05
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..14955eab3871e35cbdf3a485391813ebef12d439
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3643b603a782053ec8c4f281c508c06f0e6cd195
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,camera_time_ns,real_dx_m,real_dy_m,real_dz_m,isaac_tcp_dx_m,isaac_tcp_dy_m,isaac_tcp_dz_m,ipc_midpoint_dx_m,ipc_midpoint_dy_m,ipc_midpoint_dz_m,real_x_m,real_y_m,real_z_m,isaac_tcp_x_m,isaac_tcp_y_m,isaac_tcp_z_m,ipc_midpoint_x_m,ipc_midpoint_y_m,ipc_midpoint_z_m
+0,0.000000000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,1792672543757460466,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.583626145e-09,4.252968464e-11,1.488903667e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294194e-01,1.768578620e-06,8.295726839e-01
+1,7.833333333e-01,DOWN_FORCE_DETACH,1792672545219627308,-6.540137632e-06,-1.359756788e-05,-2.643193610e-05,-5.108015836e-06,-1.031707352e-05,-1.630646728e-05,-5.102679993e-06,-1.028552992e-05,-1.611282179e-05,7.015313313e-01,-1.204660656e-05,8.407145093e-01,7.015327635e-01,-8.766112202e-06,8.407246347e-01,7.017243121e-01,-8.516993826e-06,8.295565695e-01
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+7,5.000000000e+00,DOWN_FORCE_DETACH,1792672553403658631,-1.552507115e-06,-4.855753864e-05,-2.972342550e-04,-1.444106206e-06,-4.858110525e-05,-2.870555652e-04,-2.088469162e-06,-4.856301282e-05,-2.862387083e-04,7.015363190e-01,-4.700657732e-05,8.404437069e-01,7.015364274e-01,-4.703014393e-05,8.404538856e-01,7.017273263e-01,-4.679447673e-05,8.292864437e-01
+8,5.833333333e+00,DOWN_FORCE_DETACH,1792672554967930505,-2.907570863e-06,-5.331781158e-05,-3.523765250e-04,-2.969151686e-06,-5.341263564e-05,-3.521304671e-04,-3.816879249e-06,-5.336800866e-05,-3.512241453e-04,7.015349639e-01,-5.176685026e-05,8.403885647e-01,7.015349023e-01,-5.186167432e-05,8.403888107e-01,7.017255979e-01,-5.159947257e-05,8.292214582e-01
+9,6.650000000e+00,DOWN_FORCE_DETACH,1792672556531835632,-2.989648362e-06,-6.112254916e-05,-4.084765901e-04,-3.802650835e-06,-6.103161421e-05,-3.914372576e-04,-4.788857878e-06,-6.099072241e-05,-3.906894810e-04,7.015348818e-01,-5.957158783e-05,8.403324646e-01,7.015340688e-01,-5.948065289e-05,8.403495039e-01,7.017246259e-01,-5.922218632e-05,8.291819929e-01
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+14,1.015000000e+01,DOWN_FORCE_DETACH,1792672563316376661,2.828381253e-05,-8.602196619e-05,-6.585520775e-04,2.501569955e-05,-7.513440521e-05,-6.432199221e-04,2.374154861e-05,-7.512282853e-05,-6.423260379e-04,7.015661553e-01,-8.447100487e-05,8.400823891e-01,7.015628872e-01,-7.358344389e-05,8.400977213e-01,7.017531563e-01,-7.335429244e-05,8.289303563e-01
+15,1.088333333e+01,DOWN_FORCE_DETACH,1792672564717080744,3.501823939e-05,-8.820718210e-05,-7.212051576e-04,3.510933013e-05,-8.690685001e-05,-7.068075888e-04,3.382646754e-05,-8.689641544e-05,-7.058609950e-04,7.015728897e-01,-8.665622078e-05,8.400197360e-01,7.015729808e-01,-8.535588869e-05,8.400341336e-01,7.017632413e-01,-8.512787935e-05,8.288668214e-01
+16,1.178333333e+01,DOWN_FORCE_DETACH,1792672566476321244,4.417635788e-05,-1.017965466e-04,-7.898365899e-04,4.403605312e-05,-1.018332018e-04,-7.897249420e-04,4.271808973e-05,-1.018232249e-04,-7.886274533e-04,7.015820478e-01,-1.002455852e-04,8.399511046e-01,7.015819075e-01,-1.002822405e-04,8.399512162e-01,7.017721329e-01,-1.000546888e-04,8.287840549e-01
+17,1.243333333e+01,DOWN_FORCE_DETACH,1792672567774385575,6.065896999e-05,-7.284156586e-05,-8.476198992e-04,5.121506831e-05,-7.592749129e-05,-8.501656773e-04,4.995979242e-05,-7.590137352e-05,-8.490349437e-04,7.015985305e-01,-7.129060454e-05,8.398933213e-01,7.015890865e-01,-7.437652996e-05,8.398907755e-01,7.017793746e-01,-7.413283743e-05,8.287236474e-01
+18,1.305000000e+01,DOWN_FORCE_DETACH,1792672568972442607,6.447875503e-05,-6.996749289e-05,-9.174970142e-04,6.546549723e-05,-7.183033229e-05,-9.086639393e-04,6.443133019e-05,-7.178066140e-05,-9.074894844e-04,7.016023502e-01,-6.841653157e-05,8.398234442e-01,7.016033370e-01,-7.027937097e-05,8.398322772e-01,7.017938461e-01,-7.001212531e-05,8.286651929e-01
+19,1.391666667e+01,DOWN_FORCE_DETACH,1792672570636535702,6.918704985e-05,-7.210562227e-05,-1.005323191e-03,6.779151033e-05,-7.299016839e-05,-9.946533046e-04,6.650444893e-05,-7.299413098e-05,-9.934921674e-04,7.016070585e-01,-7.055466094e-05,8.397356180e-01,7.016056630e-01,-7.143920707e-05,8.397462879e-01,7.017959192e-01,-7.122559489e-05,8.285791902e-01
+20,1.455000000e+01,DOWN_FORCE_DETACH,1792672571832644650,7.148659523e-05,-6.816218921e-05,-1.043082174e-03,7.040189217e-05,-7.014241673e-05,-1.035494839e-03,6.911830093e-05,-7.012617870e-05,-1.034502846e-03,7.016093581e-01,-6.661122789e-05,8.396978590e-01,7.016082734e-01,-6.859145541e-05,8.397054463e-01,7.017985331e-01,-6.835764261e-05,8.285381795e-01
+21,1.535000000e+01,DOWN_FORCE_DETACH,1792672573328771904,7.986151653e-05,-7.022740735e-05,-1.086403141e-03,7.768979344e-05,-6.594678046e-05,-1.075835786e-03,7.644892606e-05,-6.591869984e-05,-1.074972811e-03,7.016177330e-01,-6.867644602e-05,8.396545380e-01,7.016155613e-01,-6.439581913e-05,8.396651054e-01,7.018058637e-01,-6.415016375e-05,8.284977096e-01
+22,1.606666667e+01,DOWN_FORCE_DETACH,1792672574761296119,8.598877849e-05,-6.844166027e-05,-1.150777371e-03,8.296623078e-05,-6.333924129e-05,-1.138074649e-03,8.166116628e-05,-6.330310784e-05,-1.137125919e-03,7.016238603e-01,-6.689069894e-05,8.395901638e-01,7.016208377e-01,-6.178827997e-05,8.396028665e-01,7.018110760e-01,-6.153457175e-05,8.284355565e-01
+23,1.666666667e+01,DOWN_FORCE_DETACH,1792672575959222378,9.020362648e-05,-6.893791043e-05,-1.206670286e-03,8.919627979e-05,-6.944657723e-05,-1.202873464e-03,8.781039755e-05,-6.943090560e-05,-1.201870639e-03,7.016280751e-01,-6.738694911e-05,8.395342709e-01,7.016270678e-01,-6.789561591e-05,8.395380677e-01,7.018172252e-01,-6.766236951e-05,8.283708117e-01
+24,1.728333333e+01,DOWN_FORCE_DETACH,1792672577156894392,9.447866532e-05,-7.225332620e-05,-1.266540086e-03,9.426128190e-05,-7.229389829e-05,-1.266484784e-03,9.281978674e-05,-7.229222321e-05,-1.265347968e-03,7.016323501e-01,-7.070236488e-05,8.394744011e-01,7.016321328e-01,-7.074293697e-05,8.394744564e-01,7.018222346e-01,-7.052368712e-05,8.283073344e-01
+25,1.766666667e+01,DOWN_FORCE_DETACH,1792672577886939327,1.012975180e-04,-3.897560556e-05,-1.296434837e-03,1.011742203e-04,-3.896666361e-05,-1.296510406e-03,9.979548295e-05,-3.897801808e-05,-1.295422863e-03,7.016391690e-01,-3.742464424e-05,8.394445064e-01,7.016390457e-01,-3.741570229e-05,8.394444308e-01,7.018292103e-01,-3.720948199e-05,8.282772595e-01
+26,1.778333333e+01,DOWN_FORCE_DETACH,1792672578120951489,1.008158248e-04,-6.678073131e-05,-1.309162855e-03,1.016228171e-04,-6.239068133e-05,-1.304678729e-03,1.002300162e-04,-6.239852613e-05,-1.303642886e-03,7.016386873e-01,-6.522976999e-05,8.394317783e-01,7.016394943e-01,-6.083972001e-05,8.394362625e-01,7.018296448e-01,-6.062999004e-05,8.282690395e-01
+27,1.818333333e+01,DOWN_FORCE_DETACH,1792672578884958605,1.035973830e-04,-7.440512392e-05,-1.348044152e-03,1.034198282e-04,-7.439745506e-05,-1.348028327e-03,1.019631773e-04,-7.437458095e-05,-1.346868443e-03,7.016414689e-01,-7.285416260e-05,8.393928970e-01,7.016412913e-01,-7.284649374e-05,8.393929129e-01,7.018313780e-01,-7.260604486e-05,8.282258139e-01
+28,1.898333333e+01,DOWN_FORCE_DETACH,1792672580381245661,1.107305252e-04,-8.638234919e-05,-1.421075032e-03,1.106385105e-04,-8.297394438e-05,-1.408169289e-03,1.091906464e-04,-8.298441231e-05,-1.407087503e-03,7.016486020e-01,-8.483138786e-05,8.393198662e-01,7.016485100e-01,-8.142298305e-05,8.393327719e-01,7.018386054e-01,-8.121587622e-05,8.281655949e-01
+29,1.968333333e+01,DOWN_FORCE_DETACH,1792672581713131224,1.159543041e-04,-9.028698069e-05,-1.499381860e-03,1.145426380e-04,-8.888218685e-05,-1.491050546e-03,1.128754806e-04,-8.888312259e-05,-1.489846995e-03,7.016538258e-01,-8.873601937e-05,8.392415593e-01,7.016524141e-01,-8.733122553e-05,8.392498906e-01,7.018422903e-01,-8.711458650e-05,8.280828354e-01
+30,2.035000000e+01,DOWN_FORCE_DETACH,1792672583045232918,1.222266665e-04,-9.045475076e-05,-1.567914448e-03,1.185821416e-04,-9.104874748e-05,-1.556694663e-03,1.168664036e-04,-9.103860777e-05,-1.555562571e-03,7.016600981e-01,-8.890378944e-05,8.391730267e-01,7.016564536e-01,-8.949778616e-05,8.391842465e-01,7.018462812e-01,-8.927007168e-05,8.280171198e-01
+31,2.091666667e+01,DOWN_FORCE_DETACH,1792672584174629368,1.321985783e-04,-7.858872515e-05,-1.639306838e-03,1.306129185e-04,-8.127656939e-05,-1.621643716e-03,1.289468662e-04,-8.126735954e-05,-1.620436389e-03,7.016700701e-01,-7.703776383e-05,8.391016343e-01,7.016684844e-01,-7.972560807e-05,8.391192975e-01,7.018583617e-01,-7.949882345e-05,8.279522460e-01
+32,2.166666667e+01,DOWN_FORCE_DETACH,1792672585639349071,1.382735404e-04,-8.605929986e-05,-1.745740399e-03,1.363508795e-04,-8.599186555e-05,-1.733202072e-03,1.344330974e-04,-8.595390165e-05,-1.731888281e-03,7.016761450e-01,-8.450833854e-05,8.389952008e-01,7.016742224e-01,-8.444090423e-05,8.390077391e-01,7.018638479e-01,-8.418536556e-05,8.278407941e-01
+33,2.226666667e+01,DOWN_FORCE_DETACH,1792672586769433604,1.409118520e-04,-9.393789975e-05,-1.808501173e-03,1.357294272e-04,-9.126560581e-05,-1.794274935e-03,1.336562360e-04,-9.123841834e-05,-1.793101768e-03,7.016787833e-01,-9.238693843e-05,8.389324400e-01,7.016736009e-01,-8.971464449e-05,8.389466663e-01,7.018630710e-01,-8.946988225e-05,8.277795806e-01
+34,2.291666667e+01,DOWN_FORCE_DETACH,1792672588001490813,1.454884263e-04,-9.834049410e-05,-1.878423287e-03,1.440704173e-04,-1.002790431e-04,-1.875524164e-03,1.419243437e-04,-1.002475794e-04,-1.874315041e-03,7.016833599e-01,-9.678953278e-05,8.388625179e-01,7.016819419e-01,-9.872808176e-05,8.388654170e-01,7.018713391e-01,-9.847904329e-05,8.276983673e-01
+35,2.353333333e+01,DOWN_FORCE_DETACH,1792672589197490749,1.498866920e-04,-1.019407797e-04,-1.955860408e-03,1.456457473e-04,-1.015764586e-04,-1.939986539e-03,1.433087000e-04,-1.015326230e-04,-1.938855458e-03,7.016877582e-01,-1.003898184e-04,8.387850808e-01,7.016835172e-01,-1.000254973e-04,8.388009546e-01,7.018727235e-01,-9.976408689e-05,8.276338269e-01
+36,2.400000000e+01,DOWN_FORCE_DETACH,1792672590063530878,1.567994090e-04,-9.799233278e-05,-2.015364719e-03,1.557763807e-04,-1.091834646e-04,-2.003514043e-03,1.534736497e-04,-1.091289016e-04,-2.002285916e-03,7.016946709e-01,-9.644137145e-05,8.387255765e-01,7.016936479e-01,-1.076325033e-04,8.387374271e-01,7.018828884e-01,-1.073603655e-04,8.275703965e-01
+37,2.455000000e+01,DOWN_FORCE_DETACH,1792672591161624998,1.600884034e-04,-1.037624231e-04,-2.102440911e-03,1.577239377e-04,-1.032738962e-04,-2.090219756e-03,1.551566108e-04,-1.032151316e-04,-2.088900530e-03,7.016979599e-01,-1.022114618e-04,8.386385003e-01,7.016955954e-01,-1.017229349e-04,8.386507214e-01,7.018845714e-01,-1.014465955e-04,8.274837818e-01
+38,2.508333333e+01,DOWN_FORCE_DETACH,1792672592226212959,1.616643691e-04,-1.063313041e-04,-2.192814980e-03,1.626166582e-04,-1.021148992e-04,-2.173393262e-03,1.598790927e-04,-1.020742911e-04,-2.171949620e-03,7.016995359e-01,-1.047803428e-04,8.385481262e-01,7.017004881e-01,-1.005639379e-04,8.385675479e-01,7.018892939e-01,-1.003057550e-04,8.274007328e-01
+39,2.561666667e+01,DOWN_FORCE_DETACH,1792672593289702238,1.663394934e-04,-1.030849247e-04,-2.282841310e-03,1.661573973e-04,-1.029880470e-04,-2.282753918e-03,1.631230124e-04,-1.029720339e-04,-2.281072918e-03,7.017042110e-01,-1.015339634e-04,8.384580999e-01,7.017040289e-01,-1.014370857e-04,8.384581873e-01,7.018925378e-01,-1.012034978e-04,8.272916095e-01
+40,2.590000000e+01,DOWN_FORCE_DETACH,1792672593821739628,1.678558609e-04,-1.133308796e-04,-2.327751545e-03,1.661933121e-04,-1.210383301e-04,-2.321458726e-03,1.630307980e-04,-1.209821137e-04,-2.319838634e-03,7.017057273e-01,-1.117799182e-04,8.384131896e-01,7.017040648e-01,-1.194873687e-04,8.384194825e-01,7.018924456e-01,-1.192135776e-04,8.272528437e-01
+41,2.648333333e+01,DOWN_FORCE_DETACH,1792672594953943857,1.709790380e-04,-1.182696631e-04,-2.440223439e-03,1.696578422e-04,-1.130427587e-04,-2.427659534e-03,1.661645802e-04,-1.129904364e-04,-2.425949411e-03,7.017088505e-01,-1.167187018e-04,8.383007177e-01,7.017075293e-01,-1.114917974e-04,8.383132817e-01,7.018955794e-01,-1.112219003e-04,8.271467330e-01
+42,2.706666667e+01,DOWN_FORCE_DETACH,1792672596051878305,1.741005357e-04,-1.203934115e-04,-2.554970138e-03,1.719971683e-04,-1.201685767e-04,-2.555633770e-03,1.681134862e-04,-1.200985209e-04,-2.553802629e-03,7.017119720e-01,-1.188424501e-04,8.381859710e-01,7.017098686e-01,-1.186176154e-04,8.381853074e-01,7.018975283e-01,-1.183299848e-04,8.270188797e-01
+43,2.761666667e+01,DOWN_FORCE_DETACH,1792672597081918866,1.759192773e-04,-1.230802346e-04,-2.680330503e-03,1.739884356e-04,-1.240720227e-04,-2.663748421e-03,1.698346230e-04,-1.239731504e-04,-2.661857344e-03,7.017137908e-01,-1.215292733e-04,8.380606107e-01,7.017118599e-01,-1.225210614e-04,8.380771928e-01,7.018992494e-01,-1.222046143e-04,8.269108250e-01
+44,2.816666667e+01,DOWN_FORCE_DETACH,1792672598146620302,1.755213096e-04,-1.281551840e-04,-2.814344390e-03,1.736624836e-04,-1.303988392e-04,-2.804257984e-03,1.690598698e-04,-1.303147272e-04,-2.802212378e-03,7.017133928e-01,-1.266042227e-04,8.379265968e-01,7.017115340e-01,-1.288478779e-04,8.379366832e-01,7.018984747e-01,-1.285461911e-04,8.267704700e-01
+45,2.866666667e+01,DOWN_FORCE_DETACH,1792672599112941575,1.748541857e-04,-1.324246324e-04,-2.956887135e-03,1.730218552e-04,-1.325727508e-04,-2.941428760e-03,1.679004393e-04,-1.324735403e-04,-2.939191505e-03,7.017127257e-01,-1.308736710e-04,8.377840541e-01,7.017108933e-01,-1.310217895e-04,8.377995124e-01,7.018973152e-01,-1.307050042e-04,8.266334909e-01
+46,2.913333333e+01,DOWN_FORCE_DETACH,1792672600044430457,1.757747631e-04,-1.379401543e-04,-3.108920144e-03,1.756511854e-04,-1.362831431e-04,-3.092300609e-03,1.700553528e-04,-1.361442054e-04,-3.089843489e-03,7.017136462e-01,-1.363891930e-04,8.376320210e-01,7.017135227e-01,-1.347321818e-04,8.376486406e-01,7.018994701e-01,-1.343756693e-04,8.264828389e-01
+47,2.960000000e+01,DOWN_FORCE_DETACH,1792672600974485990,1.748640625e-04,-1.378959565e-04,-3.271747014e-03,1.759606606e-04,-1.373177872e-04,-3.262684594e-03,1.698009244e-04,-1.371945052e-04,-3.259909793e-03,7.017127355e-01,-1.363449952e-04,8.374691942e-01,7.017138321e-01,-1.357668259e-04,8.374782566e-01,7.018992157e-01,-1.354259692e-04,8.263127726e-01
+48,2.996666667e+01,DOWN_FORCE_DETACH,1792672601706928075,1.781668592e-04,-1.365695704e-04,-3.403192803e-03,1.781806443e-04,-1.363722779e-04,-3.403001959e-03,1.715363010e-04,-1.362220332e-04,-3.400050431e-03,7.017160383e-01,-1.350186091e-04,8.373377484e-01,7.017160521e-01,-1.348213165e-04,8.373379392e-01,7.019009511e-01,-1.344534971e-04,8.261726319e-01
+49,3.033333333e+01,DOWN_FORCE_DETACH,1792672602404951147,1.753083057e-04,-1.448278697e-04,-3.547414278e-03,1.750373607e-04,-1.448877866e-04,-3.547279462e-03,1.678212476e-04,-1.447327244e-04,-3.544224645e-03,7.017131798e-01,-1.432769084e-04,8.371935269e-01,7.017129088e-01,-1.433368253e-04,8.371936617e-01,7.018972360e-01,-1.429641883e-04,8.260284577e-01
+50,3.070000000e+01,DOWN_FORCE_DETACH,1792672603104834419,1.791686896e-04,-1.479033955e-04,-3.697054808e-03,1.790288753e-04,-1.480516931e-04,-3.697129524e-03,1.713637021e-04,-1.478942011e-04,-3.693913160e-03,7.017170402e-01,-1.463524342e-04,8.370438864e-01,7.017169004e-01,-1.465007318e-04,8.370438117e-01,7.019007785e-01,-1.461256650e-04,8.258787692e-01
+51,3.101666667e+01,DOWN_FORCE_DETACH,1792672603702962658,1.792136398e-04,-1.461755557e-04,-3.837946205e-03,1.791489790e-04,-1.461473638e-04,-3.837754342e-03,1.709630698e-04,-1.459396329e-04,-3.834372245e-03,7.017170851e-01,-1.446245944e-04,8.369029950e-01,7.017170205e-01,-1.445964025e-04,8.369031868e-01,7.019003779e-01,-1.441710968e-04,8.257383101e-01
+52,3.131666667e+01,DOWN_FORCE_DETACH,1792672604266895447,1.785194274e-04,-1.586113728e-04,-3.984560925e-03,1.773903030e-04,-1.572434000e-04,-3.976179857e-03,1.686126654e-04,-1.570837461e-04,-3.972708351e-03,7.017163909e-01,-1.570604115e-04,8.367563803e-01,7.017152618e-01,-1.556924386e-04,8.367647613e-01,7.018980275e-01,-1.553152100e-04,8.255999740e-01
+53,3.168333333e+01,DOWN_FORCE_DETACH,1792672604966742820,1.832528082e-04,-1.624144709e-04,-4.161822498e-03,1.832671816e-04,-1.624788793e-04,-4.161743596e-03,1.739718443e-04,-1.622793689e-04,-4.158078733e-03,7.017211243e-01,-1.608635095e-04,8.365791187e-01,7.017211387e-01,-1.609279180e-04,8.365791976e-01,7.019033866e-01,-1.605108328e-04,8.254146036e-01
+54,3.198333333e+01,DOWN_FORCE_DETACH,1792672605530865829,1.784646581e-04,-1.699219588e-04,-4.326837427e-03,1.781471680e-04,-1.700242870e-04,-4.326960467e-03,1.681085022e-04,-1.698138241e-04,-4.323155563e-03,7.017163361e-01,-1.683709975e-04,8.364141038e-01,7.017160186e-01,-1.684733257e-04,8.364139807e-01,7.018975233e-01,-1.680452880e-04,8.252495268e-01
+55,3.226666667e+01,DOWN_FORCE_DETACH,1792672606064846431,1.672711776e-04,-1.718110440e-04,-4.502876486e-03,1.671007008e-04,-1.718234326e-04,-4.502879186e-03,1.562484799e-04,-1.715829672e-04,-4.498853152e-03,7.017051427e-01,-1.702600826e-04,8.362380647e-01,7.017049722e-01,-1.702724713e-04,8.362380620e-01,7.018856633e-01,-1.698144311e-04,8.250738292e-01
+56,3.253333333e+01,DOWN_FORCE_DETACH,1792672606563599743,2.016540832e-04,-1.781304931e-04,-4.638407864e-03,2.011754138e-04,-1.781151042e-04,-4.638279140e-03,1.905722056e-04,-1.778374369e-04,-4.634385887e-03,7.017395256e-01,-1.765795318e-04,8.361025333e-01,7.017390469e-01,-1.765641429e-04,8.361026620e-01,7.019199870e-01,-1.760689008e-04,8.249382965e-01
+57,3.276666667e+01,DOWN_FORCE_DETACH,1792672607028851010,1.878158010e-04,-1.849213809e-04,-4.812052167e-03,1.876443233e-04,-1.849050354e-04,-4.811404388e-03,1.761748155e-04,-1.846332743e-04,-4.807125215e-03,7.017256873e-01,-1.833704196e-04,8.359288890e-01,7.017255158e-01,-1.833540741e-04,8.359295368e-01,7.019055896e-01,-1.828647382e-04,8.247655572e-01
+58,3.298333333e+01,DOWN_FORCE_DETACH,1792672607463064858,1.885108616e-04,-1.762212595e-04,-4.972522627e-03,1.893897807e-04,-1.741673792e-04,-4.958042714e-03,1.773759804e-04,-1.738886912e-04,-4.953646561e-03,7.017263823e-01,-1.746702981e-04,8.357684186e-01,7.017272613e-01,-1.726164178e-04,8.357828985e-01,7.019067908e-01,-1.721201551e-04,8.246190358e-01
+59,3.346666667e+01,DOWN_PEAK_HOLD,1792672608426985173,1.713581322e-04,-1.852471622e-04,-5.094427034e-03,1.755576926e-04,-1.872762276e-04,-5.081372144e-03,1.628224183e-04,-1.869275228e-04,-5.078075294e-03,7.017092296e-01,-1.836962008e-04,8.356465142e-01,7.017134292e-01,-1.857252662e-04,8.356595690e-01,7.018922372e-01,-1.851589867e-04,8.244946071e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..e0f55021ec4dcef07181e4285a0ff6d2501b5c71
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-3.4038e-03,1.2733e-03,2.4538e+00,-3.6869e-02,3.6540e-02,-5.3125e-06,2.0723e-04,-1.4489e-06,7.6056e-05,2.9057e-07,1.4521e-05,-1.9863e-09,2.2075e-04,1.4524e-05
+1,7.8333e-01,DOWN_FORCE_DETACH,1.8674e-04,6.4705e-03,4.5954e-03,2.4629e+00,-3.7095e-02,3.7228e-02,-3.9466e-06,1.0082e-02,3.3207e-03,9.1593e-03,-2.2575e-04,7.0280e-04,1.3639e-06,1.4020e-02,7.3817e-04
+2,1.4333e+00,DOWN_FORCE_DETACH,3.6637e-04,7.7154e-03,7.9979e-03,2.4722e+00,-3.7329e-02,3.7308e-02,-3.1820e-06,1.1326e-02,6.7232e-03,1.8413e-02,-4.5973e-04,7.8268e-04,2.1286e-06,2.2639e-02,9.0772e-04
+3,2.1500e+00,DOWN_FORCE_DETACH,5.5211e-04,1.5387e-02,1.0084e-02,2.4905e+00,-3.7469e-02,3.7836e-02,-6.4880e-06,1.8998e-02,8.8094e-03,3.6774e-02,-6.0001e-04,1.3113e-03,-1.1774e-06,4.2319e-02,1.4420e-03
+4,2.9500e+00,DOWN_FORCE_DETACH,7.3767e-04,1.8525e-02,1.1997e-02,2.4858e+00,-3.7597e-02,3.8064e-02,-1.2507e-05,2.2136e-02,1.0722e-02,3.2028e-02,-7.2790e-04,1.5387e-03,-7.1968e-06,4.0383e-02,1.7022e-03
+5,3.6000e+00,DOWN_FORCE_DETACH,9.2084e-04,1.8038e-02,1.4474e-02,2.4895e+00,-3.7763e-02,3.8030e-02,-1.6792e-05,2.1649e-02,1.3199e-02,3.5707e-02,-8.9448e-04,1.5046e-03,-1.1482e-05,4.3793e-02,1.7505e-03
+6,4.2333e+00,DOWN_FORCE_DETACH,1.1014e-03,1.8797e-02,1.5867e-02,2.4918e+00,-3.7853e-02,3.8084e-02,-2.1948e-05,2.2408e-02,1.4593e-02,3.8018e-02,-9.8434e-04,1.5590e-03,-1.6637e-05,4.6480e-02,1.8438e-03
+7,5.0000e+00,DOWN_FORCE_DETACH,1.2851e-03,2.0965e-02,1.8060e-02,2.4969e+00,-3.8001e-02,3.8235e-02,-2.6294e-05,2.4576e-02,1.6785e-02,4.3153e-02,-1.1317e-03,1.7100e-03,-2.0984e-05,5.2420e-02,2.0507e-03
+8,5.8333e+00,DOWN_FORCE_DETACH,1.4686e-03,2.2856e-02,2.0121e-02,2.4924e+00,-3.8148e-02,3.8371e-02,-2.7164e-05,2.6467e-02,1.8846e-02,3.8661e-02,-1.2790e-03,1.8460e-03,-2.1854e-05,5.0501e-02,2.2459e-03
+9,6.6500e+00,DOWN_FORCE_DETACH,1.6559e-03,2.3877e-02,2.3132e-02,2.4943e+00,-3.8368e-02,3.8440e-02,-2.1827e-05,2.7488e-02,2.1857e-02,4.0495e-02,-1.4990e-03,1.9150e-03,-1.6517e-05,5.3602e-02,2.4319e-03
+10,7.4000e+00,DOWN_FORCE_DETACH,1.8381e-03,2.3431e-02,2.3394e-02,2.4997e+00,-3.8400e-02,3.8404e-02,-1.5956e-05,2.7042e-02,2.2120e-02,4.5976e-02,-1.5315e-03,1.8790e-03,-1.0646e-05,5.7744e-02,2.4241e-03
+11,8.1167e+00,DOWN_FORCE_DETACH,2.0209e-03,1.9742e-02,2.4728e-02,2.4969e+00,-3.8511e-02,3.8146e-02,-8.4687e-06,2.3353e-02,2.3453e-02,4.3123e-02,-1.6426e-03,1.6213e-03,-3.1581e-06,5.4360e-02,2.3080e-03
+12,8.8167e+00,DOWN_FORCE_DETACH,2.2051e-03,1.7333e-02,2.7318e-02,2.5019e+00,-3.8707e-02,3.7974e-02,-1.9417e-06,2.0944e-02,2.6043e-02,4.8088e-02,-1.8378e-03,1.4494e-03,3.3688e-06,5.8561e-02,2.3406e-03
+13,9.5333e+00,DOWN_FORCE_DETACH,2.3878e-03,1.6226e-02,2.7633e-02,2.5000e+00,-3.8735e-02,3.7899e-02,-6.3176e-07,1.9837e-02,2.6358e-02,4.6256e-02,-1.8658e-03,1.3735e-03,4.6788e-06,5.6814e-02,2.3169e-03
+14,1.0150e+01,DOWN_FORCE_DETACH,2.5724e-03,1.5387e-02,2.7055e-02,2.4989e+00,-3.8692e-02,3.7840e-02,-3.6901e-06,1.8998e-02,2.5780e-02,4.5142e-02,-1.8231e-03,1.3149e-03,1.6204e-06,5.5348e-02,2.2478e-03
+15,1.0883e+01,DOWN_FORCE_DETACH,2.7565e-03,1.4056e-02,3.1079e-02,2.5032e+00,-3.8961e-02,3.7742e-02,-5.6295e-06,1.7667e-02,2.9804e-02,4.9433e-02,-2.0924e-03,1.2165e-03,-3.1899e-07,6.0366e-02,2.4203e-03
+16,1.1783e+01,DOWN_FORCE_DETACH,2.9387e-03,1.5569e-02,3.2319e-02,2.5012e+00,-3.9031e-02,3.7847e-02,-1.3007e-05,1.9180e-02,3.1044e-02,4.7429e-02,-2.1625e-03,1.3221e-03,-7.6964e-06,5.9842e-02,2.5347e-03
+17,1.2433e+01,DOWN_FORCE_DETACH,3.1227e-03,1.5289e-02,2.7105e-02,2.5107e+00,-3.8657e-02,3.7820e-02,-2.4366e-05,1.8900e-02,2.5830e-02,5.6968e-02,-1.7884e-03,1.2944e-03,-1.9056e-05,6.5344e-02,2.2078e-03
+18,1.3050e+01,DOWN_FORCE_DETACH,3.3100e-03,1.4767e-02,2.6137e-02,2.5121e+00,-3.8590e-02,3.7781e-02,-3.1928e-05,1.8378e-02,2.4862e-02,5.8354e-02,-1.7210e-03,1.2557e-03,-2.6617e-05,6.6038e-02,2.1306e-03
+19,1.3917e+01,DOWN_FORCE_DETACH,3.4912e-03,1.8668e-02,2.6001e-02,2.5114e+00,-3.8581e-02,3.8055e-02,-3.9950e-05,2.2279e-02,2.4727e-02,5.7677e-02,-1.7122e-03,1.5301e-03,-3.4639e-05,6.6591e-02,2.2965e-03
+20,1.4550e+01,DOWN_FORCE_DETACH,3.6761e-03,2.0100e-02,2.4695e-02,2.5053e+00,-3.8488e-02,3.8160e-02,-4.4880e-05,2.3711e-02,2.3420e-02,5.1549e-02,-1.6195e-03,1.6347e-03,-3.9570e-05,6.1384e-02,2.3014e-03
+21,1.5350e+01,DOWN_FORCE_DETACH,3.8583e-03,1.9907e-02,2.3079e-02,2.4973e+00,-3.8368e-02,3.8150e-02,-4.9119e-05,2.3518e-02,2.1804e-02,4.3482e-02,-1.4993e-03,1.6250e-03,-4.3808e-05,5.4029e-02,2.2114e-03
+22,1.6067e+01,DOWN_FORCE_DETACH,4.0416e-03,2.0290e-02,2.2025e-02,2.4997e+00,-3.8285e-02,3.8173e-02,-5.2184e-05,2.3901e-02,2.0751e-02,4.5916e-02,-1.4159e-03,1.6476e-03,-4.6873e-05,5.5768e-02,2.1729e-03
+23,1.6667e+01,DOWN_FORCE_DETACH,4.2271e-03,1.9675e-02,2.3983e-02,2.5054e+00,-3.8411e-02,3.8124e-02,-5.1733e-05,2.3286e-02,2.2708e-02,5.1656e-02,-1.5423e-03,1.5986e-03,-4.6423e-05,6.1042e-02,2.2218e-03
+24,1.7283e+01,DOWN_FORCE_DETACH,4.4115e-03,1.9371e-02,2.4911e-02,2.5006e+00,-3.8467e-02,3.8104e-02,-5.2147e-05,2.2982e-02,2.3636e-02,4.6821e-02,-1.5979e-03,1.5790e-03,-4.6836e-05,5.7263e-02,2.2469e-03
+25,1.7667e+01,DOWN_FORCE_DETACH,4.5758e-03,1.9663e-02,2.3648e-02,2.5039e+00,-3.8374e-02,3.8121e-02,-5.4285e-05,2.3274e-02,2.2373e-02,5.0170e-02,-1.5056e-03,1.5959e-03,-4.8975e-05,5.9660e-02,2.1946e-03
+26,1.7783e+01,DOWN_FORCE_DETACH,4.7698e-03,1.8872e-02,2.1785e-02,2.5065e+00,-3.8244e-02,3.8063e-02,-5.4023e-05,2.2483e-02,2.0510e-02,5.2718e-02,-1.3750e-03,1.5378e-03,-4.8712e-05,6.0871e-02,2.0635e-03
+27,1.8183e+01,DOWN_FORCE_DETACH,4.9615e-03,2.0314e-02,2.7929e-02,2.5018e+00,-3.8668e-02,3.8167e-02,-5.2500e-05,2.3925e-02,2.6654e-02,4.8042e-02,-1.7992e-03,1.6422e-03,-4.7189e-05,5.9923e-02,2.4365e-03
+28,1.8983e+01,DOWN_FORCE_DETACH,5.1438e-03,1.9862e-02,2.8179e-02,2.5065e+00,-3.8684e-02,3.8131e-02,-5.7538e-05,2.3473e-02,2.6904e-02,5.2718e-02,-1.8153e-03,1.6062e-03,-5.2227e-05,6.3671e-02,2.4245e-03
+29,1.9683e+01,DOWN_FORCE_DETACH,5.3276e-03,2.1008e-02,3.0154e-02,2.5134e+00,-3.8826e-02,3.8207e-02,-6.1416e-05,2.4619e-02,2.8879e-02,5.9606e-02,-1.9569e-03,1.6817e-03,-5.6106e-05,7.0661e-02,2.5808e-03
+30,2.0350e+01,DOWN_FORCE_DETACH,5.5110e-03,2.2033e-02,3.0905e-02,2.5121e+00,-3.8890e-02,3.8282e-02,-6.6866e-05,2.5644e-02,2.9630e-02,5.8312e-02,-2.0213e-03,1.7567e-03,-6.1555e-05,7.0256e-02,2.6786e-03
+31,2.0917e+01,DOWN_FORCE_DETACH,5.6930e-03,2.0663e-02,2.7949e-02,2.5132e+00,-3.8698e-02,3.8187e-02,-7.2957e-05,2.4274e-02,2.6674e-02,5.9454e-02,-1.8288e-03,1.6619e-03,-6.7647e-05,6.9538e-02,2.4720e-03
+32,2.1667e+01,DOWN_FORCE_DETACH,5.8770e-03,2.1861e-02,3.0010e-02,2.5191e+00,-3.8846e-02,3.8265e-02,-7.2380e-05,2.5472e-02,2.8735e-02,6.5333e-02,-1.9771e-03,1.7396e-03,-6.7069e-05,7.5782e-02,2.6343e-03
+33,2.2267e+01,DOWN_FORCE_DETACH,6.0612e-03,2.3999e-02,3.2142e-02,2.5123e+00,-3.8994e-02,3.8415e-02,-7.0158e-05,2.7610e-02,3.0868e-02,5.8507e-02,-2.1250e-03,1.8900e-03,-6.4847e-05,7.1682e-02,2.8446e-03
+34,2.2917e+01,DOWN_FORCE_DETACH,6.2464e-03,2.2927e-02,3.5458e-02,2.5138e+00,-3.9218e-02,3.8337e-02,-6.5558e-05,2.6538e-02,3.4183e-02,6.0050e-02,-2.3488e-03,1.8120e-03,-6.0247e-05,7.4019e-02,2.9671e-03
+35,2.3533e+01,DOWN_FORCE_DETACH,6.4274e-03,2.3787e-02,3.5914e-02,2.5104e+00,-3.9241e-02,3.8401e-02,-6.4326e-05,2.7398e-02,3.4639e-02,5.6584e-02,-2.3721e-03,1.8761e-03,-5.9015e-05,7.1779e-02,3.0250e-03
+36,2.4000e+01,DOWN_FORCE_DETACH,6.6102e-03,2.1277e-02,3.8550e-02,2.5139e+00,-3.9418e-02,3.8224e-02,-6.1787e-05,2.4888e-02,3.7276e-02,6.0171e-02,-2.5492e-03,1.6991e-03,-5.6476e-05,7.5029e-02,3.0641e-03
+37,2.4550e+01,DOWN_FORCE_DETACH,6.7983e-03,2.1836e-02,3.6473e-02,2.5205e+00,-3.9273e-02,3.8261e-02,-6.6290e-05,2.5447e-02,3.5198e-02,6.6761e-02,-2.4046e-03,1.7355e-03,-6.0980e-05,7.9646e-02,2.9661e-03
+38,2.5083e+01,DOWN_FORCE_DETACH,6.9848e-03,2.1032e-02,3.5927e-02,2.5246e+00,-3.9244e-02,3.8203e-02,-7.0329e-05,2.4643e-02,3.4653e-02,7.0835e-02,-2.3751e-03,1.6782e-03,-6.5018e-05,8.2618e-02,2.9089e-03
+39,2.5617e+01,DOWN_FORCE_DETACH,7.1702e-03,2.0698e-02,3.9300e-02,2.5257e+00,-3.9482e-02,3.8180e-02,-7.2481e-05,2.4309e-02,3.8025e-02,7.1961e-02,-2.6133e-03,1.6553e-03,-6.7170e-05,8.4943e-02,3.0942e-03
+40,2.5900e+01,DOWN_FORCE_DETACH,7.3481e-03,2.0612e-02,4.1960e-02,2.5334e+00,-3.9665e-02,3.8169e-02,-7.1941e-05,2.4223e-02,4.0685e-02,7.9632e-02,-2.7957e-03,1.6435e-03,-6.6630e-05,9.2646e-02,3.2437e-03
+41,2.6483e+01,DOWN_FORCE_DETACH,7.5334e-03,2.0403e-02,3.9449e-02,2.5367e+00,-3.9481e-02,3.8149e-02,-7.4212e-05,2.4014e-02,3.8174e-02,8.2900e-02,-2.6118e-03,1.6244e-03,-6.8901e-05,9.4373e-02,3.0765e-03
+42,2.7067e+01,DOWN_FORCE_DETACH,7.7125e-03,2.1386e-02,4.2496e-02,2.5474e+00,-3.9666e-02,3.8209e-02,-6.1990e-05,2.4997e-02,4.1221e-02,9.3662e-02,-2.7970e-03,1.6835e-03,-5.6679e-05,1.0534e-01,3.2650e-03
+43,2.7617e+01,DOWN_FORCE_DETACH,7.8970e-03,2.2628e-02,4.4214e-02,2.5472e+00,-3.9765e-02,3.8294e-02,-4.7600e-05,2.6239e-02,4.2939e-02,9.3467e-02,-2.8966e-03,1.7693e-03,-4.2290e-05,1.0615e-01,3.3945e-03
+44,2.8167e+01,DOWN_FORCE_DETACH,8.0835e-03,2.4850e-02,4.6529e-02,2.5578e+00,-3.9907e-02,3.8434e-02,-3.5740e-05,2.8461e-02,4.5254e-02,1.0403e-01,-3.0377e-03,1.9085e-03,-3.0430e-05,1.1696e-01,3.5876e-03
+45,2.8667e+01,DOWN_FORCE_DETACH,8.2708e-03,2.5969e-02,4.7635e-02,2.5655e+00,-3.9962e-02,3.8501e-02,-3.1917e-05,2.9580e-02,4.6360e-02,1.1171e-01,-3.0927e-03,1.9758e-03,-2.6606e-05,1.2451e-01,3.6701e-03
+46,2.9133e+01,DOWN_FORCE_DETACH,8.4515e-03,2.5777e-02,4.9365e-02,2.5781e+00,-4.0072e-02,3.8480e-02,-2.9966e-05,2.9388e-02,4.8091e-02,1.2435e-01,-3.2028e-03,1.9549e-03,-2.4655e-05,1.3653e-01,3.7524e-03
+47,2.9600e+01,DOWN_FORCE_DETACH,8.6353e-03,2.6201e-02,4.9667e-02,2.5934e+00,-4.0085e-02,3.8502e-02,-3.3242e-05,2.9812e-02,4.8393e-02,1.3963e-01,-3.2162e-03,1.9773e-03,-2.7932e-05,1.5075e-01,3.7755e-03
+48,2.9967e+01,DOWN_FORCE_DETACH,8.8166e-03,2.6720e-02,5.2285e-02,2.5935e+00,-4.0250e-02,3.8540e-02,-3.5789e-05,3.0331e-02,5.1010e-02,1.3972e-01,-3.3810e-03,2.0148e-03,-3.0479e-05,1.5180e-01,3.9359e-03
+49,3.0333e+01,DOWN_FORCE_DETACH,9.0012e-03,2.7024e-02,5.3944e-02,2.5997e+00,-4.0340e-02,3.8551e-02,-3.6035e-05,3.0635e-02,5.2669e-02,1.4594e-01,-3.4712e-03,2.0259e-03,-3.0725e-05,1.5815e-01,4.0192e-03
+50,3.0700e+01,DOWN_FORCE_DETACH,9.1855e-03,2.6453e-02,5.4794e-02,2.6089e+00,-4.0373e-02,3.8496e-02,-3.5459e-05,3.0064e-02,5.3520e-02,1.5511e-01,-3.5039e-03,1.9706e-03,-3.0149e-05,1.6681e-01,4.0201e-03
+51,3.1017e+01,DOWN_FORCE_DETACH,9.3744e-03,2.7305e-02,5.8023e-02,2.6145e+00,-4.0583e-02,3.8548e-02,-3.6699e-05,3.0916e-02,5.6748e-02,1.6072e-01,-3.7137e-03,2.0232e-03,-3.1388e-05,1.7322e-01,4.2292e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_08/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..9b6cc09136ee84c4a0fcc6878a33b2127ff71003
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:f0e121ca673e918732ebf13378c2eab81f14530d0cbcdc02cd9b2cb740ca3c00
+size 16967680
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0685d2faf169c623d8613fb17a76e34127f38721
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/fem_node.csv
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6bc2651937fb8bbe507d474b7d69760290a22432
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..af51188c8b56008f9302aeaed67405202ae4050c
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..4fdd38b4ed1feea678374261a8574d585ad29dee
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+57,5.133333333e+00,UP_FORCE_HOLD,1792672534743426315,-1.118380254e-05,-8.462701207e-05,1.829958494e-04,2.882423757e-07,-8.834124928e-05,1.693207633e-04,1.431682538e-06,-8.835168146e-05,1.689315636e-04,7.015266877e-01,-8.307605075e-05,8.409239370e-01,7.015381597e-01,-8.679028796e-05,8.409102620e-01,7.017308464e-01,-8.658315079e-05,8.297416140e-01
+58,5.216666667e+00,UP_FORCE_HOLD,1792672534908957570,-1.028045121e-05,-8.844076852e-05,1.889385219e-04,-8.441986101e-06,-8.109821014e-05,1.893773386e-04,-7.413318207e-06,-8.114038466e-05,1.888198622e-04,7.015275910e-01,-8.688980720e-05,8.409298797e-01,7.015294295e-01,-7.954724881e-05,8.409303185e-01,7.017220014e-01,-7.937185399e-05,8.297615023e-01
+59,5.366666667e+00,UP_SETTLE,1792672535206884661,-7.796480987e-06,-8.556865579e-05,2.012849201e-04,-8.441986101e-06,-8.109821014e-05,1.893773386e-04,-7.418726834e-06,-8.113969884e-05,1.888890539e-04,7.015300750e-01,-8.401769447e-05,8.409422261e-01,7.015294295e-01,-7.954724881e-05,8.409303185e-01,7.017219960e-01,-7.937116817e-05,8.297615715e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_08/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_08/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3e55bba877b0955525cdab19a40644617e2ec754
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_08/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-3.4076e-03,1.2730e-03,2.4539e+00,-3.6869e-02,3.6539e-02,-5.3347e-06,2.0727e-04,-1.4453e-06,7.5817e-05,2.9430e-07,1.4510e-05,-1.8554e-09,2.2071e-04,1.4513e-05
+1,8.3333e-02,XJC_ZERO_HOLD_BEFORE_UP,2.5858e-05,-2.3930e-03,1.2662e-03,2.4542e+00,-3.6867e-02,3.6610e-02,-5.3680e-06,1.2219e-03,-8.2914e-06,4.5347e-04,1.6838e-06,8.5551e-05,-3.5208e-08,1.3033e-03,8.5568e-05
+2,1.5000e-01,WAIT_W2,4.9267e-05,-1.6083e-03,1.2610e-03,2.4545e+00,-3.6866e-02,3.6665e-02,-5.4233e-06,2.0066e-03,-1.3451e-05,7.4887e-04,2.7232e-06,1.4049e-04,-9.0469e-08,2.1418e-03,1.4052e-04
+3,2.3333e-01,WAIT_W2,7.4126e-05,-6.5925e-04,1.2551e-03,2.4549e+00,-3.6865e-02,3.6732e-02,-5.5272e-06,2.9557e-03,-1.9387e-05,1.1101e-03,3.9451e-06,2.0694e-04,-1.9433e-07,3.1573e-03,2.0697e-04
+4,3.5000e-01,WAIT_W2,9.7998e-05,6.1012e-04,1.2468e-03,2.4554e+00,-3.6863e-02,3.6821e-02,-5.7267e-06,4.2250e-03,-2.7635e-05,1.5993e-03,5.5656e-06,2.9580e-04,-3.9386e-07,4.5177e-03,2.9585e-04
+5,4.3333e-01,WAIT_W2,1.2326e-04,1.4753e-03,1.2408e-03,2.4557e+00,-3.6862e-02,3.6881e-02,-5.9049e-06,5.0902e-03,-3.3702e-05,1.9369e-03,6.6720e-06,3.5636e-04,-5.7208e-07,5.4463e-03,3.5642e-04
+6,5.6667e-01,WAIT_W2,1.4416e-04,2.7935e-03,1.2307e-03,2.4562e+00,-3.6860e-02,3.6973e-02,-6.2413e-06,6.4084e-03,-4.3728e-05,2.4548e-03,8.4043e-06,4.4862e-04,-9.0843e-07,6.8626e-03,4.4870e-04
+7,6.3333e-01,WAIT_W2,1.6849e-04,3.4225e-03,1.2256e-03,2.4565e+00,-3.6860e-02,3.7017e-02,-6.4309e-06,7.0374e-03,-4.8885e-05,2.7039e-03,9.2424e-06,4.9264e-04,-1.0980e-06,7.5392e-03,4.9273e-04
+8,7.3333e-01,WAIT_W2,1.9509e-04,4.3281e-03,1.2177e-03,2.4568e+00,-3.6858e-02,3.7081e-02,-6.7401e-06,7.9430e-03,-5.6733e-05,3.0665e-03,1.0479e-05,5.5602e-04,-1.4073e-06,8.5146e-03,5.5612e-04
+9,8.8333e-01,WAIT_W2,2.2176e-04,5.6132e-03,1.2053e-03,2.4574e+00,-3.6857e-02,3.7171e-02,-7.2457e-06,9.2281e-03,-6.9151e-05,3.5825e-03,1.2282e-05,6.4594e-04,-1.9128e-06,9.8993e-03,6.4606e-04
+10,9.8333e-01,WAIT_W2,2.4497e-04,6.4218e-03,1.1964e-03,2.4577e+00,-3.6855e-02,3.7227e-02,-7.6125e-06,1.0037e-02,-7.8080e-05,3.9108e-03,1.3478e-05,7.0252e-04,-2.2797e-06,1.0772e-02,7.0266e-04
+11,1.1167e+00,WAIT_W2,2.7217e-04,7.4464e-03,1.1855e-03,2.4581e+00,-3.6854e-02,3.7299e-02,-8.1197e-06,1.1061e-02,-8.8971e-05,4.3278e-03,1.4942e-05,7.7419e-04,-2.7869e-06,1.1878e-02,7.7434e-04
+12,1.1500e+00,WAIT_W2,2.9049e-04,7.6920e-03,1.1824e-03,2.4582e+00,-3.6853e-02,3.7316e-02,-8.2534e-06,1.1307e-02,-9.2051e-05,4.4284e-03,1.5322e-05,7.9137e-04,-2.9206e-06,1.2143e-02,7.9152e-04
+13,1.2333e+00,WAIT_W2,3.1950e-04,8.2896e-03,1.1745e-03,2.4584e+00,-3.6853e-02,3.7358e-02,-8.5949e-06,1.1905e-02,-9.9925e-05,4.6740e-03,1.6268e-05,8.3319e-04,-3.2621e-06,1.2790e-02,8.3336e-04
+14,1.3000e+00,WAIT_W2,3.4120e-04,8.2776e-03,-5.8174e-03,2.4572e+00,-3.6363e-02,3.7358e-02,-1.3882e-05,1.1892e-02,-7.0919e-03,3.4106e-03,5.0539e-04,8.3273e-04,-8.5493e-06,1.4260e-02,9.7413e-04
+15,1.4167e+00,WAIT_W2,3.6662e-04,9.1090e-03,-5.6635e-03,2.4577e+00,-3.6373e-02,3.7416e-02,-1.5638e-05,1.2724e-02,-6.9380e-03,3.9730e-03,4.9603e-04,8.9108e-04,-1.0305e-05,1.5027e-02,1.0199e-03
+16,1.5167e+00,WAIT_W2,3.9394e-04,9.7665e-03,-5.5867e-03,2.4581e+00,-3.6378e-02,3.7462e-02,-1.5955e-05,1.3381e-02,-6.8611e-03,4.3254e-03,4.9114e-04,9.3709e-04,-1.0622e-05,1.5648e-02,1.0581e-03
+17,1.6167e+00,WAIT_W2,4.1760e-04,1.0395e-02,-5.5532e-03,2.4584e+00,-3.6380e-02,3.7506e-02,-1.6288e-05,1.4009e-02,-6.8276e-03,4.6468e-03,4.8925e-04,9.8101e-04,-1.0955e-05,1.6263e-02,1.0963e-03
+18,1.7000e+00,WAIT_W2,4.4000e-04,1.0896e-02,-5.5405e-03,2.4587e+00,-3.6380e-02,3.7541e-02,-1.6578e-05,1.4511e-02,-6.8149e-03,4.8988e-03,4.8872e-04,1.0160e-03,-1.1245e-05,1.6763e-02,1.1275e-03
+19,1.8333e+00,WAIT_W2,4.6668e-04,1.1658e-02,-5.5347e-03,2.4591e+00,-3.6380e-02,3.7594e-02,-1.7058e-05,1.5273e-02,-6.8092e-03,5.2791e-03,4.8883e-04,1.0693e-03,-1.1725e-05,1.7535e-02,1.1758e-03
+20,1.9167e+00,WAIT_W2,4.8755e-04,1.2741e-02,1.0277e-03,2.4600e+00,-3.6839e-02,3.7670e-02,-1.1352e-05,1.6355e-02,-2.4680e-04,6.2604e-03,2.9508e-05,1.1449e-03,-6.0187e-06,1.7514e-02,1.1453e-03
+21,2.0333e+00,UP_FORCE_RAMP,5.1520e-04,1.3301e-02,8.8593e-04,2.4603e+00,-3.6829e-02,3.7709e-02,-1.1973e-05,1.6915e-02,-3.8853e-04,6.4850e-03,3.9700e-05,1.1840e-03,-6.6402e-06,1.8120e-02,1.1847e-03
+22,2.1500e+00,UP_FORCE_RAMP,5.3922e-04,1.3834e-02,8.2398e-04,2.4605e+00,-3.6825e-02,3.7746e-02,-1.2590e-05,1.7449e-02,-4.5048e-04,6.7215e-03,4.4271e-05,1.2213e-03,-7.2568e-06,1.8705e-02,1.2221e-03
+23,2.2167e+00,UP_FORCE_RAMP,5.6352e-04,1.3815e-02,7.4045e-03,2.4594e+00,-3.7284e-02,3.7746e-02,-8.1718e-06,1.7430e-02,6.1301e-03,5.6586e-03,-4.1546e-04,1.2208e-03,-2.8390e-06,1.9324e-02,1.2896e-03
+24,2.3333e+00,UP_FORCE_RAMP,5.8708e-04,1.4337e-02,7.2451e-03,2.4598e+00,-3.7274e-02,3.7782e-02,-7.6656e-06,1.7952e-02,5.9706e-03,6.0630e-03,-4.0503e-04,1.2570e-03,-2.3328e-06,1.9866e-02,1.3207e-03
+25,2.4167e+00,UP_FORCE_RAMP,6.1077e-04,1.4693e-02,7.1608e-03,2.4601e+00,-3.7268e-02,3.7807e-02,-8.2730e-06,1.8308e-02,5.8863e-03,6.2838e-03,-3.9908e-04,1.2819e-03,-2.9402e-06,2.0232e-02,1.3426e-03
+26,2.5167e+00,UP_FORCE_RAMP,6.3772e-04,1.5099e-02,7.1029e-03,2.4603e+00,-3.7264e-02,3.7835e-02,-8.9556e-06,1.8714e-02,5.8284e-03,6.5317e-03,-3.9496e-04,1.3103e-03,-3.6227e-06,2.0661e-02,1.3685e-03
+27,2.6000e+00,UP_FORCE_RAMP,6.5979e-04,1.5424e-02,7.0722e-03,2.4605e+00,-3.7262e-02,3.7858e-02,-9.4950e-06,1.9038e-02,5.7978e-03,6.7267e-03,-3.9275e-04,1.3329e-03,-4.1621e-06,2.1008e-02,1.3896e-03
+28,2.7167e+00,UP_FORCE_RAMP,6.8440e-04,1.6979e-02,1.3879e-02,2.4621e+00,-3.7737e-02,3.7966e-02,-5.3218e-06,2.0594e-02,1.2604e-02,8.3103e-03,-8.6822e-04,1.4415e-03,1.1074e-08,2.5536e-02,1.6828e-03
+29,2.8167e+00,UP_FORCE_RAMP,7.0831e-04,1.7229e-02,1.3760e-02,2.4621e+00,-3.7730e-02,3.7984e-02,-4.5373e-06,2.0844e-02,1.2485e-02,8.3122e-03,-8.6082e-04,1.4591e-03,7.9551e-07,2.5680e-02,1.6941e-03
+30,2.9333e+00,UP_FORCE_RAMP,7.3317e-04,1.7547e-02,1.3641e-02,2.4622e+00,-3.7721e-02,3.8006e-02,-5.4602e-06,2.1161e-02,1.2367e-02,8.4496e-03,-8.5258e-04,1.4813e-03,-1.2741e-07,2.5926e-02,1.7091e-03
+31,3.0667e+00,UP_FORCE_RAMP,7.5792e-04,1.8141e-02,1.7141e-02,2.4556e+00,-3.7966e-02,3.8053e-02,-3.2112e-06,2.1756e-02,1.5867e-02,1.8086e-03,-1.0977e-03,1.5278e-03,2.1216e-06,2.6988e-02,1.8812e-03
+32,3.1500e+00,UP_FORCE_RAMP,7.8441e-04,1.8329e-02,1.7004e-02,2.4564e+00,-3.7957e-02,3.8065e-02,-3.9017e-06,2.1944e-02,1.5730e-02,2.6155e-03,-1.0884e-03,1.5404e-03,1.4311e-06,2.7126e-02,1.8862e-03
+33,3.2167e+00,UP_FORCE_RAMP,8.0671e-04,2.0956e-02,1.7632e-02,2.4471e+00,-3.8002e-02,3.8256e-02,-4.3779e-06,2.4571e-02,1.6357e-02,-6.6607e-03,-1.1331e-03,1.7313e-03,9.5498e-07,3.0260e-02,2.0691e-03
+34,3.3167e+00,UP_FORCE_RAMP,8.3248e-04,2.1040e-02,1.7629e-02,2.4489e+00,-3.8002e-02,3.8262e-02,-4.9568e-06,2.4655e-02,1.6354e-02,-4.8704e-03,-1.1336e-03,1.7369e-03,3.7599e-07,2.9984e-02,2.0741e-03
+35,3.3833e+00,UP_FORCE_RAMP,8.5311e-04,2.0189e-02,2.1592e-02,2.4413e+00,-3.8281e-02,3.8207e-02,-1.7736e-06,2.3804e-02,2.0317e-02,-1.2458e-02,-1.4119e-03,1.6824e-03,3.5592e-06,3.3684e-02,2.1963e-03
+36,3.4833e+00,UP_FORCE_RAMP,8.8237e-04,2.0350e-02,2.1418e-02,2.4433e+00,-3.8269e-02,3.8217e-02,-2.6691e-06,2.3964e-02,2.0144e-02,-1.0518e-02,-1.4007e-03,1.6924e-03,2.6637e-06,3.3026e-02,2.1968e-03
+37,3.5500e+00,UP_FORCE_RAMP,9.0436e-04,2.0452e-02,2.1361e-02,2.4442e+00,-3.8266e-02,3.8224e-02,-3.3305e-06,2.4067e-02,2.0087e-02,-9.5534e-03,-1.3971e-03,1.6990e-03,2.0024e-06,3.2771e-02,2.1996e-03
+38,3.6500e+00,UP_FORCE_RAMP,9.2897e-04,1.8995e-02,2.0584e-02,2.4373e+00,-3.8213e-02,3.8126e-02,-4.6284e-06,2.2610e-02,1.9309e-02,-1.6477e-02,-1.3440e-03,1.6009e-03,7.0443e-07,3.3993e-02,2.0903e-03
+39,3.7167e+00,UP_FORCE_RAMP,9.5672e-04,1.9145e-02,2.0556e-02,2.4388e+00,-3.8211e-02,3.8135e-02,-5.1967e-06,2.2760e-02,1.9282e-02,-1.4946e-02,-1.3424e-03,1.6105e-03,1.3615e-07,3.3365e-02,2.0966e-03
+40,3.7500e+00,UP_FORCE_RAMP,9.7973e-04,1.9232e-02,2.0551e-02,2.4394e+00,-3.8211e-02,3.8141e-02,-5.4915e-06,2.2847e-02,1.9276e-02,-1.4330e-02,-1.3422e-03,1.6162e-03,-1.5867e-07,3.3150e-02,2.1009e-03
+41,3.7833e+00,UP_FORCE_RAMP,9.9661e-04,1.9315e-02,2.0544e-02,2.4400e+00,-3.8211e-02,3.8146e-02,-5.7748e-06,2.2930e-02,1.9269e-02,-1.3760e-02,-1.3419e-03,1.6216e-03,-4.4193e-07,3.2960e-02,2.1048e-03
+42,3.8333e+00,UP_FORCE_RAMP,1.0210e-03,1.9433e-02,2.0531e-02,2.4408e+00,-3.8210e-02,3.8154e-02,-6.1742e-06,2.3048e-02,1.9257e-02,-1.2960e-02,-1.3413e-03,1.6294e-03,-8.4133e-07,3.2711e-02,2.1104e-03
+43,3.8833e+00,UP_FORCE_RAMP,1.0519e-03,1.9545e-02,2.0519e-02,2.4416e+00,-3.8209e-02,3.8162e-02,-6.5468e-06,2.3160e-02,1.9245e-02,-1.2210e-02,-1.3406e-03,1.6367e-03,-1.2140e-06,3.2494e-02,2.1157e-03
+44,3.9500e+00,UP_FORCE_RAMP,1.0792e-03,1.9595e-02,2.4206e-02,2.4359e+00,-3.8468e-02,3.8169e-02,-4.3905e-06,2.3210e-02,2.2931e-02,-1.7909e-02,-1.5989e-03,1.6440e-03,9.4229e-07,3.7219e-02,2.2933e-03
+45,4.0667e+00,UP_FORCE_RAMP,1.1017e-03,1.9824e-02,2.4185e-02,2.4383e+00,-3.8468e-02,3.8183e-02,-4.3303e-06,2.3439e-02,2.2911e-02,-1.5444e-02,-1.5992e-03,1.6584e-03,1.0026e-06,3.6232e-02,2.3038e-03
+46,4.1500e+00,UP_FORCE_RAMP,1.1274e-03,1.8493e-02,2.3256e-02,2.4316e+00,-3.8404e-02,3.8094e-02,-5.5116e-06,2.2108e-02,2.1982e-02,-2.2130e-02,-1.5356e-03,1.5689e-03,-1.7872e-07,3.8233e-02,2.1953e-03
+47,4.2167e+00,UP_FORCE_RAMP,1.1466e-03,1.8683e-02,2.3249e-02,2.4333e+00,-3.8404e-02,3.8106e-02,-6.1566e-06,2.2298e-02,2.1975e-02,-2.0492e-02,-1.5356e-03,1.5812e-03,-8.2373e-07,3.7417e-02,2.2041e-03
+48,4.3000e+00,UP_FORCE_RAMP,1.1752e-03,1.6614e-02,2.1620e-02,2.4263e+00,-3.8292e-02,3.7965e-02,-7.6196e-06,2.0229e-02,2.0346e-02,-2.7441e-02,-1.4233e-03,1.4399e-03,-2.2868e-06,3.9701e-02,2.0246e-03
+49,4.3667e+00,UP_FORCE_RAMP,1.1962e-03,1.6809e-02,2.1616e-02,2.4284e+00,-3.8292e-02,3.7977e-02,-8.5048e-06,2.0424e-02,2.0341e-02,-2.5391e-02,-1.4232e-03,1.4522e-03,-3.1720e-06,3.8414e-02,2.0333e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_09/down/camera_frames_60hz.tar
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--- /dev/null
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3d40438902346043fbe6b681af340007b2ac234
--- /dev/null
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..eb83ce56a9e4f301ac651f19ff5473b69fbcf339
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/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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+79812,1792672644299800456,41184599000000,1792672644299018894,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6760069876966207,-0.004584428578434178,0.09053099527611103,0.9999999883044107,-2.2830285093038976e-05,-0.00011514693940704927,-3.246541647879568e-05,0.6761,-0.00453,0.09060277570362829,1.0,0.0,0.0,0.0,0.08637221073890033,0.13612934035482602,0.44930628669075995,0.00987008768835901,-0.005981135862517816,0.0006971602194837586,0.35468764744643744,0.36274905828913084,0.33293916845244076,0.023122822777274316,-0.0268677485722304,0.0006464822464248245,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.2992290767359803,0.4876477877030965,0.5521328707369255,0.034043144920222076,-0.26697982352016625,0.24244181588226343,1.203644884152231,0.44930628669075995,0.6515120134153054,0.6515120134153054,0.6516300000000604,0,0,-3.46555010563313e-05,9.999996250365512e-05
+79982,1792672645715857259,41186015000000,1792672645715018095,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760076841785033,-0.004590220602446509,0.09048901261322126,0.9999999890624607,-2.1164651445464913e-05,-0.00011151613625536185,-2.083631122160648e-05,0.6761,-0.00453,0.09055497227475122,1.0,0.0,0.0,0.0,0.08693389342997015,0.12717120754793246,0.5185029974511637,0.009208863954121118,-0.005983627818566577,0.0006340154357554563,0.35524933013750726,0.3537909254822373,0.40213587921284444,0.022461599043036424,-0.02687024052827916,0.0005833374626965222,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.28432400681505876,0.40246275559347905,0.46984410294968126,0.08328767039695861,-0.22301396130721352,0.18340311646431623,1.203644884152231,0.5185029974511637,0.7338007812025497,0.7338007812025497,0.750750000000081,0,0,-3.778579119454039e-05,9.983591317397895e-05
+80102,1792672646715795229,41187015000000,1792672646715018195,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760523347218096,-0.004591172147512894,0.09049201412161291,0.9999999936170918,-1.2796562420225484e-05,-6.297086144904441e-05,-8.921844158881545e-06,0.6761,-0.00453,0.09051539151750951,1.0,0.0,0.0,0.0,0.05756929836916552,0.16352740249350797,0.5201801933410879,0.011844876079804752,-0.004008798664803755,0.0006908731175947231,0.3258847350767026,0.3901471204278128,0.4038130751027687,0.025097611168720058,-0.024895411374516337,0.000640195144535789,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.3488246035919395,0.4441230119728066,0.5454722038355128,0.06820418751829872,-0.26484017139188737,0.20878531202462405,1.203644884152231,0.5201801933410879,0.6581726803167182,0.6581726803167182,0.8207500000000955,0,0,-5.194593800525305e-05,-9.999999025923074e-05
+80270,1792672648115884996,41188415000000,1792672648115018089,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760503684077019,-0.0045999352000068135,0.0904210298206165,0.999999993722014,-1.0746493405981188e-05,-6.18659202784182e-05,7.48046043312898e-06,0.6761,-0.00453,0.09043355365825204,1.0,0.0,0.0,0.0,0.05262794682012628,0.1586034125064215,0.6391490725471745,0.01179368836709267,-0.00302322071739871,0.0006094070103524188,0.3209433835276634,0.3852231304407263,0.5227819543088552,0.025046423456007976,-0.023909833427111293,0.0005587290372934847,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.36111654279103417,0.43130733014523975,0.42717204203353015,0.08642725297397096,-0.19229539552228195,0.19966104646205557,1.203644884152231,0.6391490725471745,0.7764728421187008,0.7764728421187008,0.9187500000001158,0,0,-5.3168580742306244e-05,-9.873434988894587e-05
+80445,1792672649574910198,41189874000000,1792672649575018327,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.676054174166317,-0.004603008200815389,0.09036359678290617,0.9999999940368642,-6.665589029427206e-06,-5.459475816094116e-05,1.855042648643282e-05,0.6761,-0.00453,0.09036877597164807,1.0,0.0,0.0,0.0,0.05568470799707176,0.15990428045186486,0.7224280172864688,0.011552398748713172,-0.0030101462552261198,0.0005435919922037338,0.32400014470460886,0.3865239983861697,0.6060608990481495,0.024805133837628477,-0.023896758964938702,0.0004929140191447998,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.42702734207133647,0.3928503685391632,0.2736419373326614,0.09683996166131438,-0.07621058631839356,0.17159453500863225,1.203644884152231,0.7224280172864688,0.9300029468195695,0.9300029468195695,1.0208800000001368,0,0,-3.789107129034542e-05,-9.742078951736061e-05
+80617,1792672651008054136,41191307000000,1792672651007018514,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6760638171886008,-0.00460724825922029,0.09032296880595819,0.9999999943755713,1.2660275944278878e-06,-4.1978183370308714e-05,3.046228935386684e-05,0.6761,-0.00453,0.0903085826826172,1.0,0.0,0.0,0.0,0.03698264308943583,0.15741393766755754,0.7808630899221342,0.01173932917704853,-0.0020374999704138134,0.0005091972205968669,0.30529807979697293,0.38403365560186237,0.6644959716838149,0.024992064265963836,-0.022924112680126396,0.0004585192475379328,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.45474718537114156,0.3748030107849017,0.17330879219001796,0.10087624005854252,-0.007071828579072963,0.16284041280574102,1.203644884152231,0.7808630899221342,1.0303360919622129,1.0303360919622129,1.1211900000001576,0,0,-4.910009633182633e-05,-8.888873945090409e-05
+80776,1792672652333011850,41192632000000,1792672652331017924,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760752388845293,-0.004617575427950136,0.09027470898755757,0.9999999943188266,8.659861910607945e-06,-2.7302664269869674e-05,4.455089797142991e-05,0.6761,-0.00453,0.09024021890463435,1.0,0.0,0.0,0.0,0.04322542119493844,0.17473255742433727,0.8592736868554733,0.012649474060041048,-0.001683898344331216,0.00045754624635003735,0.31154085790247554,0.4013522753586421,0.7429065686171541,0.025902209148956353,-0.0225705110540438,0.0004068682732911033,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.557955318840718,0.45472225276477174,0.047548467977898544,0.08578351406624056,0.09571769595431458,0.22055579463844913,1.203644884152231,0.8592736868554733,1.1560964161743323,1.1560964161743323,1.2139400000001768,0,0,-5.252485681531282e-05,9.999999025923074e-05
+80880,1792672653200058213,41193499000000,1792672653195019107,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760787714639831,-0.004612163329934063,0.09023589281192818,0.9999999936888023,2.3172624019132778e-05,-2.4510848021254503e-05,5.410644674427986e-05,0.6761,-0.00453,0.09019658026359982,1.0,0.0,0.0,0.0,-0.017946426944204563,0.12389647530412348,0.9201340565132562,0.009585695179554416,0.0019837405039971646,0.00042955107717928507,0.25036900976333254,0.3505161932384283,0.803766938274937,0.022838430268469722,-0.018902872205715418,0.000378873104120351,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5427818698005736,0.33048040530646966,-0.029179143089166235,0.11396288141202399,0.13943102816753822,0.13847709840769323,1.203644884152231,0.9201340565132562,1.232824027241397,1.232824027241397,1.2746300000001893,0,0,-4.865328680628422e-05,9.981720591601401e-05
+80932,1792672653633140316,41193932000000,1792672653631019015,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6760804560628721,-0.004630033450897681,0.09021929687194297,0.9999999934840553,1.3135876265912836e-05,-2.155352739715031e-05,6.194875231220984e-05,0.6761,-0.00453,0.0901755961273922,1.0,0.0,0.0,0.0,0.020957535755050938,0.1618263289240943,0.9415551597462336,0.012438585394405234,-0.0006525585905815742,0.00040607681632151755,0.28927297246258804,0.3884460468583991,0.8251880415079144,0.02569132048332054,-0.021539171300294157,0.0003553988432625835,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5553889693192828,0.3818645603381147,-0.08765896385227827,0.10129932339337848,0.17827992065710332,0.17369386696448044,1.203644884152231,0.9415551597462336,1.2913038480045091,1.2913038480045091,1.3049400000001956,0,0,-4.759436534188121e-05,9.935396535898917e-05
+81000,1792672654200096584,41194499000000,1792672654199018301,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760834248635321,-0.004639517970775471,0.09019784988695422,0.9999999931483832,1.3330983487611823e-05,-1.501049332985328e-05,6.886993524222756e-05,0.6761,-0.00453,0.09014754362408131,1.0,0.0,0.0,0.0,0.020432204330943837,0.17969981401079468,0.9718307859208938,0.012649073237565414,-0.0005833155763710074,0.0003774552973293193,0.28874764103848094,0.4063195319450995,0.8554636676825745,0.02590180832648072,-0.02146992828608359,0.0003267773242703853,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.522854738195525,0.30808789059103187,-0.10229606826852898,0.1239360967289185,0.17503789951110726,0.12494552854226712,1.203644884152231,0.9718307859208938,1.30594095242076,1.30594095242076,1.3446300000002038,0,0,-4.957970606703365e-05,8.92965104900611e-05
+81120,1792672655200227115,41195499000000,1792672655199028530,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6760882948288193,-0.00463405598263668,0.09016130720340092,0.999999992594755,2.256042726957643e-05,-8.530996024554119e-06,7.531004872961089e-05,0.6761,-0.00453,0.0900986766251233,1.0,0.0,0.0,0.0,0.007371285051961385,0.1644486657755352,1.0305441221323022,0.012561509159837737,6.036434248264319e-05,0.0003462539224749897,0.2756867217594985,0.39106838370984004,0.9141770038939829,0.025814244248753043,-0.02082624836722994,0.00029557594941605566,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5375738625063882,0.3296098430098165,-0.07608357149953955,0.12147314840101325,0.159979116010613,0.1406041275744886,1.203644884152231,1.0305441221323022,1.2797284556517705,1.2797284556517705,1.4146300000002183,0,0,-4.9555651286696485e-05,-9.999990699250389e-05
+81283,1792672656558236758,41196857000000,1792672656555018096,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6760957108375524,-0.004632603609595,0.0901079675135501,0.9999999919828121,2.9192460789382637e-05,1.486292826630746e-06,8.138078026280655e-05,0.6761,-0.00453,0.09003213541909065,1.0,0.0,0.0,0.0,-0.008689186324309817,0.14575927136966452,1.111475371858162,0.011592610474828137,0.0009329231482878252,0.00028379444145961455,0.2596262503832273,0.37237898930396934,0.9951082536198429,0.024845345563743442,-0.019953689561424758,0.00023311646840068047,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5837633149931424,0.3430127397288302,-0.16606886448150432,0.12152440028785713,0.22979119975736445,0.1482833145942218,1.203644884152231,1.111475371858162,1.3697137486337352,1.3697137486337352,1.509690000000238,0,0,-4.87004369567875e-05,-9.951827836663369e-05
+81463,1792672658058314536,41198357000000,1792672658051028036,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761045506753811,-0.004636237403705612,0.0900517093908455,0.999999991086608,3.092627253395779e-05,1.4743532153040544e-05,8.997689885543455e-05,0.6761,-0.00453,0.08995683210744376,1.0,0.0,0.0,0.0,-0.0031750287516408293,0.15868466050625943,1.1785011441613749,0.011777233379410357,0.0019248439755187655,0.0006244784353884195,0.2651404079558963,0.38530437844056425,1.0621340259230556,0.025029968468325663,-0.018961768734193817,0.0005738004623294854,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5906016310269159,0.3168334862456989,-0.3525270277750334,0.12010305994542551,0.3469579972971128,0.13260649070504382,1.203644884152231,1.1785011441613749,1.5561719119272643,1.5561719119272643,1.6146900000002598,0,0,-5.3731082517967426e-05,7.965104550778363e-05
+81631,1792672659458291796,41199757000000,1792672659455029450,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761114515632671,-0.00463387517022015,0.08998926697980926,0.9999999908876559,3.040071173859183e-05,2.4934490312376792e-05,9.012003404310227e-05,0.6761,-0.00453,0.08988599253400596,1.0,0.0,0.0,0.0,-0.01185588990496872,0.16335007992739867,1.2628995820234965,0.012549272321517922,0.0018881492980579034,0.001215431978895575,0.2564595468025684,0.3899697978617035,1.1465324637851773,0.025802007410433227,-0.01899846341165468,0.001164754005836641,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.5852248739642723,0.45118221482865173,-0.37779426867272614,0.0910338501252009,0.35538374302257514,0.22014650964206,1.203644884152231,1.2628995820234965,1.5814391528249572,1.5814391528249572,1.71269000000028,0,0,-4.96134278341317e-05,-9.045355717074983e-05
+81808,1792672660933414503,41201232000000,1792672660931018224,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761191101290064,-0.004635319340760873,0.0899366272867334,0.9999999923035919,1.2711026091535015e-06,3.9797138774952066e-05,7.24586270757023e-05,0.6761,-0.00453,0.08981132785418901,1.0,0.0,0.0,0.0,-0.0033097392895624633,0.17911749814266179,1.3436324123357684,0.013555538862891922,0.0018506583350663824,0.001162732150509454,0.26500569741797464,0.4057372160769666,1.227265294097449,0.026808273951807227,-0.0190359543746462,0.00111205417745052,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.6461107837676942,0.34870639866196806,-0.5142812463231484,0.1333742105801784,0.45411514019230426,0.153028270781083,1.203644884152231,1.3436324123357684,1.7179261304753792,1.7179261304753792,1.8159400000003014,0,0,-5.32776277914745e-05,-9.9999393514355e-05
+81962,1792672662216439436,41202515000000,1792672662215018383,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761186762590053,-0.004624587436536002,0.089873337282686,0.999999992543495,2.721136901890643e-06,3.817673599556618e-05,6.993573285098916e-05,0.6761,-0.00453,0.08974675291440623,1.0,0.0,0.0,0.0,-0.003460874779628864,0.19198113908296258,1.423947474926798,0.013560708322194187,0.0018211336494658448,0.0010978056237311202,0.26485456192790824,0.4186008570172674,1.3075803566884787,0.026813443411109493,-0.019065479060246738,0.0010471276506721862,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.642431461884465,0.41656811001554517,-0.6218343734072848,0.10620334135022194,0.5235886495426576,0.19069654502236186,1.203644884152231,1.423947474926798,1.8254792575595156,1.8254792575595156,1.90575000000032,0,0,-4.791200498430038e-05,-1.8810227013449323e-05
+82138,1792672663683477893,41203982000000,1792672663679027741,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761318370539838,-0.004626412222526979,0.08982312448050907,0.999999991248813,5.773895752777507e-07,5.939513583073738e-05,7.36011065182575e-05,0.6761,-0.00453,0.08967332573809449,1.0,0.0,0.0,0.0,-0.0025587052769144303,0.19834962064902598,1.5048285716768002,0.015163920505882824,0.001704620348173879,0.0010449338277196706,0.2657567314306227,0.4249693385833308,1.388461453438481,0.02841665559479813,-0.019181992361538704,0.0009942558546607366,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.6295694462153084,0.3914394382065627,-0.723081182338035,0.13510477603545265,0.575650749828158,0.18360354788895372,1.203644884152231,1.5048285716768002,1.926726066490266,1.926726066490266,2.0084400000003413,0,0,-5.183714023425072e-05,-5.416781033133388e-05
+82301,1792672665041546143,41205340000000,1792672665035018655,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761387898238036,-0.004623974483690174,0.0897628372576776,0.9999999910382807,8.176047370006043e-06,7.057840223067122e-05,6.571258834705278e-05,0.6761,-0.00453,0.08960148109980966,1.0,0.0,0.0,0.0,-0.0049221425402049546,0.21348007058441262,1.585270786829768,0.015553671802239261,0.0017585723653570397,0.0009904450629781428,0.26339329416733215,0.44009978851871745,1.4689036685914487,0.028806406891154566,-0.019128040344355543,0.0009397670899192087,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.6531248524046143,0.4597889410405089,-0.8567477808977079,0.10880149519614353,0.6667890623473224,0.22315083294488525,1.203644884152231,1.585270786829768,2.060392665049939,2.060392665049939,2.103500000000361,0,0,-5.436552192175791e-05,8.783361124387596e-05
+82477,1792672666508674466,41206807000000,1792672666503018175,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761440435365309,-0.004623620913099286,0.08969717808971178,0.9999999894665196,3.160157455670194e-05,7.861394509120304e-05,7.301378841676938e-05,0.6761,-0.00453,0.08952774391562725,1.0,0.0,0.0,0.0,-0.005048973050159056,0.2166883349693086,1.675727563049398,0.015940980917557954,0.0017314590457069533,0.0009223377218802543,0.26326646365737805,0.4433080529036134,1.5593604448110787,0.029193716006473257,-0.01915515366400563,0.0008716597488213203,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.6599209518286215,0.3731368861439244,-0.8614391675144665,0.14987520047805977,0.6667237751375326,0.17459604272652185,1.203644884152231,1.675727563049398,2.0650840516666973,2.0650840516666973,2.2061900000003822,0,0,-5.0031800989695736e-05,-9.999897718072077e-05
+82633,1792672667808687912,41208107000000,1792672667803027182,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761512784740332,-0.004628848976785062,0.0896458908277605,0.9999999873867628,3.777962704565498e-05,9.205467952750533e-05,8.226770059289764e-05,0.6761,-0.00453,0.0894586800501282,1.0,0.0,0.0,0.0,-0.012874679072381046,0.21811506473586115,1.7541099280244572,0.01586780941788623,0.00273111026409327,0.0008713449696407798,0.25544075763515606,0.444734782670166,1.637742809786138,0.029120544506801536,-0.018155502445619313,0.0008206669965818458,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.6694606040706974,0.4156188925298689,-1.0204739603162318,0.14570040337743811,0.769313755342631,0.20459111780972597,1.203644884152231,1.7541099280244572,2.224118844468463,2.224118844468463,2.297190000000401,0,0,-5.465241838196215e-05,3.537989403641898e-05
+82800,1792672669200756643,41209499000000,1792672669199018751,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.676159194695594,-0.004628642468372842,0.08958096230882334,0.9999999850986865,4.8584395290285775e-05,0.00010081095395653309,9.339271602758289e-05,0.6761,-0.00453,0.0893836172996395,1.0,0.0,0.0,0.0,-0.015493683336265829,0.21397416843390046,1.83638380605954,0.01639192689056085,0.0026992760803745373,0.0008136608205133541,0.2528217533712713,0.4405938863682053,1.7200166878212209,0.029644661979476156,-0.018187336629338045,0.0007629828474544201,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.7408806509693909,0.41414614812649003,-1.2019838502571385,0.15079958045365513,0.9013739276479751,0.20636197654775718,1.203644884152231,1.83638380605954,2.4056287344093694,2.4056287344093694,2.3946300000004213,0,0,-5.561824477776233e-05,9.981642875989678e-05
+82972,1792672670633759596,41210932000000,1792672670627018648,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.676166000040025,-0.004633171670102029,0.08951649784212644,0.9999999831972152,4.7414909210528416e-05,0.00011111855525627175,0.00010223955644375508,0.6761,-0.00453,0.08930538510376733,1.0,0.0,0.0,0.0,-0.021552547014023538,0.22717822466417517,1.9225813113888752,0.016455992367935733,0.003693008505417865,0.0007588717134506489,0.24676288969351357,0.45379794259848,1.806214193150556,0.02970872745685104,-0.017193604204294718,0.0007081937403917148,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.7507363451905468,0.3911454875851806,-1.19479715067382,0.15810820593785288,0.9000997154994941,0.18657429498083236,1.203644884152231,1.9225813113888752,2.3984420348260507,2.3984420348260507,2.494940000000442,0,0,-5.561546570084642e-05,-9.957091681578873e-05
+83147,1792672672091815987,41212390000000,1792672672091023133,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761721876472374,-0.004638785042636682,0.08944191152669322,0.9999999808400502,4.907587891088603e-05,0.00012019426197805377,0.00011361188849485928,0.6761,-0.00453,0.0892208035656744,1.0,0.0,0.0,0.0,-0.025715122587916472,0.21968213069830525,2.0168622189368524,0.016437041793301167,0.0036733591241245,0.0006830244247136279,0.24260031411962063,0.4463018486326101,1.9004951006985331,0.029689776882216475,-0.017213253585588083,0.0006323464516546939,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.808541618912169,0.36764069804429605,-1.2817678998116526,0.1772239353179081,0.9685263981356165,0.17795644161874957,1.203644884152231,2.0168622189368524,2.4854127839638833,2.4854127839638833,2.597000000000463,0,0,-6.19539113441966e-05,-9.999858860266215e-05
+83303,1792672673391905046,41213690000000,1792672673387018317,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6761758169957772,-0.004641304442988621,0.08937473592565871,0.9999999791140846,5.166293374613187e-05,0.00012685430135230016,0.0001202232183964563,0.6761,-0.00453,0.08914355353864065,1.0,0.0,0.0,0.0,-0.025636040199340293,0.21017483694591724,2.0975578272311757,0.016410976643874642,0.0036519382179663815,0.0016139195225950034,0.2426793965081968,0.43679455488022206,1.9811907089928567,0.029663711732789946,-0.0172346744917462,0.0015632415495360694,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.7942262991712489,0.46252551789080815,-1.4052721615113994,0.14859499153357447,1.0400281549135644,0.2389221865355614,1.203644884152231,2.0975578272311757,2.60891704566363,2.60891704566363,2.688000000000482,0,0,-5.6428114796032485e-05,7.433938213569038e-06
+83455,1792672674658954470,41214957000000,1792672674659018364,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761857034558948,-0.004623620173201103,0.08931077872934412,0.9999999834400458,-4.538781262910985e-05,0.00014726980619780638,2.853635170309104e-05,0.6761,-0.00453,0.08907316908937572,1.0,0.0,0.0,0.0,-0.006135049623080258,0.24286821226153546,2.1780147935209686,0.01851664817967929,0.0025796392236794342,0.0015895052930005977,0.26218038708445685,0.4694879301958403,2.0616476752826496,0.031769383268594596,-0.01830697348603315,0.0015388273199416636,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.7727080992216157,0.4257010474248255,-1.4176824872904554,0.03623646588260416,1.0688961890450102,0.25289970180202764,1.203644884152231,2.1780147935209686,2.6213273714426863,2.6213273714426863,2.7766900000005004,0,0,-6.736874739596133e-05,-9.999997638144293e-05
+83595,1792672675825935609,41216124000000,1792672675823018589,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6761920718719553,-0.004635835240661864,0.08923064215604525,0.9999999818203165,-1.4060350068607024e-05,0.00015651747193139726,5.5738845212496706e-05,0.6761,-0.00453,0.08897872455448283,1.0,0.0,0.0,0.0,-0.009105428523154935,0.24025876026920315,2.289037075969166,0.018417599835752793,0.00357052584387375,0.001514590635726686,0.25921000818438217,0.466878478203508,2.172669957730847,0.0316703349246681,-0.017316086865838833,0.001463912662667752,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.8362125405148372,0.43512927480036423,-1.5505390888628963,0.10425452752678624,1.1562087088667272,0.245857792064831,1.203644884152231,2.289037075969166,2.7541839730151274,2.7541839730151274,2.8583800000005173,0,0,-7.914273305709357e-05,6.268196128606725e-05
+83751,1792672677126046302,41217424000000,1792672677123018579,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762003822613225,-0.004640725755404941,0.08916059424410575,0.999999978723574,1.820401772109751e-05,0.0001664394804195123,7.721547179266903e-05,0.6761,-0.00453,0.08889456907251421,1.0,0.0,0.0,0.0,-0.02753832659874378,0.24111999764371136,2.359223259994588,0.01837752691060228,0.0045685018111750846,0.0014713829245726585,0.24077711010879332,0.4677397155780162,2.242856141756269,0.03163026199951759,-0.016318110898537498,0.0014207049515137244,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.8452929209270701,0.4078121092134636,-1.663823393139063,0.19255577079231279,1.2143925874095196,0.21297746681208335,1.203644884152231,2.359223259994588,2.8674682772912936,2.8674682772912936,2.949380000000536,0,0,-5.164093345032968e-05,-5.754820652666746e-05
+83950,1792672678784041454,41219082000000,1792672678783017846,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762081907167043,-0.004647907598329442,0.08909372522485065,0.9999999751204902,3.605708594604262e-05,0.00017692979583536417,9.272333751177062e-05,0.6761,-0.00453,0.08881323942779448,1.0,0.0,0.0,0.0,-0.032569903123477795,0.23212437915010944,2.419100303363266,0.018364723515742476,0.004556760738190144,0.0014226389166252355,0.2357455335840593,0.45874409708441427,2.302733185124947,0.03161745860465778,-0.01632985197152244,0.0013719609435663015,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.7855400454537604,0.3774549965185532,-1.6819467385946627,0.21179065885830597,1.2064910683795342,0.19288851285928038,1.203644884152231,2.419100303363266,2.885591622746894,2.885591622746894,3.06544000000056,0,0,-5.560368179366305e-05,-9.979951173655905e-05
+84098,1792672680017213446,41220315000000,1792672680015018606,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762133571656597,-0.00464682360234285,0.08902710080361417,0.9999999726231569,4.4190728457924985e-05,0.00018376148856647388,0.00010234962046261913,0.6761,-0.00453,0.0887319239718707,1.0,0.0,0.0,0.0,-0.03729339282997601,0.24391858494181864,2.487422394040936,0.018325787645251897,0.005553813520035734,0.0013823843320316834,0.2310220438775611,0.47053830287612347,2.371055275802617,0.031578522734167204,-0.015332799189676848,0.0013317063589727493,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.892115217874125,0.37068348283445574,-1.8881499113099809,0.21713767828794509,1.364964909879617,0.1879147113783401,1.203644884152231,2.487422394040936,3.091794795462212,3.091794795462212,3.151750000000578,0,0,-7.057371799870792e-05,6.83249387886164e-05
+84261,1792672681376168437,41221674000000,1792672681371018592,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762179322149499,-0.004651360692433651,0.08893472919111392,0.9999999715096688,3.0616370963530943e-05,0.0001918719716506408,0.00010330203500818282,0.6761,-0.00453,0.08863637698256306,1.0,0.0,0.0,0.0,-0.03757553352103912,0.23748127405218414,2.5798482267289202,0.018303999305215646,0.005663793401974142,0.0013096362111284857,0.23073990318649798,0.46410099198648896,2.463481108490601,0.03155673439413095,-0.015222819307738441,0.0012589582380695516,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.9294222862487815,0.3161994446311698,-1.975217950959301,0.24430681773968715,1.4252449118329813,0.15092611231228076,1.203644884152231,2.5798482267289202,3.178862835111532,3.178862835111532,3.2468800000005977,0,0,-6.714138417876635e-05,9.995116820172285e-05
+84429,1792672682776218454,41223074000000,1792672682771019154,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762234305019824,-0.004659966399152366,0.08885299858346243,0.9999999698195451,1.6463575772158292e-05,0.00020143457658837138,0.00010467490365646476,0.6761,-0.00453,0.08853981270681413,1.0,0.0,0.0,0.0,-0.046226697814670675,0.252436611450353,2.6504754378113047,0.019265754178519043,0.005511728460345861,0.001260749559232557,0.22208873889286643,0.47905632938465786,2.5341083195729857,0.03251848926743435,-0.015374884249366722,0.001210071586173623,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,0.9355663977229419,0.28542371443501374,-2.0025980492200985,0.26379967459894604,1.4449601079522734,0.13332041619582916,1.203644884152231,2.6504754378113047,3.2062429333723292,3.2062429333723292,3.344880000000618,0,0,-7.161618869741394e-05,-9.999924085868912e-05
+84576,1792672684001246730,41224299000000,1792672683999018596,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762295947418786,-0.004659069251463162,0.08877436824097625,0.9999999678804323,1.7980562421100334e-05,0.00021075365802550658,0.00010460207382924298,0.6761,-0.00453,0.08845250477595175,1.0,0.0,0.0,0.0,-0.047327745888184836,0.2429511237886355,2.7297081830702394,0.018256236658197804,0.006514872820062989,0.0012044453416095507,0.22098769081935227,0.46957084172294034,2.6133410648319204,0.03150897174711311,-0.014371739889649593,0.0011537673685506167,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.001357205281561,0.3515259101394401,-2.081435013016109,0.25884200245831296,1.5080186062449898,0.18213074078442953,1.203644884152231,2.7297081830702394,3.28507989716834,3.28507989716834,3.430630000000636,0,0,-7.11560453156831e-05,-9.999999025923074e-05
+84756,1792672685501306670,41225799000000,1792672685495027955,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762349275875446,-0.004659004831477311,0.08867277551849666,0.9999999667475007,1.5591928162843916e-05,0.0002187759584926589,9.920601630184514e-05,0.6761,-0.00453,0.08834069525116277,1.0,0.0,0.0,0.0,-0.048047176821733234,0.2562514118697349,2.8009316882625748,0.019260293796729798,0.0064804063953111946,0.0011550028432454095,0.22026825988580387,0.4828711298040397,2.6845645700242557,0.032513028885645105,-0.014406206314401388,0.0011043248701864755,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.0250146441509465,0.3385074941711641,-2.2107466808161726,0.2784641087765617,1.5954208052031666,0.1715073106486125,1.203644884152231,2.8009316882625748,3.414391564968404,3.414391564968404,3.5356300000006575,0,0,-7.757060319973134e-05,-7.370001336208358e-05
+84908,1792672686767415426,41227065000000,1792672686767027813,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762412374786884,-0.004665282679697756,0.08858553153077424,0.9999999645214888,6.300989719813189e-06,0.00023128531296096933,9.416627472897577e-05,0.6761,-0.00453,0.08824101657358212,1.0,0.0,0.0,0.0,-0.03894473835370635,0.2602198190539675,2.8611629770086395,0.01924924367011121,0.0064669164197638344,0.0011074534231656015,0.22937069835383075,0.4868395369882723,2.7447958587703205,0.032501978759026516,-0.014419696289948748,0.0010567754501066675,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.0464223302047058,0.2950100060301871,-2.233071715170858,0.3050506517570488,1.610430850317201,0.14550175187546543,1.203644884152231,2.8611629770086395,3.4367165993230886,3.4367165993230886,3.624250000000676,0,0,-8.235180932600195e-05,-9.999999025923074e-05
+85043,1792672687892475665,41228190000000,1792672687891028383,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762462482062745,-0.0046660296452921916,0.08849656013551974,0.9999999620639968,2.452872550090749e-05,0.00023764151686134734,0.00010119150524931052,0.6761,-0.00453,0.08814365589143304,1.0,0.0,0.0,0.0,-0.048215142359092356,0.2557511432811018,2.9213167390873753,0.019228061153047545,0.006795262165172339,0.0010628630062300614,0.22010029434844475,0.4823708612154067,2.8049496208490563,0.03248079624196285,-0.014091350544540244,0.0010121850331711274,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.0220505018641217,0.349984072276342,-2.3321767189209983,0.3010126050282014,1.6605849405264548,0.18544184723305754,1.203644884152231,2.9213167390873753,3.535821603073229,3.535821603073229,3.703000000000692,0,0,-9.09700664062082e-05,-9.697192634850466e-05
+85211,1792672689292452639,41229590000000,1792672689287028077,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762520834750219,-0.004666444511082264,0.08837737975276361,0.9999999598339508,1.891618056124745e-05,0.0002476227101357503,0.00010049941647946635,0.6761,-0.00453,0.08801291579816327,1.0,0.0,0.0,0.0,-0.039548998110108785,0.2640687067817864,2.9918193691938817,0.019192887941933245,0.007400074146827092,0.001669188849624373,0.22876643859742832,0.4906884247160912,2.8754522509555627,0.03244562303084855,-0.013486538562885491,0.001618510876565439,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.0963995640004214,0.32549119883035327,-2.423773338235045,0.32789007924344254,1.7324538900554995,0.1673851122575151,1.203644884152231,2.9918193691938817,3.627418222387276,3.627418222387276,3.8010000000007125,0,0,-9.650487281106924e-05,-9.999767266866683e-05
+85363,1792672690559601478,41230857000000,1792672690559018609,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762527147068212,-0.004677138878155904,0.08825746408662187,0.999999959281287,4.545632610379692e-06,0.0002480941801162003,0.00010634332952755198,0.6761,-0.00453,0.08789332589595944,1.0,0.0,0.0,0.0,-0.03933359799655317,0.26507770698759336,3.0413814210848593,0.018780983770464874,0.0074464207365627175,0.0012595888113008378,0.22898183871098393,0.4916974249218982,2.9250143028465403,0.03203371885938018,-0.013440191973149865,0.0012089108382419037,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.08286254668873,0.35383604850302935,-2.5001865176076716,0.34036227831151955,1.7749966853313641,0.18750535309147096,1.203644884152231,3.0413814210848593,3.7038314017599028,3.7038314017599028,3.889690000000731,0,0,-9.894324109613185e-05,-9.999999025923074e-05
+85506,1792672691751629440,41232049000000,1792672691747027480,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762552121004062,-0.004682185639324332,0.08814197105732025,0.9999999588757514,-6.330109409245838e-06,0.0002497278882590539,0.00010624157049093492,0.6761,-0.00453,0.08777244316720885,1.0,0.0,0.0,0.0,-0.029939345977724074,0.25832964410643555,3.0929467151902466,0.018587545982886304,0.0064304752073444885,0.0009649539522949684,0.23837609072981303,0.4849493620407404,2.9765795969519275,0.03184028107180161,-0.014456137502368094,0.0009142759792360344,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.0935759249398824,0.2710116478534308,-2.5282481354707356,0.3827006366812646,1.7871812222005388,0.1332984312985689,1.203644884152231,3.0929467151902466,3.7318930196229667,3.7318930196229667,3.973130000000748,0,0,-0.00010550876390211095,-9.987503465780918e-05
+85646,1792672692917599427,41233215000000,1792672692915018504,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762527989105209,-0.004683002103058074,0.08801014686139698,0.9999999595916346,-4.639024932773047e-06,0.0002449272002015309,0.00011067402436205667,0.6761,-0.00453,0.08764137121845725,1.0,0.0,0.0,0.0,-0.02977298911206047,0.25693578959617813,3.1423208962318125,0.018166705441852275,0.006419589962332486,0.001897160307211722,0.23854244759547663,0.483555507530483,3.0259537779934935,0.03141944053076758,-0.014467022747380097,0.0018464823341527879,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.1088767869762308,0.2600550418433666,-2.6488198850887654,0.3991575903714967,1.8639299482828906,0.12960133394078127,1.203644884152231,3.1423208962318125,3.8524647692409966,3.8524647692409966,4.054750000000765,0,0,-0.00011758192522001577,-9.999999025923074e-05
+85774,1792672693984648209,41234282000000,1792672693983018296,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762578442860113,-0.0046867657697765,0.08788920462133831,0.9999999565878201,-1.4636399643459141e-07,0.0002561703906382325,0.00011244523972768807,0.6761,-0.00453,0.08750734138865955,1.0,0.0,0.0,0.0,-0.02981775025028946,0.25635622065285535,3.162232466259417,0.018162961282848257,0.006415279889636789,0.001881061644219075,0.23849768645724764,0.48297593858716015,3.0458653480210978,0.031415696371763564,-0.014471332820075794,0.001830383671160141,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.1158242558018454,0.3276675769731241,-2.7308208497719346,0.39845810794588044,1.911357979961933,0.1764909839029652,1.203644884152231,3.162232466259417,3.9344657339241653,3.9344657339241653,4.1294400000007805,0,0,-0.00013414275458838916,-2.3628602679206493e-05
+85898,1792672695017721356,41235315000000,1792672695015018610,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.676264937729482,-0.004687621103309543,0.08775739234660516,0.9999999537272707,1.4527518580958015e-05,0.0002678424038465623,0.00010971653916872748,0.6761,-0.00453,0.08736102709603204,1.0,0.0,0.0,0.0,-0.03149099558526344,0.2495818122304335,3.1922997038525613,0.01815610544781434,0.0064094637767140045,0.0018565491285009465,0.23682444112227366,0.4762015301647383,3.0759325856142423,0.03140884053672965,-0.014477148932998578,0.0018058711554420125,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.1589951897295028,0.3687028869287309,-2.790998552674273,0.41324294714905035,1.9510371290362274,0.2094062197340787,1.203644884152231,3.1922997038525613,3.994643436826504,3.994643436826504,4.2017500000007955,0,0,-0.00014799857598214207,3.054527030442347e-05
+86010,1792672695951816653,41236249000000,1792672695947018356,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762631553339397,-0.00469405109822308,0.08761797123340094,0.9999999549185216,5.418724611177064e-06,0.00026288372615945575,0.00011166290072969999,0.6761,-0.00453,0.08721974882575946,1.0,0.0,0.0,0.0,-0.020737489032991663,0.2507569801029913,3.232236185992989,0.018139559251628322,0.0064033365040521775,0.000884753424538357,0.24757794767454544,0.4773766980372961,3.11586906775467,0.03139229434054363,-0.014483276205660405,0.000834075451479423,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.2256756475440596,0.21652671346495367,-2.8106021847398246,0.4677408273244685,1.9818909585439495,0.10871690341992765,1.203644884152231,3.232236185992989,4.014247068892056,4.014247068892056,4.267130000000809,0,0,-0.00015624436347091842,-9.336485337486095e-05
+86121,1792672696876824279,41237174000000,1792672696871018224,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762645674482126,-0.004695798335173024,0.08747308002914597,0.9999999533692571,-3.2056817994620215e-06,0.00026600834493557596,0.00011804080749161813,0.6761,-0.00453,0.08706829861116468,1.0,0.0,0.0,0.0,-0.020790248179167553,0.25088681059375517,3.2524720655137758,0.018127151293145856,0.006396697121907361,0.0016783673144564802,0.24752518852836955,0.47750652852806,3.1361049472754567,0.03137988638206116,-0.014489915587805222,0.0016276893413975462,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.2279792397244735,0.22591996016798663,-2.818379840030268,0.48040230165864023,1.9823110528741235,0.11607367124528355,1.203644884152231,3.2524720655137758,4.022024724182499,4.022024724182499,4.331880000000822,0,0,-0.0001717038852725158,-9.999980984798924e-05
+86217,1792672697676788204,41237974000000,1792672697675018513,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762661634246068,-0.004699263884064209,0.08733654153791336,0.9999999520490339,-2.044061865186331e-05,0.000270423660558712,0.00011746497011279167,0.6761,-0.00453,0.08692358603949091,1.0,0.0,0.0,0.0,-0.013347421848343699,0.24406715051345226,3.2725827395774174,0.01800582121128183,0.0063926949752404,0.0017862486620836852,0.2549680148591934,0.4706868684477571,3.1562156213390984,0.03125855630019714,-0.014493917734472183,0.0017355706890247512,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.2178723277254895,0.2615109962055644,-2.867807401700129,0.48558421900881765,2.0098445369811255,0.14027403934194166,1.203644884152231,3.2725827395774174,4.07145228585236,4.07145228585236,4.387880000000834,0,0,-0.00018769489190248313,-9.999999025923074e-05
+86321,1792672698542904750,41238840000000,1792672698539018437,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762665631134805,-0.004704441121048737,0.08717011102332566,0.9999999514234751,-1.8781375759760335e-05,0.00027149003376652033,0.00012056671741616221,0.6761,-0.00453,0.08675296840193925,1.0,0.0,0.0,0.0,-0.02031198880192972,0.24314138860101922,3.292251473218647,0.017116345977503604,0.006406946540225479,0.0017656473584550469,0.24800344790560738,0.46976110653532405,3.175884354980328,0.03036908106641891,-0.014479666169487104,0.0017149693853961128,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.3775057465868619,0.20163724766170124,-2.9550345753464424,0.5219238365400293,2.1110050776195686,0.10897357064998486,1.203644884152231,3.292251473218647,4.158679459498673,4.158679459498673,4.4485000000008466,0,0,-0.00020961706244796018,3.307717574697051e-05
+86421,1792672699376845146,41239674000000,1792672699375018124,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762733580558874,-0.0047060560342192265,0.08699467661137505,0.9999999472438661,-5.889042794985906e-06,0.00028289836202443746,0.00012995755177198413,0.6761,-0.00453,0.08657307727243732,1.0,0.0,0.0,0.0,-0.0327790229923898,0.25033924421258924,3.312335071362463,0.017086352728357887,0.007413950289471368,0.001763620202299514,0.2355364137151473,0.47695896214689404,3.195967953124144,0.03033908781727319,-0.013472662420241215,0.00171294222924058,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.4091988290654458,0.17558042106217653,-2.989158008149216,0.5461222492126458,2.1429317271084947,0.09275101771644839,1.203644884152231,3.312335071362463,4.192802892301447,4.192802892301447,4.506880000000859,0,0,-0.00022400352184263165,4.191461063680549e-05
+86513,1792672700142965996,41240440000000,1792672700139018707,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762775786964421,-0.004713899001329179,0.08682982741130489,0.9999999438061199,-1.7421852111461223e-05,0.00029414357597717895,0.00013040957503510824,0.6761,-0.00453,0.08639565864807211,1.0,0.0,0.0,0.0,-0.030008426799741084,0.24886357954029417,3.3323450553774414,0.01708241860558827,0.007410873286206801,0.0017478061167886115,0.23830700990779602,0.475483297474599,3.2159779371391224,0.030335153694503576,-0.013475739423505781,0.0016971281437296775,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.4342700411711393,0.24550789508000548,-2.9652966089553336,0.539633593426388,2.136396781700428,0.1424962993463632,1.203644884152231,3.3323450553774414,4.168941493107565,4.168941493107565,4.56050000000087,0,0,-0.00024002444964507508,-9.999999025923074e-05
+86588,1792672700767945353,41241065000000,1792672700767017440,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762675190540686,-0.0047244541902576554,0.08667097890807161,0.9999999463721565,-1.0723239972570204e-05,0.0002773840196912001,0.00014711106882836053,0.6761,-0.00453,0.08623974313529592,1.0,0.0,0.0,0.0,-0.02917342911439813,0.22218424952776042,3.3419872363956413,0.01608440405988703,0.00641682283718272,0.0017128688083283404,0.23914200759313897,0.44880396746206525,3.2256201181573223,0.029337139148802333,-0.014469789872529863,0.0016621908352694064,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.470421406810492,0.2546562657830322,-3.0204184939655603,0.5461624119183178,2.186382770779259,0.15018547905475574,1.203644884152231,3.3419872363956413,4.224063378117791,4.224063378117791,4.604250000000879,0,0,-0.0002592711023888513,-4.596984878724726e-05
+86668,1792672701435015176,41241732000000,1792672701431018481,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.676260081525377,-0.004724408314110497,0.08648383970398266,0.9999999485337184,-6.410175854992409e-05,0.00027640299697101256,0.00011776150847698214,0.6761,-0.00453,0.08606094993198599,1.0,0.0,0.0,0.0,-0.010862454927464127,0.23604782737824723,3.3721779222778725,0.016086997369962906,0.006184245324652187,0.001687246612084887,0.257452981780073,0.46266754531255205,3.2558108040395535,0.02933973245887821,-0.014702367385060396,0.001636568639025953,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.4993854237509594,0.22061579859268418,-3.062588821615152,0.5569115662635907,2.229724031870879,0.12632678796206454,1.203644884152231,3.3721779222778725,4.266233705767383,4.266233705767383,4.6509400000008885,0,0,-0.0002779825600304501,7.19327056516505e-05
+86736,1792672702002001157,41242299000000,1792672701999017922,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762534080091377,-0.004730267868972378,0.08631756017943239,0.9999999477328378,-4.174596019793854e-05,0.00026974404855107563,0.00014653535165262452,0.6761,-0.00453,0.08589898121541227,1.0,0.0,0.0,0.0,-0.02876569888580499,0.20791701439996754,3.401761879435803,0.015045205961435932,0.00642356674336483,0.0016530784538801664,0.2395497378217321,0.43453673233427237,3.285394761197484,0.028297941050351237,-0.014463045966347753,0.0016024004808212324,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.520774424098224,0.20645034443934285,-3.0497442880605856,0.5661054205659876,2.234114943632578,0.12440628108906812,1.203644884152231,3.401761879435803,4.253389172212817,4.253389172212817,4.690630000000897,0,0,-0.0002926878181861144,-9.890605975749196e-05
+86796,1792672702501958490,41242799000000,1792672702495018726,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762853517377031,-0.004739006008034459,0.08619813017586025,0.9999999354055893,1.588741823860639e-07,0.00029936245149860495,0.0001761072946999337,0.6761,-0.00453,0.08574759030557991,1.0,0.0,0.0,0.0,-0.06112365786424456,0.23265435822139433,3.389463432530766,0.016957599584185037,0.008444355860991449,0.001713086953403875,0.20719177884329254,0.45927407615569915,3.273096314292447,0.03021033467310034,-0.012442256848721134,0.0016624089803449408,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.5970230815041841,0.21895869622817304,-3.034755576964091,0.5747993539331558,2.241880317972464,0.14687870774399653,1.203644884152231,3.389463432530766,4.2384004611163215,4.2384004611163215,4.725630000000904,0,0,-0.0003116011728740694,-9.998507163733734e-05
+86852,1792672702968072740,41243265000000,1792672702967018093,DOWN_FORCE_DETACH,9,0.036,0.03600174933671951,0.6762804032933447,-0.004730253595967643,0.08604148354393652,0.9999999441408397,-1.759072304688427e-05,0.00030565902594907444,9.707887657546576e-05,0.6761,-0.00453,0.0855978961012556,1.0,0.0,0.0,0.0,-0.020604955950858928,0.25513022786975326,3.4220368743525658,0.017736141443009973,0.006968703288067386,0.0016738171960517145,0.24771048075667818,0.48174994580405806,3.3056697561142467,0.030988876531925277,-0.013917909421645197,0.0016231392229927805,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.6318355486297502,0.29525608557234717,-2.997922796718265,0.4206722591646664,2.2649526429381774,0.1811594668898977,1.203644884152231,3.4220368743525658,4.201567680870496,4.201567680870496,4.758250000000911,0,0,-0.00033124912601353716,-9.999999025923074e-05
+86912,1792672703467987970,41243765000000,1792672703463018375,DOWN_FORCE_DETACH,9,0.036,0.03600240498781204,0.6762748989969352,-0.004737760524128538,0.08586813801479941,0.9999999424035875,-3.041600507311804e-06,0.00029458064782667996,0.00014088533279081071,0.6761,-0.00453,0.08542637438794885,1.0,0.0,0.0,0.0,-0.030875261166452478,0.23247018095869262,3.450976537688392,0.01603794454243789,0.007405344836629255,0.001639969088382057,0.23744017554108462,0.45908989889299745,3.334609419450073,0.0292906796313532,-0.013481267873083328,0.0015892911153231229,0.2683154367075371,0.22661971793430483,-0.1163671182383192,0.013252735088915306,-0.020886612709712583,-5.0677973058934057e-05,1,1.717722767515999,0.07873779740374487,-3.10100586911602,0.6066397332695963,2.334577063316442,0.04663252930175698,1.203644884152231,3.450976537688392,4.304650753268251,4.304650753268251,4.793250000000918,0,0,-0.00035178368345126367,5.292003921043005e-05
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0d63b4b141afcbfee962c962730c23539b404653
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0b3c90f7d94a00aa3c76c8e05e172bdbe9ac0d30
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,4.033333333e+00,DOWN_FORCE_DETACH,1792672642524400708,1.109759837e-05,-5.208078060e-05,-2.591349067e-04,1.168051730e-05,-4.897797115e-05,-2.401166562e-04,1.163018521e-05,-4.895591655e-05,-2.393582114e-04,7.015489691e-01,-5.052981928e-05,8.404818063e-01,7.015495520e-01,-4.742700983e-05,8.405008245e-01,7.017410166e-01,-4.719815784e-05,8.293333303e-01
+6,4.950000000e+00,DOWN_FORCE_DETACH,1792672644302455521,1.481879070e-05,-5.718487574e-05,-3.044802251e-04,1.086805581e-05,-5.406854274e-05,-3.029812871e-04,1.060681513e-05,-5.402044529e-05,-3.021117615e-04,7.015526903e-01,-5.563391442e-05,8.404364610e-01,7.015487395e-01,-5.251758142e-05,8.404379599e-01,7.017399932e-01,-5.226268658e-05,8.292705768e-01
+7,5.700000000e+00,DOWN_FORCE_DETACH,1792672645716757953,1.288540202e-05,-5.696587356e-05,-3.498149931e-04,1.161287031e-05,-6.254390833e-05,-3.462761070e-04,1.125419181e-05,-6.251225312e-05,-3.453812054e-04,7.015507569e-01,-5.541491224e-05,8.403911262e-01,7.015494844e-01,-6.099294701e-05,8.403946651e-01,7.017406406e-01,-6.075449441e-05,8.292273073e-01
+8,6.216666667e+00,DOWN_FORCE_DETACH,1792672646714679041,5.388009268e-05,-5.998947337e-05,-3.510685401e-04,5.387834093e-05,-5.997232008e-05,-3.506071946e-04,5.454116402e-05,-5.991660924e-05,-3.498845747e-04,7.015917516e-01,-5.843851205e-05,8.403898726e-01,7.015917498e-01,-5.842135876e-05,8.403903340e-01,7.017839276e-01,-5.815885053e-05,8.292228040e-01
+9,6.966666667e+00,DOWN_FORCE_DETACH,1792672648112504150,5.826942284e-05,-6.232471304e-05,-4.177148702e-04,5.434411910e-05,-6.497696721e-05,-4.157324460e-04,5.484224545e-05,-6.494779015e-05,-4.147323511e-04,7.015961409e-01,-6.077375172e-05,8.403232263e-01,7.015922156e-01,-6.342600589e-05,8.403252087e-01,7.017842286e-01,-6.319003144e-05,8.291579562e-01
+10,7.700000000e+00,DOWN_FORCE_DETACH,1792672649576984459,6.163816599e-05,-6.946890184e-05,-4.717274879e-04,5.823119093e-05,-7.120131203e-05,-4.574019947e-04,5.870679962e-05,-7.114861914e-05,-4.564953840e-04,7.015995096e-01,-6.791794051e-05,8.402692137e-01,7.015961027e-01,-6.965035071e-05,8.402835392e-01,7.017880932e-01,-6.939086043e-05,8.291161932e-01
+11,8.416666667e+00,DOWN_FORCE_DETACH,1792672651006727883,6.900535159e-05,-7.889640597e-05,-5.173392831e-04,6.419152833e-05,-7.654362246e-05,-4.998374326e-04,6.470402907e-05,-7.650266864e-05,-4.989234468e-04,7.016068768e-01,-7.734544465e-05,8.402236019e-01,7.016020630e-01,-7.499266114e-05,8.402411038e-01,7.017940904e-01,-7.474490993e-05,8.290737651e-01
+12,9.100000000e+00,DOWN_FORCE_DETACH,1792672652337014273,8.232195443e-05,-8.897155922e-05,-5.620799731e-04,7.806400214e-05,-8.248969579e-05,-5.580387246e-04,7.872776271e-05,-8.244646785e-05,-5.570251479e-04,7.016201934e-01,-8.742059790e-05,8.401788612e-01,7.016159355e-01,-8.093873447e-05,8.401829025e-01,7.018081142e-01,-8.068870914e-05,8.290156634e-01
+13,9.550000000e+00,DOWN_FORCE_DETACH,1792672653201009428,8.322935502e-05,-7.424426869e-05,-6.055442910e-04,8.306477750e-05,-7.749057288e-05,-6.015532928e-04,8.368546948e-05,-7.744095910e-05,-6.004349278e-04,7.016211008e-01,-7.269330737e-05,8.401353969e-01,7.016209363e-01,-7.593961156e-05,8.401393879e-01,7.018130719e-01,-7.568320040e-05,8.289722536e-01
+14,9.783333333e+00,DOWN_FORCE_DETACH,1792672653634878967,8.550525048e-05,-1.065448508e-04,-6.202171336e-04,8.525817986e-05,-1.063873576e-04,-6.204481133e-04,8.589070152e-05,-1.063204013e-04,-6.193159156e-04,7.016233767e-01,-1.049938895e-04,8.401207241e-01,7.016231297e-01,-1.048363963e-04,8.401204931e-01,7.018152771e-01,-1.045626426e-04,8.289533726e-01
+15,1.008333333e+01,DOWN_FORCE_DETACH,1792672654198817488,8.963464960e-05,-1.019422289e-04,-6.391557135e-04,9.055600642e-05,-8.371701810e-05,-6.376586834e-04,9.126497705e-05,-8.368595025e-05,-6.365045973e-04,7.016275061e-01,-1.003912675e-04,8.401017855e-01,7.016284275e-01,-8.216605678e-05,8.401032825e-01,7.018206514e-01,-8.192819155e-05,8.289361839e-01
+16,1.061666667e+01,DOWN_FORCE_DETACH,1792672655196977506,9.257553839e-05,-9.861116012e-05,-6.801950812e-04,9.154125864e-05,-1.015569932e-04,-6.751082283e-04,9.220289823e-05,-1.015059686e-04,-6.740017638e-04,7.016304470e-01,-9.706019880e-05,8.400607461e-01,7.016294127e-01,-1.000060319e-04,8.400658330e-01,7.018215893e-01,-9.974820988e-05,8.288986868e-01
+17,1.133333333e+01,DOWN_FORCE_DETACH,1792672656560887790,1.013724074e-04,-9.769312759e-05,-7.277814750e-04,9.753038319e-05,-1.010156328e-04,-7.136072267e-04,9.821733104e-05,-1.009483218e-04,-7.125785056e-04,7.016392439e-01,-9.614216627e-05,8.400131597e-01,7.016354019e-01,-9.946467151e-05,8.400273340e-01,7.018276037e-01,-9.919056310e-05,8.288601100e-01
+18,1.208333333e+01,DOWN_FORCE_DETACH,1792672658059024637,1.097914407e-04,-1.026446585e-04,-7.870146859e-04,1.069456779e-04,-1.028642152e-04,-7.751110751e-04,1.077165469e-04,-1.028042527e-04,-7.740783312e-04,7.016476629e-01,-1.010936972e-04,8.399539265e-01,7.016448172e-01,-1.013132538e-04,8.399658301e-01,7.018371029e-01,-1.010464940e-04,8.287986102e-01
+19,1.278333333e+01,DOWN_FORCE_DETACH,1792672659457603411,1.188649917e-04,-1.059342173e-04,-8.456184905e-04,1.161761212e-04,-1.056814805e-04,-8.360189752e-04,1.170148616e-04,-1.056316782e-04,-8.349282459e-04,7.016567365e-01,-1.043832560e-04,8.398953227e-01,7.016540476e-01,-1.041305192e-04,8.399049222e-01,7.018464013e-01,-1.038739195e-04,8.287377603e-01
+20,1.355000000e+01,DOWN_FORCE_DETACH,1792672660935201577,1.242880559e-04,-9.640245124e-05,-9.023974675e-04,1.237228013e-04,-9.417688166e-05,-9.003348544e-04,1.245653012e-04,-9.409541051e-05,-8.992417302e-04,7.016621595e-01,-9.485148992e-05,8.398385437e-01,7.016615943e-01,-9.262592034e-05,8.398406063e-01,7.018539517e-01,-9.233765181e-05,8.286734468e-01
+21,1.423333333e+01,DOWN_FORCE_DETACH,1792672662217335731,1.238774825e-04,-9.133270765e-05,-9.654903236e-04,1.269854682e-04,-9.940086090e-05,-9.610926960e-04,1.277058674e-04,-9.936221410e-05,-9.599606760e-04,7.016617490e-01,-8.978174633e-05,8.397754509e-01,7.016648569e-01,-9.784989958e-05,8.397798485e-01,7.018570923e-01,-9.760445539e-05,8.286127279e-01
+22,1.500000000e+01,DOWN_FORCE_DETACH,1792672663681473766,1.348712653e-04,-9.444404500e-05,-1.020265488e-03,1.296002622e-04,-9.310713408e-05,-1.000918965e-03,1.303075461e-04,-9.308140548e-05,-9.998807195e-04,7.016727427e-01,-9.289308368e-05,8.397206757e-01,7.016674717e-01,-9.155617276e-05,8.397400222e-01,7.018596939e-01,-9.132364677e-05,8.285728078e-01
+23,1.571666667e+01,DOWN_FORCE_DETACH,1792672665043572517,1.442424751e-04,-8.862332430e-05,-1.077414129e-03,1.402011969e-04,-9.055667281e-05,-1.061284315e-03,1.409869674e-04,-9.050940618e-05,-1.060236485e-03,7.016821140e-01,-8.707236298e-05,8.396635271e-01,7.016780727e-01,-8.900571148e-05,8.396796569e-01,7.018703734e-01,-8.875164747e-05,8.285124521e-01
+24,1.645000000e+01,DOWN_FORCE_DETACH,1792672666508020227,1.507840489e-04,-9.096700901e-05,-1.138549218e-03,1.503725468e-04,-8.572040164e-05,-1.125348430e-03,1.512409197e-04,-8.571401234e-05,-1.124264747e-03,7.016886555e-01,-8.941604769e-05,8.396023920e-01,7.016882440e-01,-8.416944032e-05,8.396155928e-01,7.018806273e-01,-8.395625363e-05,8.284484238e-01
+25,1.710000000e+01,DOWN_FORCE_DETACH,1792672667805570734,1.578731885e-04,-9.637764394e-05,-1.194263335e-03,1.580820739e-04,-9.452997365e-05,-1.185011289e-03,1.589096917e-04,-9.451150642e-05,-1.183878457e-03,7.016957447e-01,-9.482668262e-05,8.395466779e-01,7.016959536e-01,-9.297901233e-05,8.395559299e-01,7.018882961e-01,-9.275374771e-05,8.283888101e-01
+26,1.778333333e+01,DOWN_FORCE_DETACH,1792672669201684408,1.643959191e-04,-9.538773949e-05,-1.257865297e-03,1.628141437e-04,-9.272881893e-05,-1.254827358e-03,1.635339890e-04,-9.271938898e-05,-1.253576490e-03,7.017022674e-01,-9.383677817e-05,8.394830759e-01,7.017006856e-01,-9.117785761e-05,8.394861138e-01,7.018929204e-01,-9.096163027e-05,8.283191120e-01
+27,1.853333333e+01,DOWN_FORCE_DETACH,1792672670631583233,1.737817820e-04,-1.006194436e-04,-1.317729953e-03,1.702030077e-04,-1.006076280e-04,-1.316101975e-03,1.709260823e-04,-1.006066710e-04,-1.314943078e-03,7.017116533e-01,-9.906848224e-05,8.394232112e-01,7.017080745e-01,-9.905666664e-05,8.394248392e-01,7.019003125e-01,-9.884891233e-05,8.282577455e-01
+28,1.930000000e+01,DOWN_FORCE_DETACH,1792672672095781441,1.744965174e-04,-1.070231506e-04,-1.399555091e-03,1.743661779e-04,-1.070839046e-04,-1.399578245e-03,1.749307221e-04,-1.070531404e-04,-1.398223083e-03,7.017123680e-01,-1.054721892e-04,8.393413861e-01,7.017122377e-01,-1.055329432e-04,8.393413629e-01,7.019043171e-01,-1.052953817e-04,8.281744655e-01
+29,1.998333333e+01,DOWN_FORCE_DETACH,1792672673393718155,1.798871258e-04,-1.077032201e-04,-1.466607279e-03,1.809909400e-04,-1.096050622e-04,-1.463538980e-03,1.815189131e-04,-1.095707012e-04,-1.462204138e-03,7.017177586e-01,-1.061522588e-04,8.392743339e-01,7.017188624e-01,-1.080541008e-04,8.392774022e-01,7.019109053e-01,-1.078129425e-04,8.281104844e-01
+30,2.061666667e+01,DOWN_FORCE_DETACH,1792672674657789679,1.913010606e-04,-9.577647836e-05,-1.526889336e-03,1.920288656e-04,-8.700496484e-05,-1.515433037e-03,1.927035843e-04,-8.697932067e-05,-1.514182802e-03,7.017291725e-01,-9.422551704e-05,8.392140519e-01,7.017299003e-01,-8.545400352e-05,8.392255082e-01,7.019220900e-01,-8.522156196e-05,8.280585057e-01
+31,2.120000000e+01,DOWN_FORCE_DETACH,1792672675822265863,1.961728738e-04,-9.749097450e-05,-1.610582155e-03,1.960136607e-04,-1.003252239e-04,-1.603323081e-03,1.964994094e-04,-1.002624023e-04,-1.601857172e-03,7.017340444e-01,-9.594001318e-05,8.391303590e-01,7.017338851e-01,-9.877426260e-05,8.391376181e-01,7.019258858e-01,-9.850464361e-05,8.279708314e-01
+32,2.186666667e+01,DOWN_FORCE_DETACH,1792672677121877072,2.038866970e-04,-1.072238745e-04,-1.680246093e-03,2.018284360e-04,-1.023812123e-04,-1.669077654e-03,2.022943400e-04,-1.023733958e-04,-1.667660957e-03,7.017417582e-01,-1.056729132e-04,8.390606951e-01,7.017396999e-01,-1.008302510e-04,8.390718635e-01,7.019316807e-01,-1.006156370e-04,8.279050276e-01
+33,2.273333333e+01,DOWN_FORCE_DETACH,1792672678782057241,2.112866365e-04,-1.110826011e-04,-1.749388660e-03,2.109707105e-04,-1.112344267e-04,-1.749368781e-03,2.113825274e-04,-1.111938290e-04,-1.748018656e-03,7.017491581e-01,-1.095316398e-04,8.389915525e-01,7.017488422e-01,-1.096834654e-04,8.389915724e-01,7.019407689e-01,-1.094360703e-04,8.278246699e-01
+34,2.338333333e+01,DOWN_FORCE_DETACH,1792672680014063376,2.193148566e-04,-1.170009427e-04,-1.810317053e-03,2.116357766e-04,-1.169258267e-04,-1.799701433e-03,2.119509260e-04,-1.168959479e-04,-1.798500055e-03,7.017571863e-01,-1.154499813e-04,8.389306241e-01,7.017495073e-01,-1.153748654e-04,8.389412398e-01,7.019413373e-01,-1.151381892e-04,8.277741885e-01
+35,2.411666667e+01,DOWN_FORCE_DETACH,1792672681379930123,2.252707608e-04,-1.164414084e-04,-1.901326159e-03,2.216945477e-04,-1.193473041e-04,-1.883149195e-03,2.219808665e-04,-1.192871256e-04,-1.881910102e-03,7.017631422e-01,-1.148904471e-04,8.388396150e-01,7.017595660e-01,-1.177963428e-04,8.388577920e-01,7.019513673e-01,-1.175293669e-04,8.276907784e-01
+36,2.481666667e+01,DOWN_FORCE_DETACH,1792672682774178700,2.285713014e-04,-1.251153878e-04,-1.987354023e-03,2.283691544e-04,-1.249450758e-04,-1.987485849e-03,2.284425446e-04,-1.248637800e-04,-1.986029224e-03,7.017664428e-01,-1.235644265e-04,8.387535872e-01,7.017662406e-01,-1.233941145e-04,8.387534553e-01,7.019578289e-01,-1.231060213e-04,8.275866593e-01
+37,2.543333333e+01,DOWN_FORCE_DETACH,1792672684004271959,2.324978579e-04,-1.246925664e-04,-2.067949447e-03,2.313236574e-04,-1.258003454e-04,-2.050868412e-03,2.312508043e-04,-1.257384754e-04,-2.049450139e-03,7.017703693e-01,-1.231416050e-04,8.386729917e-01,7.017691951e-01,-1.242493841e-04,8.386900728e-01,7.019606372e-01,-1.239807167e-04,8.275232384e-01
+38,2.620000000e+01,DOWN_FORCE_DETACH,1792672685502319944,2.390694344e-04,-1.294117250e-04,-2.165961505e-03,2.369994577e-04,-1.300817541e-04,-2.159862063e-03,2.367086319e-04,-1.300030782e-04,-2.158329748e-03,7.017769409e-01,-1.278607636e-04,8.385749797e-01,7.017748709e-01,-1.285307928e-04,8.385810791e-01,7.019660950e-01,-1.282453195e-04,8.274143588e-01
+39,2.686666667e+01,DOWN_FORCE_DETACH,1792672686766718751,2.453697232e-04,-1.296267927e-04,-2.254453915e-03,2.450649288e-04,-1.315017845e-04,-2.240873595e-03,2.446819785e-04,-1.314335337e-04,-2.239349437e-03,7.017832412e-01,-1.280758314e-04,8.384864873e-01,7.017829364e-01,-1.299508232e-04,8.385000676e-01,7.019740684e-01,-1.296757750e-04,8.273333391e-01
+40,2.746666667e+01,DOWN_FORCE_DETACH,1792672687896457965,2.515330347e-04,-1.313020580e-04,-2.343269872e-03,2.513327513e-04,-1.311129630e-04,-2.343244056e-03,2.507210336e-04,-1.310351643e-04,-2.341533040e-03,7.017894045e-01,-1.297510967e-04,8.383976713e-01,7.017892042e-01,-1.295620017e-04,8.383976971e-01,7.019801074e-01,-1.292774056e-04,8.272311555e-01
+41,2.820000000e+01,DOWN_FORCE_DETACH,1792672689294765182,2.539171638e-04,-1.394483764e-04,-2.466427511e-03,2.536058610e-04,-1.391331073e-04,-2.455772608e-03,2.526352366e-04,-1.390331514e-04,-2.454025360e-03,7.017917886e-01,-1.378974151e-04,8.382745137e-01,7.017914773e-01,-1.375821460e-04,8.382851686e-01,7.019820216e-01,-1.372753927e-04,8.271186632e-01
+42,2.885000000e+01,DOWN_FORCE_DETACH,1792672690558561959,2.581226933e-04,-1.475079195e-04,-2.580612271e-03,2.566822245e-04,-1.423527924e-04,-2.561378363e-03,2.555538571e-04,-1.422430947e-04,-2.559649760e-03,7.017959942e-01,-1.459569582e-04,8.381603289e-01,7.017945537e-01,-1.408018311e-04,8.381795628e-01,7.019849403e-01,-1.404853360e-04,8.270130388e-01
+43,2.945000000e+01,DOWN_FORCE_DETACH,1792672691754642375,2.586264930e-04,-1.499642353e-04,-2.697322360e-03,2.578108641e-04,-1.486547177e-04,-2.692101494e-03,2.561929779e-04,-1.485348153e-04,-2.690119530e-03,7.017964980e-01,-1.484132740e-04,8.380436188e-01,7.017956823e-01,-1.471037564e-04,8.380488397e-01,7.019855794e-01,-1.467770566e-04,8.268825690e-01
+44,3.003333333e+01,DOWN_FORCE_DETACH,1792672692921352209,2.575079223e-04,-1.546001219e-04,-2.831171417e-03,2.560193387e-04,-1.563338039e-04,-2.819975503e-03,2.540149980e-04,-1.561833763e-04,-2.817838056e-03,7.017953794e-01,-1.530491606e-04,8.379097698e-01,7.017938908e-01,-1.547828426e-04,8.379209657e-01,7.019834014e-01,-1.544256176e-04,8.267548505e-01
+45,3.058333333e+01,DOWN_FORCE_DETACH,1792672693986733730,2.632321432e-04,-1.535970395e-04,-2.949546336e-03,2.628318188e-04,-1.494004305e-04,-2.930096189e-03,2.605597835e-04,-1.492710521e-04,-2.927949979e-03,7.018011036e-01,-1.520460781e-04,8.377913949e-01,7.018007033e-01,-1.478494692e-04,8.378108450e-01,7.019899462e-01,-1.475132934e-04,8.266447386e-01
+46,3.113333333e+01,DOWN_FORCE_DETACH,1792672695016762912,2.685902607e-04,-1.540235297e-04,-3.082635651e-03,2.659006254e-04,-1.570066046e-04,-3.063314703e-03,2.632461206e-04,-1.568299633e-04,-3.061002603e-03,7.018064617e-01,-1.524725684e-04,8.376583055e-01,7.018037721e-01,-1.554556433e-04,8.376776265e-01,7.019926325e-01,-1.550722046e-04,8.265116859e-01
+47,3.161666667e+01,DOWN_FORCE_DETACH,1792672695947326006,2.667266729e-04,-1.576941937e-04,-3.219384701e-03,2.653628551e-04,-1.585179067e-04,-3.202392887e-03,2.621747921e-04,-1.583432303e-04,-3.199890340e-03,7.018045982e-01,-1.561432324e-04,8.375215565e-01,7.018032343e-01,-1.569669454e-04,8.375385483e-01,7.019915612e-01,-1.565854716e-04,8.263727982e-01
+48,3.211666667e+01,DOWN_FORCE_DETACH,1792672696878839285,2.709814483e-04,-1.658137770e-04,-3.362441691e-03,2.670875843e-04,-1.603022290e-04,-3.344025912e-03,2.634922902e-04,-1.601533628e-04,-3.341379803e-03,7.018088529e-01,-1.642628157e-04,8.373784995e-01,7.018049591e-01,-1.587512676e-04,8.373969153e-01,7.019928787e-01,-1.583956041e-04,8.262313087e-01
+49,3.253333333e+01,DOWN_FORCE_DETACH,1792672697676916310,2.713646481e-04,-1.660091552e-04,-3.502286068e-03,2.687652328e-04,-1.697865477e-04,-3.484704837e-03,2.647471689e-04,-1.695953795e-04,-3.481869424e-03,7.018092361e-01,-1.644581939e-04,8.372386551e-01,7.018066367e-01,-1.682355864e-04,8.372562364e-01,7.019941336e-01,-1.678376208e-04,8.260908191e-01
+50,3.298333333e+01,DOWN_FORCE_DETACH,1792672698543621288,2.717643370e-04,-1.711863922e-04,-3.668716583e-03,2.713679834e-04,-1.694648807e-04,-3.649591534e-03,2.667876692e-04,-1.692744450e-04,-3.646574466e-03,7.018096358e-01,-1.696354308e-04,8.370722246e-01,7.018092395e-01,-1.679139194e-04,8.370913497e-01,7.019961741e-01,-1.675166863e-04,8.259261141e-01
+51,3.340000000e+01,DOWN_FORCE_DETACH,1792672699373517892,2.781395530e-04,-1.739446891e-04,-3.842783808e-03,2.766056257e-04,-1.760020125e-04,-3.836769912e-03,2.714657433e-04,-1.758094898e-04,-3.833303457e-03,7.018160110e-01,-1.723937278e-04,8.368981574e-01,7.018144771e-01,-1.744510512e-04,8.369041713e-01,7.020008521e-01,-1.740517311e-04,8.257393851e-01
+52,3.378333333e+01,DOWN_FORCE_DETACH,1792672700139628518,2.810959006e-04,-1.794035948e-04,-4.010139057e-03,2.808710632e-04,-1.792674574e-04,-4.009819127e-03,2.752099825e-04,-1.791095985e-04,-4.006108225e-03,7.018189674e-01,-1.778526335e-04,8.367308021e-01,7.018187425e-01,-1.777164961e-04,8.367311221e-01,7.020045964e-01,-1.773518398e-04,8.255665803e-01
+53,3.410000000e+01,DOWN_FORCE_DETACH,1792672700771413357,2.733884818e-04,-1.850955871e-04,-4.167792729e-03,2.729271572e-04,-1.882406419e-04,-4.151255269e-03,2.665856749e-04,-1.880121135e-04,-4.147388675e-03,7.018112600e-01,-1.835446258e-04,8.365731485e-01,7.018107986e-01,-1.866896806e-04,8.365896859e-01,7.019959721e-01,-1.862543548e-04,8.254252999e-01
+54,3.443333333e+01,DOWN_FORCE_DETACH,1792672701437776821,2.624610619e-04,-1.910303164e-04,-4.358153045e-03,2.623209664e-04,-1.907786720e-04,-4.358186464e-03,2.549928177e-04,-1.905275544e-04,-4.354001459e-03,7.018003325e-01,-1.894793551e-04,8.363827881e-01,7.018001924e-01,-1.892277106e-04,8.363827547e-01,7.019843792e-01,-1.887697957e-04,8.252186871e-01
+55,3.473333333e+01,DOWN_FORCE_DETACH,1792672702001769822,2.586092327e-04,-1.970131401e-04,-4.521267427e-03,2.577166175e-04,-1.954322602e-04,-4.503542732e-03,2.497336720e-04,-1.951341102e-04,-4.499308550e-03,7.017964807e-01,-1.954621788e-04,8.362196738e-01,7.017955881e-01,-1.938812989e-04,8.362373985e-01,7.019791201e-01,-1.933763515e-04,8.250733800e-01
+56,3.498333333e+01,DOWN_FORCE_DETACH,1792672702499627488,2.920992788e-04,-2.040207173e-04,-4.637130819e-03,2.920190796e-04,-2.016690736e-04,-4.628742390e-03,2.843848717e-04,-2.013593878e-04,-4.624515220e-03,7.018299708e-01,-2.024697560e-04,8.361038104e-01,7.018298906e-01,-2.001181123e-04,8.361121988e-01,7.020137713e-01,-1.996016291e-04,8.249481733e-01
+57,3.523333333e+01,DOWN_FORCE_DETACH,1792672702967478482,2.857582489e-04,-1.971473146e-04,-4.798300869e-03,2.856250820e-04,-1.970470094e-04,-4.797902362e-03,2.772665556e-04,-1.967511297e-04,-4.793304480e-03,7.018236297e-01,-1.955963533e-04,8.359426403e-01,7.018234966e-01,-1.954960481e-04,8.359430388e-01,7.020066530e-01,-1.949933710e-04,8.247793841e-01
+58,3.550000000e+01,DOWN_FORCE_DETACH,1792672703465994106,2.801002205e-04,-2.045057952e-04,-4.970689591e-03,2.810206020e-04,-2.061934748e-04,-4.962042316e-03,2.719625714e-04,-2.058524367e-04,-4.957341932e-03,7.018179717e-01,-2.029548339e-04,8.357702516e-01,7.018188921e-01,-2.046425135e-04,8.357788989e-01,7.020013490e-01,-2.040946780e-04,8.246153466e-01
+59,3.603333333e+01,DOWN_PEAK_HOLD,1792672704463769386,2.642178712e-04,-2.024198457e-04,-5.103992483e-03,2.667883632e-04,-2.042614610e-04,-5.097184864e-03,2.569543143e-04,-2.038963465e-04,-5.093505728e-03,7.018020894e-01,-2.008688843e-04,8.356369487e-01,7.018046598e-01,-2.027104997e-04,8.356437563e-01,7.019863407e-01,-2.021385878e-04,8.244791828e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f3c52672e576ca8738d369b5e40135d85cf64958
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-5.1123e-03,6.7446e-04,2.4537e+00,-3.6820e-02,3.6419e-02,-3.0260e-06,2.2143e-04,-1.2034e-06,8.3447e-05,3.2783e-07,1.5497e-05,-1.1074e-08,2.3664e-04,1.5501e-05
+1,8.5000e-01,DOWN_FORCE_DETACH,1.9054e-04,7.9979e-03,6.8400e-03,2.4691e+00,-3.7242e-02,3.7330e-02,8.7311e-08,1.3332e-02,6.1643e-03,1.5438e-02,-4.2196e-04,9.2689e-04,3.1022e-06,2.1308e-02,1.0184e-03
+2,1.6167e+00,DOWN_FORCE_DETACH,3.7749e-04,1.1191e-02,1.1991e-02,2.4945e+00,-3.7594e-02,3.7537e-02,2.2155e-07,1.6524e-02,1.1315e-02,4.0910e-02,-7.7406e-04,1.1336e-03,3.2365e-06,4.5549e-02,1.3727e-03
+3,2.4333e+00,DOWN_FORCE_DETACH,5.7284e-04,1.2013e-02,1.5047e-02,2.5020e+00,-3.7798e-02,3.7593e-02,-5.2927e-06,1.7346e-02,1.4371e-02,4.8324e-02,-9.7800e-04,1.1893e-03,-2.2778e-06,5.3317e-02,1.5398e-03
+4,3.2000e+00,DOWN_FORCE_DETACH,7.5822e-04,1.5456e-02,1.5487e-02,2.4948e+00,-3.7820e-02,3.7844e-02,-1.5481e-05,2.0789e-02,1.4812e-02,4.1173e-02,-9.9943e-04,1.4410e-03,-1.2466e-05,4.8444e-02,1.7537e-03
+5,4.0333e+00,DOWN_FORCE_DETACH,9.5086e-04,1.8305e-02,1.7630e-02,2.4943e+00,-3.7958e-02,3.8049e-02,-2.5295e-05,2.3638e-02,1.6955e-02,4.0701e-02,-1.1379e-03,1.6458e-03,-2.2280e-05,5.0028e-02,2.0010e-03
+6,4.9500e+00,DOWN_FORCE_DETACH,1.1410e-03,2.1909e-02,1.9634e-02,2.4989e+00,-3.8090e-02,3.8302e-02,-3.5126e-05,2.7243e-02,1.8959e-02,4.5258e-02,-1.2695e-03,1.8984e-03,-3.2111e-05,5.6123e-02,2.2840e-03
+7,5.7000e+00,DOWN_FORCE_DETACH,1.3301e-03,2.3473e-02,2.2885e-02,2.4995e+00,-3.8317e-02,3.8411e-02,-3.8532e-05,2.8807e-02,2.2209e-02,4.5907e-02,-1.4963e-03,2.0078e-03,-3.5517e-05,5.8571e-02,2.5043e-03
+8,6.2167e+00,DOWN_FORCE_DETACH,1.5243e-03,8.5203e-03,2.1296e-02,2.4827e+00,-3.8210e-02,3.7368e-02,-4.0731e-05,1.3854e-02,2.0620e-02,2.9063e-02,-1.3902e-03,9.6485e-04,-3.7716e-05,3.8233e-02,1.6926e-03
+9,6.9667e+00,DOWN_FORCE_DETACH,1.7110e-03,1.4979e-02,2.3901e-02,2.5024e+00,-3.8401e-02,3.7807e-02,-4.0537e-05,2.0313e-02,2.3225e-02,4.8726e-02,-1.5804e-03,1.4036e-03,-3.7522e-05,5.7673e-02,2.1141e-03
+10,7.7000e+00,DOWN_FORCE_DETACH,1.9032e-03,1.6211e-02,2.6084e-02,2.5001e+00,-3.8567e-02,3.7893e-02,-3.8977e-05,2.1545e-02,2.5408e-02,4.6504e-02,-1.7470e-03,1.4895e-03,-3.5962e-05,5.7205e-02,2.2961e-03
+11,8.4167e+00,DOWN_FORCE_DETACH,2.0956e-03,1.6116e-02,2.7941e-02,2.4989e+00,-3.8717e-02,3.7886e-02,-3.6498e-05,2.1449e-02,2.7265e-02,4.5221e-02,-1.8968e-03,1.4822e-03,-3.3483e-05,5.6995e-02,2.4075e-03
+12,9.1000e+00,DOWN_FORCE_DETACH,2.2853e-03,1.3308e-02,3.0038e-02,2.5045e+00,-3.8881e-02,3.7684e-02,-3.1723e-05,1.8642e-02,2.9363e-02,5.0912e-02,-2.0612e-03,1.2801e-03,-2.8708e-05,6.1658e-02,2.4266e-03
+13,9.5500e+00,DOWN_FORCE_DETACH,2.4658e-03,1.2992e-02,2.8239e-02,2.5098e+00,-3.8765e-02,3.7658e-02,-3.1360e-05,1.8326e-02,2.7563e-02,5.6149e-02,-1.9443e-03,1.2543e-03,-2.8346e-05,6.5179e-02,2.3140e-03
+14,9.7833e+00,DOWN_FORCE_DETACH,2.6647e-03,1.3306e-02,3.0162e-02,2.5087e+00,-3.8902e-02,3.7681e-02,-2.8326e-05,1.8640e-02,2.9486e-02,5.5083e-02,-2.0818e-03,1.2772e-03,-2.5311e-05,6.5200e-02,2.4425e-03
+15,1.0083e+01,DOWN_FORCE_DETACH,2.8551e-03,1.2100e-02,3.0481e-02,2.5087e+00,-3.8928e-02,3.7596e-02,-2.5566e-05,1.7434e-02,2.9805e-02,5.5051e-02,-2.1081e-03,1.1924e-03,-2.2551e-05,6.4984e-02,2.4221e-03
+16,1.0617e+01,DOWN_FORCE_DETACH,3.0473e-03,1.3933e-02,3.6502e-02,2.5087e+00,-3.9350e-02,3.7725e-02,-2.1538e-05,1.9267e-02,3.5826e-02,5.5089e-02,-2.5300e-03,1.3214e-03,-1.8523e-05,6.8481e-02,2.8544e-03
+17,1.1333e+01,DOWN_FORCE_DETACH,3.2326e-03,1.4853e-02,3.6240e-02,2.5031e+00,-3.9329e-02,3.7793e-02,-2.6145e-05,2.0187e-02,3.5564e-02,4.9451e-02,-2.5091e-03,1.3900e-03,-2.3130e-05,6.4170e-02,2.8685e-03
+18,1.2083e+01,DOWN_FORCE_DETACH,3.4252e-03,1.5240e-02,3.6721e-02,2.5048e+00,-3.9355e-02,3.7819e-02,-3.5288e-05,2.0574e-02,3.6045e-02,5.1209e-02,-2.5348e-03,1.4156e-03,-3.2273e-05,6.5916e-02,2.9034e-03
+19,1.2783e+01,DOWN_FORCE_DETACH,3.6119e-03,1.5784e-02,3.7442e-02,2.5063e+00,-3.9397e-02,3.7856e-02,-4.5862e-05,2.1118e-02,3.6766e-02,5.2665e-02,-2.5770e-03,1.4528e-03,-4.2847e-05,6.7612e-02,2.9586e-03
+20,1.3550e+01,DOWN_FORCE_DETACH,3.8034e-03,1.7120e-02,3.3148e-02,2.5078e+00,-3.9093e-02,3.7949e-02,-6.1598e-05,2.2454e-02,3.2472e-02,5.4119e-02,-2.2731e-03,1.5460e-03,-5.8583e-05,6.6989e-02,2.7496e-03
+21,1.4233e+01,DOWN_FORCE_DETACH,3.9936e-03,1.8929e-02,3.4579e-02,2.5107e+00,-3.9191e-02,3.8074e-02,-6.6544e-05,2.4263e-02,3.3903e-02,5.7040e-02,-2.3703e-03,1.6705e-03,-6.3529e-05,7.0651e-02,2.9005e-03
+22,1.5000e+01,DOWN_FORCE_DETACH,4.1854e-03,2.0695e-02,3.1955e-02,2.5021e+00,-3.9005e-02,3.8201e-02,-7.3141e-05,2.6029e-02,3.1280e-02,4.8429e-02,-2.1847e-03,1.7980e-03,-7.0126e-05,6.3256e-02,2.8303e-03
+23,1.5717e+01,DOWN_FORCE_DETACH,4.3765e-03,1.9831e-02,3.0786e-02,2.5042e+00,-3.8916e-02,3.8135e-02,-7.4225e-05,2.5164e-02,3.0111e-02,5.0580e-02,-2.0958e-03,1.7312e-03,-7.1210e-05,6.4017e-02,2.7193e-03
+24,1.6450e+01,DOWN_FORCE_DETACH,4.5653e-03,1.9061e-02,2.8923e-02,2.5061e+00,-3.8777e-02,3.8076e-02,-7.4312e-05,2.4395e-02,2.8248e-02,5.2466e-02,-1.9566e-03,1.6725e-03,-7.1297e-05,6.4387e-02,2.5750e-03
+25,1.7100e+01,DOWN_FORCE_DETACH,4.7551e-03,1.8811e-02,3.1779e-02,2.5085e+00,-3.8964e-02,3.8055e-02,-6.8879e-05,2.4145e-02,3.1103e-02,5.4873e-02,-2.1438e-03,1.6515e-03,-6.5864e-05,6.7538e-02,2.7069e-03
+26,1.7783e+01,DOWN_FORCE_DETACH,4.9460e-03,1.9459e-02,3.0989e-02,2.5124e+00,-3.8896e-02,3.8096e-02,-6.7301e-05,2.4792e-02,3.0313e-02,5.8780e-02,-2.0755e-03,1.6926e-03,-6.4286e-05,7.0630e-02,2.6790e-03
+27,1.8533e+01,DOWN_FORCE_DETACH,5.1347e-03,1.9553e-02,3.3965e-02,2.5104e+00,-3.9093e-02,3.8103e-02,-6.3694e-05,2.4887e-02,3.3289e-02,5.6748e-02,-2.2732e-03,1.6997e-03,-6.0679e-05,7.0341e-02,2.8390e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_09/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..7ffbe70d76481d241c2d3c322eec1118be72ed37
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d938a306b036272db79285bfa45deacbfd0c5d62c0dc8ff0c1c6b23f6588426
+size 16599040
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..6ffb2de7374cab759079b253c6ab0b7c4f3e5401
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..11e721049b52f98766e810a6dc80fcad0d67884f
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..8d0c8ad0ef469e5a574c153c22fe59d30c6d11a5
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3fad52dfe79ea138d344c6fd137f47dcfb50890f
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/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,1792672615179203933,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,0.000000000e+00,4.920215790e-09,6.791931080e-11,1.624782087e-09,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017293914e-01,1.757821695e-06,8.295726901e-01
+1,1.000000000e-01,XJC_ZERO_HOLD_BEFORE_UP,1792672615379206364,1.528450705e-06,-7.000449069e-07,2.997340183e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,3.375313962e-08,4.825404416e-10,1.123491122e-08,7.015393999e-01,8.509164142e-07,8.407439385e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294202e-01,1.758236316e-06,8.295726997e-01
+2,2.000000000e-01,WAIT_W2,1792672615579180981,8.102680922e-07,1.040752198e-07,2.330542194e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,6.142700304e-08,8.614363806e-10,2.059903359e-08,7.015386817e-01,1.655036541e-06,8.407432717e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294479e-01,1.758615212e-06,8.295727091e-01
+3,3.500000000e-01,WAIT_W2,1792672615877365073,2.931740387e-06,-1.793080779e-06,6.075625499e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.008299186e-07,1.432457630e-09,3.410552440e-08,7.015408032e-01,-2.421194575e-07,8.407470168e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017294873e-01,1.759186233e-06,8.295727226e-01
+4,4.500000000e-01,WAIT_W2,1792672616077330331,2.638526082e-06,-5.821921930e-06,3.553564341e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.257497109e-07,1.771097113e-09,4.274477150e-08,7.015405100e-01,-4.270960609e-06,8.407444948e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295122e-01,1.759524873e-06,8.295727312e-01
+5,5.833333333e-01,WAIT_W2,1792672616343468685,1.835854406e-06,-5.524453038e-06,4.045348181e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.573831905e-07,2.175223087e-09,5.380202106e-08,7.015397073e-01,-3.973491717e-06,8.407449865e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295438e-01,1.759928999e-06,8.295727423e-01
+6,7.166666667e-01,WAIT_W2,1792672616609307769,5.231180169e-07,-6.998652879e-06,3.525380353e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,1.872796560e-07,2.537087790e-09,6.432839661e-08,7.015383946e-01,-5.447691558e-06,8.407444666e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017295737e-01,1.760290863e-06,8.295727528e-01
+7,8.500000000e-01,WAIT_W2,1792672616875402028,3.575667117e-06,-8.046091689e-06,7.030385673e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.155173677e-07,2.905219712e-09,7.433697635e-08,7.015414471e-01,-6.495130368e-06,8.407479716e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296020e-01,1.760658995e-06,8.295727628e-01
+8,9.833333333e-01,WAIT_W2,1792672617141397749,2.656479728e-06,5.555036762e-06,6.292022864e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.422137890e-07,3.228992296e-09,8.385010819e-08,7.015405280e-01,7.105998083e-06,8.407472332e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296287e-01,1.760982768e-06,8.295727723e-01
+9,1.033333333e+00,WAIT_W2,1792672617243332451,3.824969919e-06,-7.514182441e-07,1.093913332e-05,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.518471796e-07,3.337581399e-09,8.729706602e-08,7.015416965e-01,7.995430770e-07,8.407518803e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296383e-01,1.761091357e-06,8.295727758e-01
+10,1.116666667e+00,WAIT_W2,1792672617407285994,7.160254099e-07,7.507874762e-06,6.767893893e-06,0.000000000e+00,0.000000000e+00,0.000000000e+00,2.674584920e-07,3.517585204e-09,9.288221592e-08,7.015385875e-01,9.058836083e-06,8.407477091e-01,7.015378715e-01,1.550961321e-06,8.407409412e-01,7.017296539e-01,1.761271361e-06,8.295727813e-01
+11,1.200000000e+00,WAIT_W2,1792672617575356353,1.744490916e-06,1.417474141e-05,8.665584591e-06,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.119677513e-06,1.532586313e-05,1.283121586e-05,7.015396160e-01,1.572570273e-05,8.407496068e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355061e-01,1.708361691e-05,8.295855197e-01
+12,1.300000000e+00,WAIT_W2,1792672617775372118,3.771558712e-06,1.984421566e-05,8.422327926e-06,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.141019204e-06,1.532844259e-05,1.284719040e-05,7.015416430e-01,2.139517698e-05,8.407493635e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355275e-01,1.708619637e-05,8.295855357e-01
+13,1.400000000e+00,WAIT_W2,1792672617975690204,4.830228857e-06,2.889905256e-05,1.033422630e-05,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.160320530e-06,1.532969574e-05,1.285942600e-05,7.015427017e-01,3.045001388e-05,8.407512754e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355468e-01,1.708744952e-05,8.295855479e-01
+14,1.450000000e+00,WAIT_W2,1792672618073852616,2.411844622e-06,2.548423758e-05,4.755473705e-06,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.169542729e-06,1.533011336e-05,1.286499494e-05,7.015402833e-01,2.703519890e-05,8.407456967e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355560e-01,1.708786713e-05,8.295855535e-01
+15,1.533333333e+00,WAIT_W2,1792672618239391516,2.446022748e-06,2.088281218e-05,8.177224747e-06,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.184396384e-06,1.533064545e-05,1.287374914e-05,7.015403175e-01,2.243377350e-05,8.407491184e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355709e-01,1.708839923e-05,8.295855622e-01
+16,1.600000000e+00,WAIT_W2,1792672618371638179,4.231672637e-06,1.555876223e-05,1.191447832e-05,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.195845095e-06,1.533097057e-05,1.288038140e-05,7.015421032e-01,1.710972355e-05,8.407528557e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355823e-01,1.708872434e-05,8.295855688e-01
+17,1.666666667e+00,WAIT_W2,1792672618507459876,3.657920283e-06,1.138982657e-05,8.417467997e-06,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.206958174e-06,1.533122779e-05,1.288674531e-05,7.015415294e-01,1.294078789e-05,8.407493587e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017355934e-01,1.708898156e-05,8.295855752e-01
+18,1.783333333e+00,WAIT_W2,1792672618721548345,4.374784863e-06,7.722020621e-06,1.035942282e-05,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.225637159e-06,1.533158536e-05,1.289734101e-05,7.015422463e-01,9.272981942e-06,8.407513006e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017356121e-01,1.708933914e-05,8.295855858e-01
+19,1.883333333e+00,WAIT_W2,1792672618905478171,3.957971190e-06,-3.138333279e-06,1.041036696e-05,5.693959810e-06,1.532712067e-05,1.285029611e-05,6.240906988e-06,1.533182404e-05,1.290594253e-05,7.015418295e-01,-1.587371958e-06,8.407513516e-01,7.015435654e-01,1.687808199e-05,8.407537915e-01,7.017356274e-01,1.708957781e-05,8.295855944e-01
+20,1.966666667e+00,UP_FORCE_RAMP,1792672619071819574,3.962792746e-06,-7.966986839e-06,1.153107346e-05,6.025376279e-06,-5.425848685e-06,1.356712236e-05,6.601477854e-06,-5.402343577e-06,1.365295230e-05,7.015418343e-01,-6.416025518e-06,8.407524723e-01,7.015438969e-01,-3.874887363e-06,8.407545083e-01,7.017359879e-01,-3.644589802e-06,8.295863414e-01
+21,2.066666667e+00,UP_FORCE_RAMP,1792672619271664077,3.499082551e-06,-1.695475957e-05,1.061720182e-05,6.025376279e-06,-5.425848685e-06,1.356712236e-05,6.615758352e-06,-5.404521123e-06,1.366124476e-05,7.015413706e-01,-1.540379825e-05,8.407515584e-01,7.015438969e-01,-3.874887363e-06,8.407545083e-01,7.017360022e-01,-3.646767348e-06,8.295863497e-01
+22,2.166666667e+00,UP_FORCE_RAMP,1792672619435448669,4.445861493e-06,-1.853061734e-05,1.085940952e-05,6.025376279e-06,-5.425848685e-06,1.356712236e-05,6.629406691e-06,-5.405507152e-06,1.366915471e-05,7.015423173e-01,-1.697965602e-05,8.407518006e-01,7.015438969e-01,-3.874887363e-06,8.407545083e-01,7.017360159e-01,-3.647753376e-06,8.295863576e-01
+23,2.283333333e+00,UP_FORCE_RAMP,1792672619669602396,3.340287120e-06,-3.371437467e-05,1.241759856e-05,3.586450689e-06,-2.638769241e-05,1.045446553e-05,4.128394747e-06,-2.637769342e-05,1.059513073e-05,7.015412118e-01,-3.216341335e-05,8.407533588e-01,7.015414579e-01,-2.483673108e-05,8.407513957e-01,7.017335149e-01,-2.461993965e-05,8.295832836e-01
+24,2.350000000e+00,UP_FORCE_RAMP,1792672619803756688,2.071953871e-06,-3.017946594e-05,9.028525237e-06,3.586450689e-06,-2.638769241e-05,1.045446553e-05,4.135604683e-06,-2.637997961e-05,1.059834227e-05,7.015399434e-01,-2.862850462e-05,8.407499697e-01,7.015414579e-01,-2.483673108e-05,8.407513957e-01,7.017335221e-01,-2.462222583e-05,8.295832868e-01
+25,2.450000000e+00,UP_FORCE_RAMP,1792672619994216982,1.662204785e-06,-3.975876035e-05,1.048749724e-05,3.586450689e-06,-2.638769241e-05,1.045446553e-05,4.146543376e-06,-2.638172501e-05,1.060372398e-05,7.015395337e-01,-3.820779903e-05,8.407514287e-01,7.015414579e-01,-2.483673108e-05,8.407513957e-01,7.017335330e-01,-2.462397124e-05,8.295832922e-01
+26,2.533333333e+00,UP_FORCE_RAMP,1792672620135556911,3.972875742e-06,-3.734478178e-05,1.272806951e-05,3.586450689e-06,-2.638769241e-05,1.045446553e-05,4.155405573e-06,-2.638252687e-05,1.060825956e-05,7.015418444e-01,-3.579382046e-05,8.407536693e-01,7.015414579e-01,-2.483673108e-05,8.407513957e-01,7.017335419e-01,-2.462477309e-05,8.295832967e-01
+27,2.633333333e+00,UP_FORCE_RAMP,1792672620335414583,1.822514909e-06,-4.434925598e-05,9.740381552e-06,3.586450689e-06,-2.638769241e-05,1.045446553e-05,4.165708548e-06,-2.638309862e-05,1.061359643e-05,7.015396940e-01,-4.279829466e-05,8.407506816e-01,7.015414579e-01,-2.483673108e-05,8.407513957e-01,7.017335522e-01,-2.462534485e-05,8.295833021e-01
+28,2.733333333e+00,UP_FORCE_RAMP,1792672620535563626,-8.330333887e-07,-4.954240006e-05,7.399229896e-06,2.267605455e-06,-4.700927873e-05,1.086442011e-05,2.883285445e-06,-4.698695568e-05,1.099904117e-05,7.015370384e-01,-4.799143874e-05,8.407483404e-01,7.015401391e-01,-4.545831741e-05,8.407518056e-01,7.017322697e-01,-4.522920191e-05,8.295836875e-01
+29,2.816666667e+00,UP_FORCE_RAMP,1792672620667605512,1.214490463e-07,-5.457905160e-05,9.028270047e-06,2.267605455e-06,-4.700927873e-05,1.086442011e-05,2.890723669e-06,-4.698888527e-05,1.100331536e-05,7.015379929e-01,-5.302809027e-05,8.407499695e-01,7.015401391e-01,-4.545831741e-05,8.407518056e-01,7.017322772e-01,-4.523113150e-05,8.295836918e-01
+30,2.900000000e+00,UP_FORCE_RAMP,1792672620835430544,-2.737163348e-06,-5.627835889e-05,8.704597527e-06,2.267605455e-06,-4.700927873e-05,1.086442011e-05,2.897974589e-06,-4.698996036e-05,1.100749051e-05,7.015351343e-01,-5.472739757e-05,8.407496458e-01,7.015401391e-01,-4.545831741e-05,8.407518056e-01,7.017322844e-01,-4.523220658e-05,8.295836960e-01
+31,2.983333333e+00,UP_FORCE_RAMP,1792672621001527884,-9.435069601e-07,-5.713007671e-05,1.452543973e-05,2.267605455e-06,-4.700927873e-05,1.086442011e-05,2.905010396e-06,-4.699062499e-05,1.101152312e-05,7.015369280e-01,-5.557911539e-05,8.407554666e-01,7.015401391e-01,-4.545831741e-05,8.407518056e-01,7.017322915e-01,-4.523287121e-05,8.295837000e-01
+32,3.050000000e+00,UP_FORCE_RAMP,1792672621133487021,-1.458284250e-06,-6.499650181e-05,1.872236446e-05,2.267605455e-06,-4.700927873e-05,1.086442011e-05,2.910483642e-06,-4.699098272e-05,1.101464238e-05,7.015364132e-01,-6.344554049e-05,8.407596636e-01,7.015401391e-01,-4.545831741e-05,8.407518056e-01,7.017322969e-01,-4.523322895e-05,8.295837031e-01
+33,3.133333333e+00,UP_FORCE_RAMP,1792672621267400272,-5.333839612e-06,-6.098768334e-05,2.055908906e-05,-3.095767884e-06,-6.529209917e-05,1.608821462e-05,-2.580493875e-06,-6.527672016e-05,1.621161181e-05,7.015325376e-01,-5.943672201e-05,8.407615003e-01,7.015347757e-01,-6.374113785e-05,8.407570294e-01,7.017268060e-01,-6.351896638e-05,8.295889001e-01
+34,3.183333333e+00,UP_FORCE_RAMP,1792672621365529034,-6.443743799e-06,-6.756171896e-05,2.806955444e-05,-3.095767884e-06,-6.529209917e-05,1.608821462e-05,-2.578209848e-06,-6.527809085e-05,1.621550826e-05,7.015314277e-01,-6.601075764e-05,8.407690107e-01,7.015347757e-01,-6.374113785e-05,8.407570294e-01,7.017268082e-01,-6.352033708e-05,8.295889040e-01
+35,3.250000000e+00,UP_FORCE_RAMP,1792672621499511943,-8.813990776e-06,-6.755398271e-05,4.169541911e-05,-7.865965069e-06,-6.781348040e-05,3.640316299e-05,-7.389581347e-06,-6.780190636e-05,3.634936388e-05,7.015290575e-01,-6.600302139e-05,8.407826366e-01,7.015300055e-01,-6.626251908e-05,8.407773444e-01,7.017219969e-01,-6.604415259e-05,8.296090378e-01
+36,3.316666667e+00,UP_FORCE_RAMP,1792672621633579415,-8.542462626e-06,-7.095888638e-05,5.287225206e-05,-7.865965069e-06,-6.781348040e-05,3.640316299e-05,-7.388523571e-06,-6.780279732e-05,3.636477703e-05,7.015293290e-01,-6.940792506e-05,8.407938134e-01,7.015300055e-01,-6.626251908e-05,8.407773444e-01,7.017219979e-01,-6.604504355e-05,8.296090532e-01
+37,3.400000000e+00,UP_FORCE_RAMP,1792672621799588451,-6.597480764e-06,-7.243594366e-05,6.153051415e-05,-5.453438923e-06,-7.162648324e-05,5.818283063e-05,-4.830585532e-06,-7.161326635e-05,5.795316981e-05,7.015312740e-01,-7.088498233e-05,8.408024717e-01,7.015324180e-01,-7.007552192e-05,8.407991240e-01,7.017245559e-01,-6.985551258e-05,8.296306416e-01
+38,3.483333333e+00,UP_FORCE_RAMP,1792672621931654569,-3.432894791e-06,-7.583775305e-05,7.145250246e-05,-5.453438923e-06,-7.162648324e-05,5.818283063e-05,-4.826763578e-06,-7.161405113e-05,5.797659161e-05,7.015344386e-01,-7.428679173e-05,8.408123937e-01,7.015324180e-01,-7.007552192e-05,8.407991240e-01,7.017245597e-01,-6.985629736e-05,8.296306651e-01
+39,3.550000000e+00,UP_FORCE_RAMP,1792672622065515496,-2.294625790e-06,-7.154525663e-05,7.669321439e-05,-5.453438923e-06,-7.162648324e-05,5.818283063e-05,-4.823744722e-06,-7.161452798e-05,5.799231343e-05,7.015355769e-01,-6.999429530e-05,8.408176344e-01,7.015324180e-01,-7.007552192e-05,8.407991240e-01,7.017245627e-01,-6.985677420e-05,8.296306808e-01
+40,3.616666667e+00,UP_FORCE_RAMP,1792672622197868718,-5.875725301e-06,-6.970392131e-05,7.470764361e-05,-3.016661437e-06,-7.639806316e-05,7.841321485e-05,-2.275792781e-06,-7.637304256e-05,7.815297146e-05,7.015319958e-01,-6.815295999e-05,8.408156488e-01,7.015348548e-01,-7.484710184e-05,8.408193544e-01,7.017271107e-01,-7.461528879e-05,8.296508414e-01
+41,3.716666667e+00,UP_FORCE_RAMP,1792672622397716319,-2.920454372e-06,-6.949909981e-05,8.397105674e-05,-3.016661437e-06,-7.639806316e-05,7.841321485e-05,-2.269698352e-06,-7.637339573e-05,7.818784766e-05,7.015349510e-01,-6.794813848e-05,8.408249122e-01,7.015348548e-01,-7.484710184e-05,8.408193544e-01,7.017271168e-01,-7.461564195e-05,8.296508763e-01
+42,3.800000000e+00,UP_FORCE_RAMP,1792672622531813855,-1.572203909e-06,-7.551213171e-05,9.027361017e-05,-3.016661437e-06,-7.639806316e-05,7.841321485e-05,-2.265212203e-06,-7.637389916e-05,7.821164054e-05,7.015362993e-01,-7.396117038e-05,8.408312148e-01,7.015348548e-01,-7.484710184e-05,8.408193544e-01,7.017271212e-01,-7.461614539e-05,8.296509001e-01
+43,3.850000000e+00,UP_FORCE_RAMP,1792672622629740765,-1.469319227e-06,-7.731088932e-05,9.320275715e-05,-3.016661437e-06,-7.639806316e-05,7.841321485e-05,-2.262619482e-06,-7.637413825e-05,7.822467277e-05,7.015364022e-01,-7.575992800e-05,8.408341439e-01,7.015348548e-01,-7.484710184e-05,8.408193544e-01,7.017271238e-01,-7.461638447e-05,8.296509131e-01
+44,3.950000000e+00,UP_FORCE_RAMP,1792672622829610098,3.933402083e-07,-7.308406167e-05,1.020003638e-04,7.364925014e-08,-7.469241231e-05,9.983771366e-05,1.028872877e-06,-7.469814823e-05,9.946678111e-05,7.015382648e-01,-7.153310035e-05,8.408429416e-01,7.015379451e-01,-7.314145099e-05,8.408407789e-01,7.017304153e-01,-7.294039445e-05,8.296721552e-01
+45,4.033333333e+00,UP_FORCE_RAMP,1792672622995600213,5.514167770e-07,-7.112680134e-05,1.104710866e-04,7.364925014e-08,-7.469241231e-05,9.983771366e-05,1.034359054e-06,-7.469798117e-05,9.949780219e-05,7.015384229e-01,-6.957584001e-05,8.408514123e-01,7.015379451e-01,-7.314145099e-05,8.408407789e-01,7.017304208e-01,-7.294022739e-05,8.296721863e-01
+46,4.116666667e+00,UP_FORCE_RAMP,1792672623145651971,2.067435076e-06,-7.061879403e-05,1.192113596e-04,3.412437374e-06,-7.311441912e-05,1.195359197e-04,4.482352141e-06,-7.311759357e-05,1.191112399e-04,7.015399389e-01,-6.906783271e-05,8.408601525e-01,7.015412839e-01,-7.156345780e-05,8.408604771e-01,7.017338688e-01,-7.135983979e-05,8.296917997e-01
+47,4.200000000e+00,UP_FORCE_RAMP,1792672623295524304,4.327384100e-06,-7.525836788e-05,1.285449111e-04,3.412437374e-06,-7.311441912e-05,1.195359197e-04,4.489072762e-06,-7.311719146e-05,1.191483893e-04,7.015421989e-01,-7.370740656e-05,8.408694861e-01,7.015412839e-01,-7.156345780e-05,8.408604771e-01,7.017338755e-01,-7.135943769e-05,8.296918369e-01
+48,4.283333333e+00,UP_FORCE_RAMP,1792672623461708411,2.040795445e-06,-7.316959143e-05,1.297461004e-04,3.412437374e-06,-7.311441912e-05,1.195359197e-04,4.494834038e-06,-7.311703442e-05,1.191797987e-04,7.015399123e-01,-7.161863011e-05,8.408706873e-01,7.015412839e-01,-7.156345780e-05,8.408604771e-01,7.017338813e-01,-7.135928064e-05,8.296918683e-01
+49,4.350000000e+00,UP_FORCE_RAMP,1792672623596220110,3.961702815e-06,-7.156872448e-05,1.357733199e-04,3.412437374e-06,-7.311441912e-05,1.195359197e-04,4.499158048e-06,-7.311696754e-05,1.192026187e-04,7.015418332e-01,-7.001776316e-05,8.408767145e-01,7.015412839e-01,-7.156345780e-05,8.408604771e-01,7.017338856e-01,-7.135921377e-05,8.296918911e-01
+50,4.433333333e+00,UP_FORCE_RAMP,1792672623763910804,5.232466922e-06,-7.284188408e-05,1.414015449e-04,5.218456622e-06,-7.286789446e-05,1.416710631e-04,6.487151962e-06,-7.285687580e-05,1.411620565e-04,7.015431039e-01,-7.129092276e-05,8.408823427e-01,7.015430899e-01,-7.131693314e-05,8.408826123e-01,7.017358736e-01,-7.109912203e-05,8.297138505e-01
+51,4.516666667e+00,UP_FORCE_RAMP,1792672623927588486,1.722605193e-06,-7.012958444e-05,1.386628394e-04,5.218456622e-06,-7.286789446e-05,1.416710631e-04,6.494763547e-06,-7.285635516e-05,1.412147164e-04,7.015395941e-01,-6.857862312e-05,8.408796040e-01,7.015430899e-01,-7.131693314e-05,8.408826123e-01,7.017358812e-01,-7.109860139e-05,8.297139032e-01
+52,4.600000000e+00,UP_FORCE_RAMP,1792672624095963970,6.267957531e-08,-7.299162684e-05,1.436752663e-04,5.218456622e-06,-7.286789446e-05,1.416710631e-04,6.500088431e-06,-7.285615766e-05,1.412489775e-04,7.015379342e-01,-7.144066552e-05,8.408846165e-01,7.015430899e-01,-7.131693314e-05,8.408826123e-01,7.017358865e-01,-7.109840389e-05,8.297139374e-01
+53,4.750000000e+00,UP_FORCE_RAMP,1792672624394712007,-1.859974607e-06,-7.085675082e-05,1.500359516e-04,5.218456622e-06,-7.286789446e-05,1.416710631e-04,6.508886411e-06,-7.285604149e-05,1.413024124e-04,7.015360115e-01,-6.930578950e-05,8.408909771e-01,7.015430899e-01,-7.131693314e-05,8.408826123e-01,7.017358953e-01,-7.109828772e-05,8.297139909e-01
+54,4.850000000e+00,UP_FORCE_RAMP,1792672624593645506,-2.202775542e-06,-7.214787781e-05,1.572884983e-04,5.218456622e-06,-7.286789446e-05,1.416710631e-04,6.514249927e-06,-7.285601536e-05,1.413344391e-04,7.015356687e-01,-7.059691649e-05,8.408982297e-01,7.015430899e-01,-7.131693314e-05,8.408826123e-01,7.017359007e-01,-7.109826159e-05,8.297140229e-01
+55,4.966666667e+00,UP_FORCE_RAMP,1792672624827690304,-1.222469166e-06,-6.919545735e-05,1.685197636e-04,-2.671172813e-06,-7.123785723e-05,1.599426794e-04,-1.514114607e-06,-7.122382634e-05,1.594869909e-04,7.015366490e-01,-6.764449603e-05,8.409094610e-01,7.015352003e-01,-6.968689591e-05,8.409008839e-01,7.017278723e-01,-6.946607257e-05,8.297321755e-01
+56,5.066666667e+00,UP_FORCE_HOLD,1792672625028797367,-4.130827349e-06,-6.723458505e-05,1.756919470e-04,-2.671172813e-06,-7.123785723e-05,1.599426794e-04,-1.513492886e-06,-7.122359691e-05,1.595250796e-04,7.015337407e-01,-6.568362373e-05,8.409166331e-01,7.015352003e-01,-6.968689591e-05,8.409008839e-01,7.017278730e-01,-6.946584313e-05,8.297322135e-01
+57,5.166666667e+00,UP_FORCE_HOLD,1792672625224940367,-3.607746954e-06,-7.045976688e-05,1.808863236e-04,-2.067331591e-06,-7.031364255e-05,1.823705456e-04,-7.900638067e-07,-7.026922064e-05,1.818614611e-04,7.015342637e-01,-6.890880556e-05,8.409218275e-01,7.015358041e-01,-6.876268123e-05,8.409233117e-01,7.017285964e-01,-6.851146686e-05,8.297545499e-01
+58,5.233333333e+00,UP_SETTLE,1792672625359664703,-4.072545561e-06,-6.838583509e-05,1.855445721e-04,-2.067331591e-06,-7.031364255e-05,1.823705456e-04,-7.888671048e-07,-7.026880573e-05,1.818952345e-04,7.015337989e-01,-6.683487376e-05,8.409264858e-01,7.015358041e-01,-6.876268123e-05,8.409233117e-01,7.017285976e-01,-6.851105195e-05,8.297545837e-01
+59,5.283333333e+00,UP_SETTLE,1792672625457691522,-2.620704901e-06,-7.476832228e-05,1.905494834e-04,-2.067331591e-06,-7.031364255e-05,1.823705456e-04,-7.881053319e-07,-7.026872304e-05,1.819168316e-04,7.015352508e-01,-7.321736096e-05,8.409314907e-01,7.015358041e-01,-6.876268123e-05,8.409233117e-01,7.017285984e-01,-6.851096926e-05,8.297546053e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_09/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_09/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0f08a76ac9d98120c605922087aeb6dadd389db0
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_09/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-5.1098e-03,6.7435e-04,2.4537e+00,-3.6820e-02,3.6419e-02,-3.0446e-06,2.2140e-04,-1.2038e-06,8.3447e-05,3.3155e-07,1.5482e-05,-1.1147e-08,2.3660e-04,1.5486e-05
+1,1.0000e-01,XJC_ZERO_HOLD_BEFORE_UP,2.2213e-05,-3.8118e-03,6.6763e-04,2.4542e+00,-3.6818e-02,3.6510e-02,-3.1455e-06,1.5193e-03,-7.9292e-06,5.7697e-04,2.1867e-06,1.0628e-04,-1.1204e-07,1.6252e-03,1.0630e-04
+2,2.0000e-01,WAIT_W2,4.2984e-05,-2.5659e-03,6.6180e-04,2.4547e+00,-3.6816e-02,3.6597e-02,-3.3074e-06,2.7653e-03,-1.3761e-05,1.0571e-03,3.8929e-06,1.9340e-04,-2.7395e-07,2.9605e-03,1.9344e-04
+3,3.5000e-01,WAIT_W2,6.7134e-05,-7.9281e-04,6.5247e-04,2.4554e+00,-3.6814e-02,3.6721e-02,-3.6603e-06,4.5384e-03,-2.3090e-05,1.7519e-03,6.3367e-06,3.1736e-04,-6.2686e-07,4.8648e-03,3.1743e-04
+4,4.5000e-01,WAIT_W2,8.9566e-05,3.2856e-04,6.4531e-04,2.4558e+00,-3.6812e-02,3.6799e-02,-3.9582e-06,5.6598e-03,-3.0251e-05,2.1958e-03,7.9311e-06,3.9575e-04,-9.2473e-07,6.0709e-03,3.9583e-04
+5,5.8333e-01,WAIT_W2,1.1065e-04,1.7513e-03,6.3487e-04,2.4564e+00,-3.6810e-02,3.6899e-02,-4.4205e-06,7.0825e-03,-4.0687e-05,2.7642e-03,1.0025e-05,4.9519e-04,-1.3870e-06,7.6029e-03,4.9529e-04
+6,7.1667e-01,WAIT_W2,1.3350e-04,3.0962e-03,6.2417e-04,2.4569e+00,-3.6808e-02,3.6993e-02,-4.9485e-06,8.4274e-03,-5.1388e-05,3.3050e-03,1.2018e-05,5.8918e-04,-1.9151e-06,9.0524e-03,5.8930e-04
+7,8.5000e-01,WAIT_W2,1.5625e-04,4.3652e-03,6.1428e-04,2.4575e+00,-3.6806e-02,3.7081e-02,-5.5358e-06,9.6964e-03,-6.1280e-05,3.8192e-03,1.3851e-05,6.7786e-04,-2.5023e-06,1.0422e-02,6.7800e-04
+8,9.8333e-01,WAIT_W2,1.8047e-04,5.5665e-03,6.0485e-04,2.4579e+00,-3.6805e-02,3.7165e-02,-6.1593e-06,1.0898e-02,-7.0707e-05,4.3077e-03,1.5546e-05,7.6180e-04,-3.1258e-06,1.1718e-02,7.6196e-04
+9,1.0333e+00,WAIT_W2,1.9919e-04,6.0000e-03,6.0163e-04,2.4581e+00,-3.6804e-02,3.7196e-02,-6.3988e-06,1.1331e-02,-7.3923e-05,4.4842e-03,1.6138e-05,7.9209e-04,-3.3653e-06,1.2186e-02,7.9227e-04
+10,1.1167e+00,WAIT_W2,2.2339e-04,6.7019e-03,5.9608e-04,2.4584e+00,-3.6803e-02,3.7245e-02,-6.8060e-06,1.2033e-02,-7.9477e-05,4.7717e-03,1.7099e-05,8.4114e-04,-3.7725e-06,1.2945e-02,8.4132e-04
+11,1.2000e+00,WAIT_W2,2.4619e-04,5.2395e-03,-4.8964e-03,2.4534e+00,-3.6418e-02,3.7144e-02,-1.2000e-05,1.0571e-02,-5.5720e-03,-2.6894e-04,4.0261e-04,7.4088e-04,-8.9665e-06,1.1952e-02,8.4326e-04
+12,1.3000e+00,WAIT_W2,2.6302e-04,6.2653e-03,-4.7241e-03,2.4543e+00,-3.6429e-02,3.7216e-02,-1.2574e-05,1.1597e-02,-5.3996e-03,6.7139e-04,3.9105e-04,8.1241e-04,-9.5406e-06,1.2810e-02,9.0168e-04
+13,1.4000e+00,WAIT_W2,2.8949e-04,7.1369e-03,-4.6689e-03,2.4549e+00,-3.6433e-02,3.7277e-02,-1.3064e-05,1.2468e-02,-5.3444e-03,1.3144e-03,3.8774e-04,8.7322e-04,-1.0030e-05,1.3629e-02,9.5549e-04
+14,1.4500e+00,WAIT_W2,3.1403e-04,7.5523e-03,-4.6534e-03,2.4552e+00,-3.6433e-02,3.7306e-02,-1.3315e-05,1.2884e-02,-5.3290e-03,1.6041e-03,3.8694e-04,9.0220e-04,-1.0282e-05,1.4034e-02,9.8173e-04
+15,1.5333e+00,WAIT_W2,3.3187e-04,8.2205e-03,-4.6371e-03,2.4557e+00,-3.6434e-02,3.7352e-02,-1.3732e-05,1.3552e-02,-5.3126e-03,2.0580e-03,3.8623e-04,9.4879e-04,-1.0699e-05,1.4701e-02,1.0244e-03
+16,1.6000e+00,WAIT_W2,3.5897e-04,8.7353e-03,-4.6294e-03,2.4560e+00,-3.6434e-02,3.7388e-02,-1.4067e-05,1.4067e-02,-5.3050e-03,2.4009e-03,3.8604e-04,9.8469e-04,-1.1034e-05,1.5224e-02,1.0577e-03
+17,1.6667e+00,WAIT_W2,3.7785e-04,9.2351e-03,-4.6246e-03,2.4564e+00,-3.6434e-02,3.7423e-02,-1.4399e-05,1.4566e-02,-5.3002e-03,2.7294e-03,3.8603e-04,1.0195e-03,-1.1366e-05,1.5739e-02,1.0902e-03
+18,1.7833e+00,WAIT_W2,4.0274e-04,1.0075e-02,-4.6210e-03,2.4569e+00,-3.6434e-02,3.7482e-02,-1.4982e-05,1.5406e-02,-5.2965e-03,3.2754e-03,3.8629e-04,1.0781e-03,-1.1948e-05,1.6617e-02,1.1452e-03
+19,1.8833e+00,WAIT_W2,4.2276e-04,1.0762e-02,-4.6206e-03,2.4574e+00,-3.6434e-02,3.7530e-02,-1.5479e-05,1.6093e-02,-5.2961e-03,3.7184e-03,3.8666e-04,1.1259e-03,-1.2446e-05,1.7345e-02,1.1905e-03
+20,1.9667e+00,UP_FORCE_RAMP,4.4390e-04,1.1148e-02,2.6926e-03,2.4574e+00,-3.6945e-02,3.7557e-02,-9.2965e-06,1.6479e-02,2.0170e-03,3.7723e-03,-1.2512e-04,1.1530e-03,-6.2631e-06,1.7026e-02,1.1598e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_10/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..d70bb572a8d2fdb99bb099196ebdde658f0b8192
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3025a57e2a379dad7635eaff6dbb4a8dac927e219e2bc414ac0b8e04817d40b
+size 120217600
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..5d1661d88d5323dd9a1ec02eada12e8aa3193925
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a3a88f0cedc9c2e6a0c04bdff90f61f1265da6e0
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+91077,1792672738096377131,41278392000000,1792672738091027991,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676065581847314,-0.004579361664160415,0.0906992548079856,0.9999999931129634,-1.534584901173005e-05,-5.059003816750576e-05,-4.921473956752527e-05,0.6761,-0.00453,0.09073205246830213,1.0,0.0,0.0,0.0,0.09549489082124213,0.10914695735604607,0.3246461260225442,0.00844578330375587,-0.006640089643182287,0.0007714663833349717,0.40039939253920687,0.3846870656114558,0.23364068166086063,0.025266079838027273,-0.02992608348034208,0.000708150240354364,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.13108808502631958,0.4966903929047012,0.7902011583417904,0.0361375689781457,-0.45228383371569364,0.24705945805056947,1.203644884152231,0.3246461260225442,0.41344372581044053,0.41344372581044053,0.47894000000002473,0,0,-3.809849878127837e-05,-7.827164799424817e-05
+91277,1792672739763352794,41280059000000,1792672739759028233,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.6760617935150013,-0.004581556217532047,0.09064402616713287,0.9999999935814208,-9.515639919189433e-06,-5.405207018601373e-05,-3.5606870553196565e-05,0.6761,-0.00453,0.0906668294276384,1.0,0.0,0.0,0.0,0.08629763091228604,0.11034282601752093,0.40479034947623604,0.008061808886837413,-0.006650472129632965,0.0007014286967315325,0.3912021326302508,0.3858829342729307,0.3137849051145525,0.024882105421108816,-0.02993646596679276,0.0006381125537509248,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.18599673341348438,0.47663045525262243,0.6595338256456481,0.07003828243274346,-0.3670922029787171,0.2301580458937385,1.203644884152231,0.40479034947623604,0.5441110585065828,0.5441110585065828,0.5956300000000488,0,0,-3.7278980110769235e-05,1.2280010761040589e-05
+91436,1792672741088469636,41281384000000,1792672741087018309,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760627306289377,-0.004587722539230739,0.09060428966910368,0.9999999941076702,-1.4259733337192146e-05,-4.8915368037999655e-05,-2.5129085872185772e-05,0.6761,-0.00453,0.09062282765628277,1.0,0.0,0.0,0.0,0.09539820863661791,0.109189717497229,0.4748416985206225,0.0077467640905401584,-0.006013971727049528,0.0006534080136272934,0.40030271035458265,0.38472982575263875,0.3838362541589389,0.024567060624811562,-0.029299965564209322,0.0005900918706466857,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.18815224505129363,0.3368282539084311,0.6244488023018887,0.1190471237349124,-0.3455319508112251,0.13543527132083,1.203644884152231,0.4748416985206225,0.5791960818503422,0.5791960818503422,0.688380000000068,0,0,-3.273830509051135e-05,-9.879233128640692e-05
+91608,1792672742521519034,41282817000000,1792672742519018600,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.6760634778098861,-0.004593324644122111,0.09056121720556623,0.9999999945774771,-9.639030281606514e-06,-4.5158105049771464e-05,-1.2479780798071215e-05,0.6761,-0.00453,0.09057149386888494,1.0,0.0,0.0,0.0,0.08604390320928135,0.09428381410884201,0.5435802237484584,0.007355025429082781,-0.005653987323625657,0.0005976465462353339,0.3909484049272461,0.36982392236425177,0.4525747793867748,0.024175321963354184,-0.02893998116078545,0.0005343304032547262,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.19662471592388509,0.3501400925018897,0.5379345482294855,0.12389040125484449,-0.29059166057138586,0.14065885924910776,1.203644884152231,0.5435802237484584,0.6657103359227454,0.6657103359227454,0.7886900000000888,0,0,-3.971077183337191e-05,-9.278732923523875e-05
+91731,1792672743546529384,41283842000000,1792672743539019341,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760649381886362,-0.0046033186805483255,0.090529773682063,0.9999999948748393,-1.2346848503899312e-05,-3.917629179742072e-05,-2.441222000234307e-06,0.6761,-0.00453,0.09053114616256686,1.0,0.0,0.0,0.0,0.08338540920373738,0.10620384705562597,0.5953339918460411,0.007254670537401298,-0.005305891067854309,0.0005682166242366758,0.3882899109217021,0.3817439553110357,0.5043285474843575,0.0240749670716727,-0.028591884905014103,0.0005049004812560681,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.21973034495512564,0.44909052698327767,0.4149841236472923,0.09688663275866057,-0.2096896660356673,0.20699720379875503,1.203644884152231,0.5953339918460411,0.7886607605049386,0.7886607605049386,0.8604400000001037,0,0,-3.9648853501798815e-05,-7.963522482968272e-05
+91911,1792672745046591687,41285342000000,1792672745039018363,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760669900467595,-0.004605155244149791,0.09048071580319651,0.9999999950261965,-9.724951675746743e-06,-3.52231779807196e-05,7.431311390137925e-06,0.6761,-0.00453,0.09047404460386504,1.0,0.0,0.0,0.0,0.06780525422172695,0.08665151944631544,0.6849075953403992,0.006298410531884624,-0.004651780406309546,0.000485562604717133,0.3727097559396917,0.3621916277017252,0.5939021509787157,0.023118707066156027,-0.02793777424346934,0.0004222464617365253,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.2748660776027281,0.4573307337987577,0.2934402954864414,0.09862838391817122,-0.11546873468308871,0.21499474889570225,1.203644884152231,0.6849075953403992,0.9102045886657895,0.9102045886657895,0.9654400000001254,0,0,-3.868426221791306e-05,1.9670993816046066e-07
+92011,1792672745879687817,41286175000000,1792672745879027650,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760689432758494,-0.0045996611563703564,0.09045455581020992,0.9999999950665946,-4.6683830644206386e-07,-3.33337604763112e-05,1.4082524493963716e-05,0.6761,-0.00453,0.09044254771629477,1.0,0.0,0.0,0.0,0.04931722003761335,0.07487187236877563,0.7226436113616712,0.005302452073660147,-0.0027727045680309634,0.0004711769501455986,0.3542217217555781,0.3504119806241854,0.6316381669999876,0.02212274860793155,-0.026058698405190758,0.0004078608071649909,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.17317063292812035,0.3205685020483297,0.3607614557135064,0.1389873117745795,-0.19196111286803078,0.12532704425828894,1.203644884152231,0.7226436113616712,0.8428834284387245,0.8428834284387245,1.0237500000001374,0,0,-4.025407073923593e-05,-9.999942126993062e-05
+92123,1792672746813683994,41287109000000,1792672746811017821,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676076872820211,-0.004620225969781113,0.09042804074184715,0.9999999950345978,-9.608654992539602e-06,-2.1670528921890977e-05,2.84908900164018e-05,0.6761,-0.00453,0.0904032290651571,1.0,0.0,0.0,0.0,0.050275189380762475,0.07951300581764126,0.7649919256319313,0.006211182154040873,-0.002723410257363012,0.00044860894901234443,0.3551796910987272,0.355053114073051,0.6739864812702477,0.023031478688312276,-0.026009404094522806,0.0003852928060317367,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.307810765658242,0.5127410241885391,0.16700260743391157,0.07672977220580333,-0.03143166403464955,0.24910528726526493,1.203644884152231,0.7649919256319313,1.0366422767183194,1.0366422767183194,1.089130000000151,0,0,-4.500406205953268e-05,8.346116931566309e-05
+92255,1792672747913769917,41288209000000,1792672747907027880,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.676085515198125,-0.004626597774056151,0.09038948496160092,0.9999999948908591,-1.1222466678070503e-05,-1.0456602877280204e-05,3.776058546553434e-05,0.6761,-0.00453,0.09034983726262562,1.0,0.0,0.0,0.0,0.04042218089249611,0.07822412016758784,0.8250761142021875,0.006801772981210326,-0.0022636717136358363,0.00041379309102986255,0.34532668261046084,0.3537642284229976,0.734070669840504,0.02362206951548173,-0.02554966555079563,0.00035047694804925483,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.33434651961886347,0.39274015693697895,0.17547733468560206,0.11987059381035017,-0.03532157902408318,0.17686223147621888,1.203644884152231,0.8250761142021875,1.028167549466629,1.028167549466629,1.1661300000001669,0,0,-5.010853453976528e-05,-9.994324398488458e-05
+92386,1792672749004783003,41289300000000,1792672749003018715,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760882789848408,-0.004624810066962181,0.09034123816872397,0.9999999946329714,1.665460277939957e-06,-8.302603483007749e-06,4.588261789618385e-05,0.6761,-0.00453,0.09029239800021639,1.0,0.0,0.0,0.0,0.029343897647494677,0.07423298762798919,0.8952882767068503,0.006156258669603884,-0.0016553196594277925,0.00035794701259398955,0.3342483993654594,0.34977309588339894,0.8042828323451667,0.022976555203875287,-0.024941313496587587,0.00029463086961338184,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.3855507441837776,0.4009393410652299,-0.018361987246581602,0.1013161526227404,0.10192016374096358,0.18169133357191364,1.203644884152231,0.8952882767068503,1.2220068713988126,1.2220068713988126,1.2425000000001827,0,0,-4.8446863469527084e-05,9.917950768845713e-05
+92582,1792672750638762761,41290934000000,1792672750635018758,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6760984689160418,-0.004632160169325528,0.09028390608876441,0.9999999938827837,1.0854676840694375e-05,5.632397439220558e-06,5.9394857616340405e-05,0.6761,-0.00453,0.09021976799750796,1.0,0.0,0.0,0.0,0.019683461236678523,0.09070372223345857,0.9959759510871229,0.007131343284697549,-0.0006835485914254806,0.00030267795818297605,0.32458796295464326,0.3662438304888683,0.9049705067254393,0.023951639818968952,-0.023969542428585275,0.00023936181520236837,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.3913938060754696,0.41649945121358434,-0.050095115533284336,0.10036671011453346,0.12013585271237782,0.19113687734621282,1.203644884152231,0.9959759510871229,1.2537399996855152,1.2537399996855152,1.3568800000002064,0,0,-4.046192551429429e-05,-8.050837360518698e-05
+92773,1792672752229832071,41292525000000,1792672752223029509,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761067222187317,-0.004633495206348386,0.09022806355852443,0.9999999927747971,2.2197692839798236e-05,1.7964395557900954e-05,7.125877664823365e-05,0.6761,-0.00453,0.09014881306639846,1.0,0.0,0.0,0.0,0.009433792497978433,0.09467932650044619,1.0761704858359058,0.007089198877938983,0.00031232442518366876,0.0002523520785299982,0.31433829421594317,0.37021943475585595,0.9851650414742222,0.023909495412210387,-0.022973669411976125,0.00018903593554939053,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.4595504350805352,0.38395844876893653,-0.19291906082177365,0.11027160075250374,0.22728289599216586,0.17363899230934307,1.203644884152231,1.0761704858359058,1.3965639449740046,1.3965639449740046,1.4682500000002294,0,0,-4.849815489633732e-05,-1.699074365676823e-05
+92953,1792672753729977357,41294025000000,1792672753727018232,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761150999552311,-0.004641555524946014,0.09017531915577977,0.9999999913844055,2.6856648366867487e-05,3.0873309795928006e-05,8.36636876271562e-05,0.6761,-0.00453,0.09007547381497868,1.0,0.0,0.0,0.0,0.006865537966840307,0.08896212968385414,1.1368513116548775,0.008079897600727123,0.0002761111723249693,0.0012423143511883796,0.31177003968480504,0.3645022379392639,1.0458458672931938,0.024900194134998527,-0.023009882664834825,0.0011789982082077719,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.4470913757974719,0.35252007242308564,-0.26608728951532534,0.11737272392071696,0.2659050007374793,0.15185046073879582,1.203644884152231,1.1368513116548775,1.4697321736675564,1.4697321736675564,1.5732500000002512,0,0,-5.209590483587346e-05,-9.999989311471608e-05
+93177,1792672755597012480,41295892000000,1792672755595017799,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761250293407813,-0.004643567993677518,0.09010484384853389,0.9999999895792707,3.324690780943745e-05,4.3962809896107404e-05,9.615735782439942e-05,0.6761,-0.00453,0.08998191471726866,1.0,0.0,0.0,0.0,-0.00854725849311,0.09865688054004862,1.2570924543478312,0.007155323458716879,0.001281900857071236,0.001147781770966356,0.29635724322485474,0.3741969887954584,1.1660870099861476,0.023975619992988282,-0.02200409298008856,0.0010844656279857482,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5063984033293022,0.3369691265729416,-0.3909833598074186,0.12770184305500223,0.35738662633409946,0.14560348602761886,1.203644884152231,1.2570924543478312,1.5946282439596495,1.5946282439596495,1.7039400000002782,0,0,-4.97638105959305e-05,-9.999901881408419e-05
+93364,1792672757155021684,41297450000000,1792672757155018630,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.6761293702349871,-0.004652526937554161,0.09004029920625621,0.999999988139451,3.1274364768441105e-05,5.2404827580871225e-05,0.0001069561147444767,0.6761,-0.00453,0.08990814117518506,1.0,0.0,0.0,0.0,-0.017955399848087472,0.10029570204886518,1.3477002408790668,0.00799353230625174,0.002256770545561792,0.0010996808007535414,0.28694910186987727,0.37583581030427493,1.2566947965173831,0.024813828840523144,-0.021029223291598002,0.0010363646577729337,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5144952008312323,0.4123492157305872,-0.5440247180690284,0.10001807057513264,0.4525286253026671,0.19310391869559607,1.203644884152231,1.3477002408790668,1.7476696022212592,1.7476696022212592,1.8130000000003008,0,0,-4.8483266995448384e-05,2.779786414261885e-05
+93544,1792672758655072507,41298950000000,1792672758655018306,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761395581523841,-0.004635093873676508,0.08998608617991162,0.9999999914349831,-3.84740727543439e-05,7.409201158103796e-05,4.003770416300769e-05,0.6761,-0.00453,0.08983575826494274,1.0,0.0,0.0,0.0,0.0011851747226570009,0.13057998845547925,1.4381146482627825,0.010049281146496426,0.0011849987968055448,0.0010396634836651647,0.30608967644062174,0.406120096710889,1.3471092039010988,0.02686957768076783,-0.02210099504035425,0.0009763473406845571,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5107679114009057,0.45724942901626664,-0.5615210834217101,0.06888180840377768,0.46783387433736157,0.23194334372245717,1.203644884152231,1.4381146482627825,1.765165967573941,1.765165967573941,1.9180000000003226,0,0,-5.41284274999373e-05,-9.999999025923074e-05
+93707,1792672760014102611,41300309000000,1792672760011018526,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.6761447956319045,-0.004642093299810784,0.08992843715668104,0.9999999905485594,-3.1435166655725264e-05,8.052172984727203e-05,5.3608087371830595e-05,0.6761,-0.00453,0.08976572864627799,1.0,0.0,0.0,0.0,-0.012014705429218508,0.12407893990856378,1.5190804982072506,0.00995629032133968,0.002181077861763095,0.0009849517719361584,0.29288979628874623,0.39961904816397353,1.4280750538455669,0.026776586855611084,-0.0211049159753967,0.0009216356289555507,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5966207573863404,0.33218553711609083,-0.7866042592313904,0.13768766263083396,0.6260328522940095,0.1429980913961549,1.203644884152231,1.5190804982072506,1.9902491433836214,1.9902491433836214,2.0131300000003423,0,0,-4.784664616311473e-05,9.375108608734024e-05
+93879,1792672761447213036,41301742000000,1792672761447018775,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761499837585724,-0.004644170198858812,0.08987527489731145,0.9999999894632036,-1.701025711942282e-05,8.810047181552511e-05,6.68237616619485e-05,0.6761,-0.00453,0.08970108835760952,1.0,0.0,0.0,0.0,-0.01235684350123939,0.12075859621740931,1.5993500707381267,0.009988086775084035,0.002163189130115529,0.0009202665871655252,0.29254765821672535,0.39629870447281906,1.508344626376443,0.02680838330935544,-0.021122804707044265,0.0008569504441849175,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5407054464484722,0.3862127444942768,-0.7984064884767265,0.1319660230136611,0.6120589030605474,0.18176758590526249,1.203644884152231,1.5993500707381267,2.0020513726289573,2.0020513726289573,2.113440000000363,0,0,-4.656252769050096e-05,-9.981430545836218e-05
+94071,1792672763047237662,41303342000000,1792672763043018647,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761558081153902,-0.004644603613086473,0.08980834883752975,0.9999999878211907,1.326377300511723e-05,9.623855357964212e-05,7.976650863829366e-05,0.6761,-0.00453,0.08961927711505652,1.0,0.0,0.0,0.0,-0.015726679993015802,0.13637916750685358,1.690062928547279,0.010992713540973122,0.0021237889824800224,0.0008581021962722112,0.28917782172494894,0.41191927576226334,1.5990574841855953,0.027813010075244525,-0.021162204854679772,0.0007947860532916035,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.5707505132012938,0.45787705612308105,-0.8918039595325062,0.12355446497040973,0.6755595957411983,0.230404479369691,1.203644884152231,1.690062928547279,2.0954488436847374,2.0954488436847374,2.225440000000386,0,0,-5.608387767671997e-05,-9.248611185087014e-05
+94254,1792672764572284406,41304867000000,1792672764571027944,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761672435811188,-0.00463917386402971,0.08974441287308235,0.9999999854563472,3.268621071043248e-05,0.000114120157267889,8.02394622144592e-05,0.6761,-0.00453,0.08953894853583054,1.0,0.0,0.0,0.0,-0.013853176519422583,0.1528534691217121,1.790822257588683,0.011995355110166406,0.0020819979187328037,0.0007889026929223101,0.29105132519854215,0.42839357737712186,1.6998168132269993,0.02881565164443781,-0.02120399591842699,0.0007255865499417024,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.647964054155397,0.33725762422804795,-1.1176371467065884,0.1690882306701035,0.8364731860785092,0.15261940567367405,1.203644884152231,1.790822257588683,2.3212820308588196,2.3212820308588196,2.3321900000004083,0,0,-4.926770211658026e-05,9.599179370678996e-05
+94430,1792672766039335669,41306334000000,1792672766039028140,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676172129742812,-0.004642787937483104,0.08968351225125348,0.9999999839224891,3.382050670683708e-05,0.00012173579716733452,8.73753681962848e-05,0.6761,-0.00453,0.08946948409630084,1.0,0.0,0.0,0.0,-0.014110558744316437,0.14998288587431308,1.871060265133682,0.011973770591586042,0.0022852836677141677,0.0007270186620032769,0.2907939429736483,0.42552299412972283,1.7800548207719984,0.028794067125857446,-0.021000710169445626,0.0006637025190226692,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.6842433193676932,0.4374384567103301,-1.2276310632856091,0.13717116103974783,0.9154285915132777,0.21456186675521888,1.203644884152231,1.871060265133682,2.43127594743784,2.43127594743784,2.4348800000004296,0,0,-4.5889064011180085e-05,9.930689190274506e-05
+94582,1792672767305443645,41307600000000,1792672767303027875,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761798047616966,-0.004642513738006363,0.08963668515087046,0.9999999814617444,4.027036346543391e-05,0.00013411843778404634,9.439236145324638e-05,0.6761,-0.00453,0.08940660659604197,1.0,0.0,0.0,0.0,-0.023549553743159812,0.16172623689877103,1.9416948298129857,0.0119426754994943,0.0030567096394565063,0.0016988304374993633,0.2813549479748049,0.4372663451541808,1.850689385451302,0.028762972033765703,-0.020229284197703288,0.0016355142945187555,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.6750698193492627,0.4093460613544939,-1.2424876856435743,0.14193923262922306,0.921592687268522,0.19585535903215995,1.203644884152231,1.9416948298129857,2.446132569795805,2.446132569795805,2.523500000000448,0,0,-5.0690166820717516e-05,-3.502054871244865e-05
+94729,1792672768530514323,41308825000000,1792672768527018498,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761830919661418,-0.004641745331972816,0.08957943581383274,0.9999999794552955,4.8371386289271175e-05,0.0001389981813096067,0.00010426882321639184,0.6761,-0.00453,0.08934366451060745,1.0,0.0,0.0,0.0,-0.02439991628390098,0.16335507994122522,2.0219326818996444,0.012935892011795139,0.003020778358238635,0.0008551007158005557,0.28050458543406376,0.438895188196635,1.930927237537961,0.029756188546066542,-0.02026521547892116,0.000791784572819948,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.6964397346965605,0.41041914793936607,-1.333018464597926,0.15263066459960195,0.9793658797727735,0.19908600774322283,1.203644884152231,2.0219326818996444,2.5366633487501566,2.5366633487501566,2.6092500000004657,0,0,-5.3212741480104405e-05,2.4263490958465364e-05
+94909,1792672770030537641,41310325000000,1792672770027018531,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761903154932366,-0.004650460724478224,0.08951262756080669,0.9999999768070763,4.6168530907845534e-05,0.00014929176731650782,0.00011579786910543328,0.6761,-0.00453,0.08926012796013727,1.0,0.0,0.0,0.0,-0.03399980883498471,0.15704375963197775,2.1203478023002034,0.012892566379320004,0.004015333804356331,0.0015939286023436041,0.27090469288298,0.4325838678873875,2.02934235793852,0.029712862913591407,-0.019270660032803463,0.0015306124593629964,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.7427085356572893,0.4072972654400343,-1.4655421643485402,0.16271582346085378,1.0766086431601163,0.19868720991784006,1.203644884152231,2.1203478023002034,2.6691870485007714,2.6691870485007714,2.7142500000004874,0,0,-5.6202834251813154e-05,9.69748406839443e-05
+95088,1792672771522569809,41311817000000,1792672771515027940,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6761983862711717,-0.00464489295513004,0.08944177808590233,0.9999999734798923,5.71589967117345e-05,0.00016130314414946386,0.00012327702097661672,0.6761,-0.00453,0.08917733327463388,1.0,0.0,0.0,0.0,-0.038707506794905366,0.16023388932989796,2.2128648124132564,0.012871918407729381,0.003993512085677962,0.001514668771040781,0.26619699492305937,0.4357739975853077,2.121859368051573,0.029692214942000784,-0.019292481751481832,0.0014513526280601733,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.710473912562868,0.2713656741175592,-1.434714466713498,0.21022401042661526,1.047070187895533,0.11040074048829304,1.203644884152231,2.2128648124132564,2.638359350865729,2.638359350865729,2.818690000000509,0,0,-5.3828353562017324e-05,-9.99645741447452e-05
+95276,1792672773089593132,41313384000000,1792672773083027850,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762044756228515,-0.0046516989370005545,0.08936585155588694,0.9999999727325486,4.887848198314668e-05,0.00016927321650886648,0.00012220981485412533,0.6761,-0.00453,0.08909178572408169,1.0,0.0,0.0,0.0,-0.04419654902826564,0.1739278012692198,2.3110305810440255,0.013202535167099759,0.004933126887699368,0.0014553676525761556,0.2607079526896991,0.44946790952462956,2.220025136682342,0.030022831701371162,-0.018352866949460426,0.0013920515095955479,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.7781531545463981,0.3505830543804153,-1.6568061075574152,0.20198443158980553,1.204006974956128,0.1640175731330391,1.203644884152231,2.3110305810440255,2.860450991709646,2.860450991709646,2.928380000000532,0,0,-5.608302511697782e-05,7.514490005101066e-05
+95428,1792672774355640232,41314650000000,1792672774351027522,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762153036412977,-0.004638180463060407,0.08928921490027056,0.9999999756336156,-2.3461328347240715e-05,0.00019292240861794584,4.9052451115934156e-05,0.6761,-0.00453,0.08900056576160788,1.0,0.0,0.0,0.0,-0.026641400566276674,0.19319232593803387,2.4143912521583175,0.014885900337826649,0.0039097421986430125,0.0013763892055895898,0.27826310115168806,0.4687324341934436,2.323385807796634,0.03170619687209805,-0.01937625163851678,0.0013130730626089821,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.7892692084515996,0.3512010718338268,-1.7009485653694716,0.0959272387252657,1.252486648924998,0.19409731162300461,1.203644884152231,2.4143912521583175,2.9045934495217027,2.9045934495217027,3.01700000000055,0,0,-7.802496145294464e-05,-6.662867497460014e-06
+95603,1792672775814871979,41316109000000,1792672775815018252,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676219283264224,-0.004650149378752687,0.08920564699697554,0.999999973649818,8.730805123777883e-06,0.00019599454291651535,7.518736702773585e-05,0.6761,-0.00453,0.08890824868482183,1.0,0.0,0.0,0.0,-0.03649448659070442,0.19286026865022182,2.514635362992156,0.014830564710267426,0.004901510044269024,0.0013098952666576093,0.2684100151272603,0.4684003769056316,2.4236299186304726,0.03165086124453883,-0.01838448379289077,0.0012465791236770016,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.8163153243187411,0.3664289363050908,-1.9158121026085753,0.19086980075525417,1.3815142266773812,0.18966592425097922,1.203644884152231,2.514635362992156,3.119456986760806,3.119456986760806,3.1191300000005713,0,0,-4.943890047762333e-05,9.99985053359353e-05
+95755,1792672777080780629,41317375000000,1792672777079018405,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676224536828633,-0.004649792210872269,0.08915461251957221,0.9999999709567166,3.0017753483821795e-05,0.000202702764287621,8.683291040822122e-05,0.6761,-0.00453,0.08885042498917685,1.0,0.0,0.0,0.0,-0.04372678578756245,0.19788740782854408,2.5659695876154713,0.01482181427165779,0.0048905751024279215,0.0012674204555924928,0.2611777159304023,0.47342751608395384,2.474964143253788,0.03164211080592919,-0.018395418734731873,0.001204104312611885,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.851698437226156,0.3265251405970045,-1.982577018991239,0.2262621729021506,1.43001917770255,0.1573595630057749,1.203644884152231,2.5659695876154713,3.18622190314347,3.18622190314347,3.2077500000005896,0,0,-4.46512771520594e-05,9.980468815141136e-05
+95955,1792672778747797664,41319042000000,1792672778743018184,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762356548453821,-0.004656917207514726,0.0890888663633258,0.9999999657588802,3.88619248042246e-05,0.00021893078813949916,0.00010239220501707045,0.6761,-0.00453,0.08875981118197017,1.0,0.0,0.0,0.0,-0.055325014510315684,0.19118788246715962,2.6350012343162597,0.014780143818347927,0.005889631348870945,0.0012261209380661517,0.24957948720764905,0.4667279907225694,2.543995789954576,0.03160044035261933,-0.01739636248828885,0.001162804795085544,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.9306314484837526,0.36657090782552565,-2.045720644615325,0.22994859963838965,1.484384974032615,0.18552713180612446,1.203644884152231,2.6350012343162597,3.249365528767556,3.249365528767556,3.324440000000614,0,0,-6.376820097378643e-05,9.57222870675622e-05
+96134,1792672780239917676,41320534000000,1792672780239018791,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762405766802483,-0.004661633587243315,0.08899699431516218,0.9999999637804571,2.755491113737814e-05,0.00022766506589021266,0.00010626049899921864,0.6761,-0.00453,0.08866070514101781,1.0,0.0,0.0,0.0,-0.0567830154018433,0.20785638162574155,2.7456310244525346,0.015752858386923835,0.006859607535445452,0.0011640340579420585,0.24812148631612144,0.4833964898811513,2.654625580090851,0.03257315492119524,-0.016426386301714342,0.0011007179149614508,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.9184028320362315,0.4830042627246925,-2.1395378823668607,0.20859989640475723,1.53814820172519,0.2622544474063522,1.203644884152231,2.7456310244525346,3.3431827665190914,3.3431827665190914,3.4288800000006354,0,0,-6.664895995237152e-05,4.563357611087611e-05
+96310,1792672781705961971,41322000000000,1792672781703018628,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762443859120695,-0.004664109627517529,0.08891199461269543,0.9999999621761595,1.80312842177229e-05,0.00023504904907083903,0.00010731897128538741,0.6761,-0.00453,0.08856605216075365,1.0,0.0,0.0,0.0,-0.06241969349157364,0.2011770846192435,2.825895218899271,0.01573715502371082,0.006842424719029665,0.0011126669766558567,0.2424848082263911,0.47671719287465325,2.7348897745375877,0.032557451557982224,-0.01644356911813013,0.001049350833675249,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.9287895633420261,0.25023572785415965,-2.226576343045771,0.28202567378504356,1.5977127938511686,0.10984568983886081,1.203644884152231,2.825895218899271,3.430221227198002,3.430221227198002,3.5315000000006567,0,0,-6.573793019245955e-05,-4.836983177736727e-05
+96493,1792672783231049504,41323525000000,1792672783227018722,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762532175305956,-0.004666545219172316,0.08882545009025916,0.9999999585847821,1.884129366353951e-05,0.000249269646491848,0.00010854928562804408,0.6761,-0.00453,0.08846462496987713,1.0,0.0,0.0,0.0,-0.06597652820726557,0.2048777812678385,2.916594917444888,0.01571213211797825,0.006817046242726724,0.0020481919026697367,0.23892797351069917,0.48041788952324826,2.8255894730832045,0.03253242865224965,-0.01646894759443307,0.001984875759689129,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,0.9354749435309342,0.4017069935598866,-2.2959840007763437,0.24834558574181567,1.639796185021425,0.20969368435287913,1.203644884152231,2.916594917444888,3.4996288849285744,3.4996288849285744,3.6382500000006788,0,0,-6.838807104922318e-05,-8.9839395671315e-05
+96669,1792672784698101489,41324992000000,1792672784695018688,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762656367676754,-0.004672571219399684,0.08874136176759287,0.9999999538153521,1.6287938410846078e-05,0.0002686253223314218,0.00010671128119748964,0.6761,-0.00453,0.08835984679431612,1.0,0.0,0.0,0.0,-0.07617680307448021,0.22122374029357805,3.0008985644007504,0.01668820860856108,0.007793301506547022,0.0020121531560589063,0.22872769864348452,0.4967638485489878,2.909893120039067,0.03350850514283248,-0.015492692330612772,0.0019488370130782986,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.0098901161717233,0.35966736797538734,-2.455976546533771,0.27621644816229346,1.7558672723625441,0.18758184345794562,1.203644884152231,3.0008985644007504,3.659621430686002,3.659621430686002,3.7409400000007,0,0,-7.005890222536314e-05,5.6736874946788876e-05
+96833,1792672786065151992,41326359000000,1792672786059018771,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762662832096707,-0.004670056714522746,0.08864806814240533,0.9999999549872951,1.9683391958752792e-06,0.000269472810187852,9.406807357956221e-05,0.6761,-0.00453,0.0882636535173981,1.0,0.0,0.0,0.0,-0.0725939120863271,0.22213842137164114,3.0753004305954854,0.01667690113141579,0.007776417631871051,0.0019237327629324052,0.23231058963163764,0.4976785296270509,2.984294986233802,0.03349719766568719,-0.015509576205288743,0.0018604166199517975,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.0021282680597337,0.3931852389728653,-2.5830797645786214,0.27586825446720625,1.829850887205164,0.20635174359359632,1.203644884152231,3.0753004305954854,3.7867246487308526,3.7867246487308526,3.83663000000072,0,0,-7.576153818603248e-05,9.939232356448997e-05
+97001,1792672787465198640,41327759000000,1792672787459018780,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762723070076823,-0.0046716477919829585,0.08855239746207252,0.999999951381598,1.3226991457843825e-05,0.00028095858073503644,9.781098474063966e-05,0.6761,-0.00453,0.08815548568356814,1.0,0.0,0.0,0.0,-0.07114209472819985,0.22338750000804036,3.14693156470423,0.016662552934399583,0.007760726860881889,0.0018918444361791826,0.2337624069897649,0.4989276082634501,3.0559261203425465,0.033482849468670986,-0.015525266976277905,0.0018285282931985748,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.02387875893113,0.31489879147728805,-2.621633630528788,0.32371778254550193,1.853162639338068,0.1612950157803188,1.203644884152231,3.14693156470423,3.8252785146810186,3.8252785146810186,3.93463000000074,0,0,-8.085755589549007e-05,4.355066840085883e-05
+97172,1792672788890235909,41329184000000,1792672788883027874,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762774250880659,-0.004678330984964587,0.08844961614391719,0.999999948894819,1.2771741738764444e-05,0.0002882843256865678,0.00010189334569317487,0.6761,-0.00453,0.08804031302491434,1.0,0.0,0.0,0.0,-0.0720701399490774,0.23668535932408685,3.218027438365198,0.017232690654551554,0.008619985012485207,0.0018493548007314905,0.23283436176888733,0.5122254675794966,3.1270219940035147,0.03405298718882296,-0.014666008824674587,0.0017860386577508828,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.0978878875964697,0.35209782583243904,-2.693099542744364,0.3267434112604765,1.917679536300845,0.18801299534345262,1.203644884152231,3.218027438365198,3.8967444268965945,3.8967444268965945,4.034380000000761,0,0,-8.415959283222663e-05,-9.999985148135266e-05
+97328,1792672790190299360,41330484000000,1792672790187018710,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762813796884616,-0.00467893268867778,0.08833887630732627,0.9999999472448684,4.521739956367091e-06,0.000293110268589498,0.00010497165832394195,0.6761,-0.00453,0.08793267980973944,1.0,0.0,0.0,0.0,-0.06789602601171554,0.2318062165655279,3.288174503310593,0.016608612099539247,0.008742747919609337,0.0017943407128619198,0.2370084757062492,0.5073463248209377,3.1971690589489095,0.03342890863381065,-0.014543245917550457,0.0017310245698813121,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.1362963017256418,0.2492589316709041,-2.78521333638046,0.3696753239325766,1.9828738029461017,0.11900873494880812,1.203644884152231,3.288174503310593,3.9888582205326912,3.9888582205326912,4.12538000000078,0,0,-8.129706495082901e-05,-8.984966523429278e-05
+97504,1792672791656323970,41331950000000,1792672791655018845,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762839960232642,-0.004688866978394955,0.08821982184305689,0.9999999456556573,-2.9190670684220525e-06,0.0002962634522126382,0.00011113502107731434,0.6761,-0.00453,0.08780356709040806,1.0,0.0,0.0,0.0,-0.07723976749594433,0.23141449498746036,3.366204721035015,0.01659423192266502,0.008726138882900226,0.001730169857431384,0.2276647342220204,0.5069546032428701,3.2751992766733315,0.033414528456936425,-0.014559854954259568,0.0016668537144507764,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.1170760597553462,0.2981011439434681,-2.83963740623717,0.3778717309596764,2.0030212808966876,0.1547630532999899,1.203644884152231,3.366204721035015,4.043282290389401,4.043282290389401,4.228000000000801,0,0,-9.46649428387999e-05,-9.967017075419022e-05
+97654,1792672792906392675,41333200000000,1792672792903018446,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762844069446144,-0.00468695529408013,0.08810772749212667,0.9999999456479362,-3.3613523862894553e-06,0.00029673762262468514,0.00010992030688981088,0.6761,-0.00453,0.08768431068501178,1.0,0.0,0.0,0.0,-0.06788701048761536,0.2245364035186056,3.417840983257091,0.016611061714341596,0.007702244522373116,0.0016738720930263259,0.23701749123034938,0.5000765117740154,3.3268355388954074,0.033431358248613,-0.015583749314786679,0.0016105559500457182,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.2052975895699614,0.27400764818286305,-3.014629095327249,0.39509556848863364,2.138190101139283,0.13477944101491024,1.203644884152231,3.417840983257091,4.21827397947948,4.21827397947948,4.315500000000819,0,0,-9.391715756893048e-05,9.999983760356485e-05
+97795,1792672794081334080,41334375000000,1792672794079018674,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762890057773366,-0.0046927756164848984,0.08799361896516597,0.9999999424871732,-8.926471418901954e-06,0.0003061399017489361,0.00011254862777993473,0.6761,-0.00453,0.08756405007920681,1.0,0.0,0.0,0.0,-0.06779601219666526,0.22184246017484943,3.450903954198336,0.016578872594187707,0.008707805622609944,0.001663561156074262,0.23710848952129948,0.4973825684302592,3.3598985098366527,0.03339916912845911,-0.01457818821454985,0.0016002450130936543,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.2566078498483588,0.32812142655626275,-3.004265671218684,0.40057560024598854,2.1354622382387722,0.17753349349559466,1.203644884152231,3.450903954198336,4.207910555370915,4.207910555370915,4.397750000000836,0,0,-0.00011025117947346808,-9.988290336349621e-05
+97951,1792672795381463792,41335675000000,1792672795379027976,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.676296705874532,-0.004701701101931602,0.08785963343372728,0.9999999388148958,3.5140775994375307e-06,0.00031872658320321757,0.00011051735445839121,0.6761,-0.00453,0.08741093449832506,1.0,0.0,0.0,0.0,-0.0590004048392192,0.24136211211087022,3.499080124862388,0.0173696164888515,0.008464317400644485,0.0016217967369185967,0.24590409687874554,0.51690222036628,3.4080746805007047,0.0341899130231229,-0.014821676436515309,0.001558480593937989,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.2635887976909697,0.27518312036961096,-3.1622159836429646,0.44008313481937406,2.2284519250139354,0.14882269075296672,1.203644884152231,3.499080124862388,4.365860867795195,4.365860867795195,4.488750000000855,0,0,-0.00012490676532386923,9.987345258999909e-05
+98086,1792672796506466526,41336800000000,1792672796503027873,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762961461542794,-0.004700759755082875,0.0877163557699111,0.9999999393070749,1.4911003970463334e-06,0.00031760741486267066,0.00010932528412267022,0.6761,-0.00453,0.08726294493022796,1.0,0.0,0.0,0.0,-0.05887887535610836,0.2383605146236938,3.5443628210559224,0.01656566081276961,0.008462481199034652,0.0015825535380694007,0.24602562636185638,0.5139006228791035,3.453357376694239,0.033385957347041015,-0.014823512638125142,0.001519237395088793,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.2321769507987061,0.3318498079309603,-3.1014703208659116,0.4406766782868595,2.179225401646802,0.18140831928076998,1.203644884152231,3.5443628210559224,4.305115205018143,4.305115205018143,4.567500000000871,0,0,-0.00013382121049762408,-9.997641189774526e-05
+98226,1792672797673523946,41337967000000,1792672797671028065,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676299144699416,-0.0047038139882702905,0.08756925769256269,0.9999999369180588,-9.60121413343999e-06,0.0003233265334535705,0.00011390571723844503,0.6761,-0.00453,0.08710257988821157,1.0,0.0,0.0,0.0,-0.049864569399360514,0.23053044746922657,3.572855923018454,0.016582267278275255,0.007668117260365604,0.0015503911618017533,0.2550399323186042,0.5060705557246363,3.4818504786567703,0.03340256381254666,-0.01561787657679419,0.0014870750188211456,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.2528297810245694,0.2521250417733584,-3.192355497688287,0.4819669738117741,2.238566014279585,0.13289576349226484,1.203644884152231,3.572855923018454,4.396000381840518,4.396000381840518,4.649190000000888,0,0,-0.00014255396515591568,-9.999999025923074e-05
+98358,1792672798773583343,41339067000000,1792672798767027643,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763019779807511,-0.004711602668545476,0.08740839283305028,0.9999999347591629,-2.549578898447808e-05,0.0003279712613343844,0.0001170869364062555,0.6761,-0.00453,0.08693357829386283,1.0,0.0,0.0,0.0,-0.04985925081742959,0.23183500045632044,3.6193686953182653,0.016573553966585615,0.007657912096866493,0.0015132627747265306,0.25504525090053515,0.5073751087117302,3.528363250956582,0.03339385050085702,-0.0156280817402933,0.0014499466317459229,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.3579462281801913,0.29637414313200844,-3.2962578332806056,0.4869698419583036,2.3298582275444275,0.16185302684312886,1.203644884152231,3.6193686953182653,4.499902717432836,4.499902717432836,4.726190000000904,0,0,-0.00016030704425466294,1.9251984414298256e-05
+98482,1792672799806573404,41340100000000,1792672799799018565,DOWN_FORCE_DETACH,10,0.0355,0.035496775060892105,0.6763030349328772,-0.0047099691047452555,0.08724171531650206,0.9999999335509174,-2.1874199417962047e-05,0.00033144412206791976,0.00011835260298098825,0.6761,-0.00453,0.08676126973680895,1.0,0.0,0.0,0.0,-0.05380676080289565,0.23295612007039468,3.6494153508421325,0.01654419079923438,0.008533038846272463,0.0015021317390538661,0.2510977409150691,0.5084962283258044,3.558409906480449,0.033364487333505784,-0.014752954990887331,0.0014388155960732584,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.3896290897786394,0.25705706927956173,-3.3163729804856588,0.5126085261250662,2.3497435135735705,0.14099007524679089,1.203644884152231,3.6494153508421325,4.5200178646378895,4.5200178646378895,4.798500000000919,0,0,-0.00017319483363728428,-9.416308985177863e-05
+98589,1792672800698676472,41340992000000,1792672800695027826,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763070050386544,-0.004715104633213713,0.0870852190549314,0.9999999302845898,-1.1605447442792517e-05,0.00033823605464397837,0.00012780987820153726,0.6761,-0.00453,0.0865997094544742,1.0,0.0,0.0,0.0,-0.052282785732175374,0.23365351053176442,3.6695175077260704,0.01653537240056889,0.008659798117013893,0.001488181757706177,0.25262171598578936,0.5091936187871742,3.578512063364387,0.033355668934840293,-0.014626195720145901,0.0014248656147255693,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.4471017687705157,0.22684947441089018,-3.3209873989176444,0.5404213689663917,2.3709227773251174,0.12324605126867694,1.203644884152231,3.6695175077260704,4.5246322830698755,4.5246322830698755,4.860940000000932,0,0,-0.0001929340116238728,-9.99999347480795e-05
+98693,1792672801565622771,41341859000000,1792672801563018311,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.676310887166113,-0.004721723091715913,0.08691553264859421,0.9999999277857481,-1.925899859995862e-05,0.000344505602082961,0.00012967784847501678,0.6761,-0.00453,0.08642392650198902,1.0,0.0,0.0,0.0,-0.05924740248403548,0.2346266011539463,3.6958913052931983,0.01653189570152145,0.008654646821266206,0.0014660162056717174,0.24565709923392925,0.510166709409356,3.604885860931515,0.03335219223579285,-0.014631347015893588,0.0014027000626911097,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.5537668211688422,0.27755956425477923,-3.3154403186552615,0.5366663700321881,2.398648219640244,0.15818634758228967,1.203644884152231,3.6958913052931983,4.519085202807492,4.519085202807492,4.9216300000009445,0,0,-0.00021380780215326934,-9.999999025923074e-05
+98789,1792672802365741814,41342659000000,1792672802359027560,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763086160494699,-0.004730407546558115,0.0867475006609192,0.9999999255554461,-1.6300313425569827e-05,0.000345179888390659,0.00014462749082740965,0.6761,-0.00453,0.08624618870012399,1.0,0.0,0.0,0.0,-0.06786158546343485,0.22293151477718004,3.739273749722776,0.01550115393633858,0.008664934014452855,0.0014172836440558678,0.2370429162545299,0.4984716230325898,3.6482683053610927,0.03232145047060998,-0.01462105982270694,0.00135396750107526,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.5414517713022031,0.14964397345443634,-3.4624858201764863,0.5849538897683517,2.4959478782354827,0.08133312395108597,1.203644884152231,3.739273749722776,4.666130704328717,4.666130704328717,4.977630000000956,0,0,-0.00022991772060246418,7.078930083637686e-05
+98873,1792672803065723253,41343359000000,1792672803063017979,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763019996541076,-0.004731805406564239,0.08657370890509652,0.9999999282139285,-6.485578820913364e-05,0.0003429430402853005,0.0001148860315801247,0.6761,-0.00453,0.08608131990016217,1.0,0.0,0.0,0.0,-0.04969232190436823,0.21480576212409397,3.7791863402302766,0.015521211127305562,0.007643455690553972,0.0013725490577618448,0.2552121798135965,0.4903458703795037,3.688180895868593,0.032341507661576965,-0.015642538146605822,0.001309232914781237,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.5485651158876188,0.2607922300143269,-3.474362916993903,0.5604420091655002,2.510965271045086,0.15301323469979974,1.203644884152231,3.7791863402302766,4.678007801146134,4.678007801146134,5.026630000000966,0,0,-0.00023998435837354945,-4.092101843265538e-05
+98961,1792672803798684374,41344092000000,1792672803795018275,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6762996232631939,-0.004740514646506795,0.08639056895403487,0.999999925315008,-4.520769046012019e-05,0.0003420556938605223,0.0001475364693364728,0.6761,-0.00453,0.08589749976357228,1.0,0.0,0.0,0.0,-0.05881061298397944,0.20204839814759717,3.7838940683787006,0.014472077951130001,0.008676279531893536,0.00137456250343502,0.2460938887339853,0.47758850640300693,3.692888624017017,0.031292374485401404,-0.014609714305266258,0.0013112463604544123,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.5967097049098768,0.21230128108796364,-3.4450900232805006,0.5792842618926318,2.512887224001785,0.12769371885994488,1.203644884152231,3.7838940683787006,4.648734907432732,4.648734907432732,5.077940000000977,0,0,-0.00026149897892488303,-9.439770773245754e-05
+99024,1792672804323700484,41344617000000,1792672804319018043,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763302227530961,-0.004743620289601062,0.08627855946782838,0.9999999115961169,-8.318854201834824e-06,0.000372009761146296,0.00017259825347356643,0.6761,-0.00453,0.08575423097826988,1.0,0.0,0.0,0.0,-0.09642908683492363,0.22444953489644237,3.769168336106573,0.015431054369100576,0.010683602414389013,0.0020681595039682204,0.2084754148830411,0.4999896431518521,3.6781628917448894,0.03225135090337198,-0.012602391422770781,0.0020048433609876127,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.7004875438989775,0.2641387437242674,-3.5151692211182812,0.5683644633506562,2.5807301604702078,0.17183723914858007,1.203644884152231,3.769168336106573,4.718814105270512,4.718814105270512,5.1146900000009845,0,0,-0.0002841621116935371,7.120187254754128e-05
+99092,1792672804890759193,41345184000000,1792672804887017769,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763219232185711,-0.004737043161297014,0.08610111294398644,0.9999999207039231,-1.2680372969561633e-05,0.0003721506591502136,0.0001066682100555788,0.6761,-0.00453,0.08558663449261036,1.0,0.0,0.0,0.0,-0.06043925038368869,0.2412426326552194,3.8207714144839864,0.01751721997498265,0.008616431162309698,0.0019789666956039026,0.24446525133427605,0.5167827409106291,3.729765970122303,0.034337516509254054,-0.014669562674850097,0.0019156505526232949,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.699637525533779,0.299833806876083,-3.388002341133498,0.44498571511623086,2.534120108851311,0.18170038598752963,1.203644884152231,3.8207714144839864,4.591647225285729,4.591647225285729,5.154380000000993,0,0,-0.0003063400617578634,-9.999999025923074e-05
+99160,1792672805456749430,41345750000000,1792672805455017997,DOWN_FORCE_DETACH,10,0.0355,0.035497430711984634,0.6763179695635468,-0.004750290545292484,0.08592151790276525,0.9999999185966224,-9.405243481178567e-06,0.0003653893310941677,0.0001437073106984882,0.6761,-0.00453,0.08540764880888556,1.0,0.0,0.0,0.0,-0.07754155546436217,0.20606337356201704,3.859597232335577,0.014425378646696747,0.009667329429331097,0.002321044535622073,0.22736294625360257,0.4816034818174268,3.7685917879738935,0.03124567518096815,-0.013618664407828697,0.0022577283926414654,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.762585786621889,0.20650556312183635,-3.497724611559786,0.5805620752509099,2.6058289471656724,0.1216676676098693,1.203644884152231,3.859597232335577,4.701369495712017,4.701369495712017,5.194000000001001,0,0,-0.0003223861951243397,-9.955161281294806e-05
+99273,1792672806390880046,41346684000000,1792672806387018792,DOWN_PEAK_HOLD,10,0.0355,0.035496775060892105,0.6763059506758095,-0.00474615692408104,0.08581512723010276,0.999999927270225,-2.893914681569479e-05,0.00034235566180214436,0.00013732274289845008,0.6761,-0.00453,0.08534369383437863,1.0,0.0,0.0,0.0,-0.05820096546856307,0.20868732620026986,3.6892754015393416,0.014512117211547312,0.007906069147510787,0.0014451991229620389,0.24670353624940167,0.4842274344556796,3.598269957177658,0.031332413745818716,-0.015379924689649008,0.0013818829799814311,0.30490450171796474,0.27554010825540975,-0.09100544436168359,0.016820296534271403,-0.023285993837159794,-6.33161429806077e-05,1,1.6583642547485529,0.3065878882334771,-3.27260023996245,0.5616055869051201,2.454515072914364,0.18462316855349728,1.203644884152231,3.6892754015393416,4.476245124114681,0.0,0.0,0,0,0.0,0.0
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..c402f7b35e55219d11a2292344e66094d3c7c764
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..32da23964ace526c63542581899a532d33b66ce5
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+5,3.650000000e+00,DOWN_FORCE_DETACH,1792672738097083599,6.537176143e-06,-4.387676861e-05,-2.021027929e-04,3.517023235e-06,-3.584263394e-05,-1.998977358e-04,3.456232086e-06,-3.581211384e-05,-1.990431356e-04,7.015444087e-01,-4.232580729e-05,8.405388384e-01,7.015413885e-01,-3.429167262e-05,8.405410435e-01,7.017328438e-01,-3.406284499e-05,8.293736440e-01
+6,4.533333333e+00,DOWN_FORCE_DETACH,1792672739759119421,3.024404550e-06,-4.856657140e-05,-2.563942000e-04,2.985615884e-06,-4.450909514e-05,-2.381892595e-04,2.840263003e-06,-4.448117873e-05,-2.373708897e-04,7.015408959e-01,-4.701561008e-05,8.404845470e-01,7.015408571e-01,-4.295813382e-05,8.405027519e-01,7.017322278e-01,-4.273190988e-05,8.293353162e-01
+7,5.200000000e+00,DOWN_FORCE_DETACH,1792672741089247922,1.341957123e-06,-5.415549144e-05,-3.005190336e-04,1.176672885e-06,-5.410506440e-05,-3.002827478e-04,7.698558718e-07,-5.405534352e-05,-2.992382022e-04,7.015392134e-01,-5.260453012e-05,8.404404222e-01,7.015390482e-01,-5.255410307e-05,8.404406584e-01,7.017301574e-01,-5.230607467e-05,8.292734489e-01
+8,5.916666667e+00,DOWN_FORCE_DETACH,1792672742521638354,4.706765302e-06,-5.825523119e-05,-3.402802698e-04,3.643125497e-06,-5.608291108e-05,-3.206681642e-04,3.263872088e-06,-5.601152283e-05,-3.197911406e-04,7.015425782e-01,-5.670426987e-05,8.404006609e-01,7.015415146e-01,-5.453194976e-05,8.404202730e-01,7.017326514e-01,-5.426225397e-05,8.292528959e-01
+9,6.450000000e+00,DOWN_FORCE_DETACH,1792672743549153418,4.853402592e-06,-6.816128460e-05,-3.736339203e-04,4.895509591e-06,-6.096395544e-05,-3.618136213e-04,4.424427321e-06,-6.091731135e-05,-3.608389441e-04,7.015427249e-01,-6.661032327e-05,8.403673073e-01,7.015427670e-01,-5.941299412e-05,8.403791276e-01,7.017338120e-01,-5.916804250e-05,8.292118481e-01
+10,7.233333333e+00,DOWN_FORCE_DETACH,1792672745047448188,8.087952358e-06,-6.942510251e-05,-4.202775729e-04,4.582534181e-06,-7.325003962e-05,-4.237816167e-04,3.891215465e-06,-7.320732604e-05,-4.227104482e-04,7.015459594e-01,-6.787414119e-05,8.403206636e-01,7.015424540e-01,-7.169907830e-05,8.403171596e-01,7.017332788e-01,-7.145805719e-05,8.291499766e-01
+11,7.666666667e+00,DOWN_FORCE_DETACH,1792672745879794908,9.898604678e-06,-6.417626082e-05,-4.468017907e-04,6.465173057e-06,-6.894747479e-05,-4.448255217e-04,5.706501621e-06,-6.891526897e-05,-4.437612057e-04,7.015477701e-01,-6.262529950e-05,8.402941394e-01,7.015443367e-01,-6.739651347e-05,8.402961157e-01,7.017350941e-01,-6.716600012e-05,8.291289259e-01
+12,8.166666667e+00,DOWN_FORCE_DETACH,1792672746811327850,1.789496487e-05,-8.717427164e-05,-4.720033724e-04,1.660533637e-05,-8.367578384e-05,-4.735233877e-04,1.599545788e-05,-8.362714651e-05,-4.724340647e-04,7.015557664e-01,-8.562331031e-05,8.402689378e-01,7.015544768e-01,-8.212482252e-05,8.402674178e-01,7.017453830e-01,-8.187787766e-05,8.291002530e-01
+13,8.750000000e+00,DOWN_FORCE_DETACH,1792672747909352576,2.466699171e-05,-9.244900574e-05,-5.124479623e-04,2.247120800e-05,-8.846127253e-05,-5.144087028e-04,2.189018114e-05,-8.840707388e-05,-5.132627483e-04,7.015625385e-01,-9.089804442e-05,8.402284932e-01,7.015603427e-01,-8.691031120e-05,8.402265325e-01,7.017512777e-01,-8.665780503e-05,8.290594243e-01
+14,9.300000000e+00,DOWN_FORCE_DETACH,1792672749007410077,2.941378306e-05,-8.743196872e-05,-5.610731661e-04,2.983334697e-05,-9.410768796e-05,-5.565991249e-04,2.922748601e-05,-9.406002661e-05,-5.554527927e-04,7.015672853e-01,-8.588100740e-05,8.401798680e-01,7.015677048e-01,-9.255672664e-05,8.401843421e-01,7.017586151e-01,-9.231075776e-05,8.290172343e-01
+15,1.011666667e+01,DOWN_FORCE_DETACH,1792672750637820140,3.668564364e-05,-9.545699787e-05,-6.208378247e-04,3.666754305e-05,-9.750721368e-05,-6.194864230e-04,3.609108924e-05,-9.746260961e-05,-6.181919893e-04,7.015745571e-01,-9.390603655e-05,8.401201034e-01,7.015745390e-01,-9.595625236e-05,8.401214548e-01,7.017654787e-01,-9.571334076e-05,8.289544951e-01
+16,1.093333333e+01,DOWN_FORCE_DETACH,1792672752233562816,5.033921019e-05,-1.067832617e-04,-6.671155163e-04,4.529925056e-05,-9.936839233e-05,-6.605379690e-04,4.470863520e-05,-9.934650796e-05,-6.594345841e-04,7.015882107e-01,-1.052323004e-04,8.400738257e-01,7.015831707e-01,-9.781743101e-05,8.400804032e-01,7.017740962e-01,-9.759723911e-05,8.289132525e-01
+17,1.173333333e+01,DOWN_FORCE_DETACH,1792672753729926088,5.605528406e-05,-1.060706294e-04,-7.260384451e-04,5.606678565e-05,-1.043792753e-04,-7.240030463e-04,5.554522586e-05,-1.042880185e-04,-7.227382819e-04,7.015939268e-01,-1.045196681e-04,8.400149027e-01,7.015939383e-01,-1.028283140e-04,8.400169381e-01,7.017849328e-01,-1.025387497e-04,8.288499488e-01
+18,1.271666667e+01,DOWN_FORCE_DETACH,1792672755593849752,6.563558102e-05,-1.093259036e-04,-7.938704358e-04,6.252084790e-05,-1.086558978e-04,-7.877868288e-04,6.196630688e-05,-1.085978066e-04,-7.866230106e-04,7.016035071e-01,-1.077749422e-04,8.399470708e-01,7.016003923e-01,-1.071049364e-04,8.399531544e-01,7.017913539e-01,-1.068485378e-04,8.287860641e-01
+19,1.351666667e+01,DOWN_FORCE_DETACH,1792672757157838126,7.289599879e-05,-1.167147788e-04,-8.563910048e-04,6.933661030e-05,-1.149963667e-04,-8.503764091e-04,6.881993095e-05,-1.149329454e-04,-8.492044143e-04,7.016107675e-01,-1.151638175e-04,8.398845502e-01,7.016072081e-01,-1.134454053e-04,8.398905648e-01,7.017982075e-01,-1.131836765e-04,8.287234827e-01
+20,1.426666667e+01,DOWN_FORCE_DETACH,1792672758653906682,8.041835053e-05,-1.066057631e-04,-9.141572121e-04,7.878650563e-05,-1.005809795e-04,-9.034704324e-04,7.835845514e-05,-1.005431203e-04,-9.023742082e-04,7.016182898e-01,-1.050548018e-04,8.398267840e-01,7.016166580e-01,-9.903001817e-05,8.398374708e-01,7.018077460e-01,-9.879385147e-05,8.286703129e-01
+21,1.495000000e+01,DOWN_FORCE_DETACH,1792672760017857096,8.420384713e-05,-1.085278171e-04,-9.748134561e-04,8.326534829e-05,-1.048130338e-04,-9.636255812e-04,8.280966481e-05,-1.047779744e-04,-9.624271753e-04,7.016220753e-01,-1.069768558e-04,8.397661277e-01,7.016211368e-01,-1.032620725e-04,8.397773156e-01,7.018121972e-01,-1.030287056e-04,8.286102599e-01
+22,1.571666667e+01,DOWN_FORCE_DETACH,1792672761445920413,9.287438367e-05,-1.085577501e-04,-1.025436778e-03,8.822952217e-05,-1.075131084e-04,-1.024792843e-03,8.772514049e-05,-1.074482174e-04,-1.023598441e-03,7.016307459e-01,-1.070067888e-04,8.397155044e-01,7.016261010e-01,-1.059621471e-04,8.397161483e-01,7.018171127e-01,-1.056989486e-04,8.285490886e-01
+23,1.655000000e+01,DOWN_FORCE_DETACH,1792672763046916285,9.886605949e-05,-1.064044713e-04,-1.088457427e-03,9.525267863e-05,-1.086932976e-04,-1.084936132e-03,9.472714468e-05,-1.086451029e-04,-1.083743953e-03,7.016367375e-01,-1.048535100e-04,8.396524838e-01,7.016331242e-01,-1.071423363e-04,8.396560051e-01,7.018241147e-01,-1.068958340e-04,8.284889431e-01
+24,1.736666667e+01,DOWN_FORCE_DETACH,1792672764574135884,1.064575541e-04,-9.606776248e-05,-1.159380001e-03,1.031635424e-04,-1.033887435e-04,-1.148533569e-03,1.026625479e-04,-1.033427243e-04,-1.147373595e-03,7.016443290e-01,-9.451680116e-05,8.395815612e-01,7.016410350e-01,-1.018377822e-04,8.395924076e-01,7.018320501e-01,-1.015934554e-04,8.284253135e-01
+25,1.810000000e+01,DOWN_FORCE_DETACH,1792672766038192717,1.145347600e-04,-1.059415225e-04,-1.214194724e-03,1.120752252e-04,-1.042595783e-04,-1.208370020e-03,1.115830122e-04,-1.042170579e-04,-1.207205470e-03,7.016524062e-01,-1.043905612e-04,8.395267465e-01,7.016499467e-01,-1.027086170e-04,8.395325712e-01,7.018409706e-01,-1.024677891e-04,8.283654816e-01
+26,1.873333333e+01,DOWN_FORCE_DETACH,1792672767302196215,1.181715291e-04,-1.006798507e-04,-1.269128235e-03,1.168457595e-04,-9.856458718e-05,-1.251644997e-03,1.163507022e-04,-9.851250420e-05,-1.250479669e-03,7.016560430e-01,-9.912888937e-05,8.394718130e-01,7.016547172e-01,-9.701362586e-05,8.394892962e-01,7.018457383e-01,-9.676323535e-05,8.283222074e-01
+27,1.936666667e+01,DOWN_FORCE_DETACH,1792672768532319140,1.258931304e-04,-1.051120643e-04,-1.318061669e-03,1.213434794e-04,-1.072455775e-04,-1.309773243e-03,1.207842664e-04,-1.072155978e-04,-1.308580815e-03,7.016637646e-01,-1.035611030e-04,8.394228795e-01,7.016592150e-01,-1.056946162e-04,8.394311679e-01,7.018501718e-01,-1.054663290e-04,8.282641063e-01
+28,2.015000000e+01,DOWN_FORCE_DETACH,1792672770030331695,1.323334916e-04,-1.130558584e-04,-1.386020519e-03,1.274317615e-04,-1.133931771e-04,-1.373260142e-03,1.268292661e-04,-1.133199891e-04,-1.372091557e-03,7.016702050e-01,-1.115048971e-04,8.393549207e-01,7.016653032e-01,-1.118422158e-04,8.393676810e-01,7.018562168e-01,-1.115707202e-04,8.282005955e-01
+29,2.093333333e+01,DOWN_FORCE_DETACH,1792672771526410974,1.377031042e-04,-1.160879603e-04,-1.463948523e-03,1.349299852e-04,-1.126656598e-04,-1.459940708e-03,1.341814194e-04,-1.126372295e-04,-1.458597126e-03,7.016755746e-01,-1.145369990e-04,8.392769927e-01,7.016728015e-01,-1.111146985e-04,8.392810005e-01,7.018635690e-01,-1.108879607e-04,8.281140900e-01
+30,2.176666667e+01,DOWN_FORCE_DETACH,1792672773090493692,1.445108733e-04,-1.136002044e-04,-1.537690135e-03,1.421443669e-04,-1.181793609e-04,-1.522467953e-03,1.414701431e-04,-1.181202874e-04,-1.521173787e-03,7.016823824e-01,-1.120492431e-04,8.392032511e-01,7.016800158e-01,-1.166283996e-04,8.392184732e-01,7.018708577e-01,-1.163710186e-04,8.280515133e-01
+31,2.240000000e+01,DOWN_FORCE_DETACH,1792672774354589373,1.570551722e-04,-9.751646904e-05,-1.611899125e-03,1.544039355e-04,-1.072973037e-04,-1.602385968e-03,1.537123310e-04,-1.072625023e-04,-1.600953578e-03,7.016949267e-01,-9.596550772e-05,8.391290421e-01,7.016922754e-01,-1.057463423e-04,8.391385552e-01,7.018830999e-01,-1.055132335e-04,8.279717335e-01
+32,2.313333333e+01,DOWN_FORCE_DETACH,1792672775818653043,1.607083002e-04,-1.134496988e-04,-1.697045999e-03,1.583099121e-04,-1.099724828e-04,-1.684253004e-03,1.575142373e-04,-1.099121787e-04,-1.682809863e-03,7.016985798e-01,-1.118987374e-04,8.390438952e-01,7.016961814e-01,-1.084215215e-04,8.390566882e-01,7.018869018e-01,-1.081629098e-04,8.278898772e-01
+33,2.378333333e+01,DOWN_FORCE_DETACH,1792672777082650331,1.663475835e-04,-1.146604094e-04,-1.744317913e-03,1.632655442e-04,-1.129761161e-04,-1.727468245e-03,1.624722036e-04,-1.129259666e-04,-1.726182123e-03,7.017042191e-01,-1.131094481e-04,8.389966233e-01,7.017011370e-01,-1.114251548e-04,8.390134729e-01,7.018918598e-01,-1.111766978e-04,8.278465050e-01
+34,2.466666667e+01,DOWN_FORCE_DETACH,1792672778744788072,1.729507047e-04,-1.190607254e-04,-1.818059745e-03,1.725457450e-04,-1.219482886e-04,-1.815272244e-03,1.716384792e-04,-1.218849535e-04,-1.813952769e-03,7.017108222e-01,-1.175097641e-04,8.389228814e-01,7.017104172e-01,-1.203973273e-04,8.389256689e-01,7.019010260e-01,-1.201356847e-04,8.277587343e-01
+35,2.545000000e+01,DOWN_FORCE_DETACH,1792672780242832967,1.803436115e-04,-1.227566898e-04,-1.905943643e-03,1.800709299e-04,-1.201909028e-04,-1.899686345e-03,1.790829102e-04,-1.200811480e-04,-1.898321368e-03,7.017182151e-01,-1.212057285e-04,8.388349975e-01,7.017179424e-01,-1.186399415e-04,8.388412548e-01,7.019084705e-01,-1.183318792e-04,8.276743657e-01
+36,2.621666667e+01,DOWN_FORCE_DETACH,1792672781706875095,1.853412409e-04,-1.286247320e-04,-1.989362988e-03,1.858285409e-04,-1.290358521e-04,-1.984346570e-03,1.847308554e-04,-1.289196336e-04,-1.982901054e-03,7.017232127e-01,-1.270737706e-04,8.387515782e-01,7.017237000e-01,-1.274848907e-04,8.387565946e-01,7.019141184e-01,-1.271703647e-04,8.275897860e-01
+37,2.698333333e+01,DOWN_FORCE_DETACH,1792672783234999252,1.938818868e-04,-1.347095488e-04,-2.076280398e-03,1.933125387e-04,-1.296179294e-04,-2.068581519e-03,1.920957125e-04,-1.295372734e-04,-2.067046180e-03,7.017317534e-01,-1.331585875e-04,8.386646608e-01,7.017311840e-01,-1.280669681e-04,8.386723597e-01,7.019214833e-01,-1.277880046e-04,8.275056409e-01
+38,2.771666667e+01,DOWN_FORCE_DETACH,1792672784699028439,2.065920965e-04,-1.370863238e-04,-2.159995833e-03,2.010326840e-04,-1.368529841e-04,-2.151264740e-03,1.996977462e-04,-1.367546643e-04,-2.149717775e-03,7.017444636e-01,-1.355353625e-04,8.385809454e-01,7.017389042e-01,-1.353020228e-04,8.385896764e-01,7.019290853e-01,-1.350053954e-04,8.274229693e-01
+39,2.843333333e+01,DOWN_FORCE_DETACH,1792672786065084171,2.072385385e-04,-1.345718190e-04,-2.253289459e-03,2.067986552e-04,-1.351310360e-04,-2.234433694e-03,2.053463970e-04,-1.350492411e-04,-2.232961040e-03,7.017451100e-01,-1.330208577e-04,8.384876517e-01,7.017446701e-01,-1.335800747e-04,8.385065075e-01,7.019347340e-01,-1.332999723e-04,8.273397260e-01
+40,2.916666667e+01,DOWN_FORCE_DETACH,1792672787461171874,2.170783955e-04,-1.340059754e-04,-2.343373404e-03,2.132328859e-04,-1.379791360e-04,-2.337221417e-03,2.115687848e-04,-1.378545400e-04,-2.335644625e-03,7.017549499e-01,-1.324550141e-04,8.383975678e-01,7.017511044e-01,-1.364281747e-04,8.384037198e-01,7.019409564e-01,-1.361052711e-04,8.272370425e-01
+41,2.993333333e+01,DOWN_FORCE_DETACH,1792672788891208697,2.200575069e-04,-1.415694326e-04,-2.452086405e-03,2.159435331e-04,-1.398273848e-04,-2.446586248e-03,2.139496644e-04,-1.397055088e-04,-2.444847192e-03,7.017579290e-01,-1.400184713e-04,8.382888548e-01,7.017538150e-01,-1.382764235e-04,8.382943549e-01,7.019433372e-01,-1.379562399e-04,8.271278399e-01
+42,3.060000000e+01,DOWN_FORCE_DETACH,1792672790189266525,2.226906450e-04,-1.446568710e-04,-2.558415094e-03,2.222339761e-04,-1.458678815e-04,-2.550208754e-03,2.200942710e-04,-1.457933337e-04,-2.548412162e-03,7.017605621e-01,-1.431059097e-04,8.381825261e-01,7.017601055e-01,-1.443169202e-04,8.381907324e-01,7.019494818e-01,-1.440440649e-04,8.270242749e-01
+43,3.133333333e+01,DOWN_FORCE_DETACH,1792672791653349090,2.214975868e-04,-1.539023051e-04,-2.685531146e-03,2.213200524e-04,-1.539461905e-04,-2.685234355e-03,2.187658031e-04,-1.538103484e-04,-2.683166774e-03,7.017593691e-01,-1.523513437e-04,8.380554100e-01,7.017591915e-01,-1.523952292e-04,8.380557068e-01,7.019481534e-01,-1.520610796e-04,8.268895203e-01
+44,3.195000000e+01,DOWN_FORCE_DETACH,1792672792905875852,2.246972641e-04,-1.551871372e-04,-2.795026264e-03,2.257300592e-04,-1.536931110e-04,-2.785884109e-03,2.229656758e-04,-1.535505297e-04,-2.783817304e-03,7.017625687e-01,-1.536361759e-04,8.379459149e-01,7.017636015e-01,-1.521421497e-04,8.379550571e-01,7.019523532e-01,-1.518012609e-04,8.267888698e-01
+45,3.258333333e+01,DOWN_FORCE_DETACH,1792672794080021238,2.320848139e-04,-1.588114677e-04,-2.904761198e-03,2.293449215e-04,-1.613317047e-04,-2.894587755e-03,2.262725417e-04,-1.612006839e-04,-2.892556304e-03,7.017699563e-01,-1.572605064e-04,8.378361800e-01,7.017672164e-01,-1.597807434e-04,8.378463534e-01,7.019556601e-01,-1.594514150e-04,8.266801308e-01
+46,3.326666667e+01,DOWN_FORCE_DETACH,1792672795378176663,2.367576366e-04,-1.611936272e-04,-3.040908282e-03,2.351611697e-04,-1.649462410e-04,-3.024274251e-03,2.317947924e-04,-1.648113967e-04,-3.022075731e-03,7.017746291e-01,-1.596426659e-04,8.377000329e-01,7.017730327e-01,-1.633952796e-04,8.377166669e-01,7.019611824e-01,-1.630621278e-04,8.265506114e-01
+47,3.385000000e+01,DOWN_FORCE_DETACH,1792672796508068453,2.390062060e-04,-1.672846935e-04,-3.182294148e-03,2.373893497e-04,-1.631981600e-04,-3.162982134e-03,2.335806098e-04,-1.630376638e-04,-3.160577685e-03,7.017768777e-01,-1.657337322e-04,8.375586470e-01,7.017752608e-01,-1.616471987e-04,8.375779591e-01,7.019629682e-01,-1.612883949e-04,8.264121094e-01
+48,3.446666667e+01,DOWN_FORCE_DETACH,1792672797673954623,2.401000282e-04,-1.683290927e-04,-3.332099908e-03,2.374664813e-04,-1.684062356e-04,-3.325019188e-03,2.331256478e-04,-1.682739212e-04,-3.322400436e-03,7.017779715e-01,-1.667781314e-04,8.374088413e-01,7.017753380e-01,-1.668552743e-04,8.374159220e-01,7.019625132e-01,-1.665246523e-04,8.262502867e-01
+49,3.503333333e+01,DOWN_FORCE_DETACH,1792672798772247562,2.419960969e-04,-1.759624412e-04,-3.495009058e-03,2.424652245e-04,-1.733877805e-04,-3.482916903e-03,2.377143178e-04,-1.732226678e-04,-3.480074687e-03,7.017798676e-01,-1.744114799e-04,8.372459321e-01,7.017803367e-01,-1.718368192e-04,8.372580243e-01,7.019671019e-01,-1.714733989e-04,8.260926124e-01
+50,3.555000000e+01,DOWN_FORCE_DETACH,1792672799804227608,2.454396153e-04,-1.785643020e-04,-3.656680177e-03,2.432800829e-04,-1.768805571e-04,-3.637136981e-03,2.379869218e-04,-1.766695286e-04,-3.634122648e-03,7.017833111e-01,-1.770133407e-04,8.370842610e-01,7.017811516e-01,-1.753295958e-04,8.371038042e-01,7.019673745e-01,-1.749202597e-04,8.259385644e-01
+51,3.600000000e+01,DOWN_FORCE_DETACH,1792672800702505246,2.491910536e-04,-1.866034137e-04,-3.815246580e-03,2.489554597e-04,-1.868073469e-04,-3.815426668e-03,2.431442283e-04,-1.865862570e-04,-3.811983741e-03,7.017870625e-01,-1.850524524e-04,8.369256946e-01,7.017868269e-01,-1.852563856e-04,8.369255145e-01,7.019725318e-01,-1.848369882e-04,8.257607033e-01
+52,3.643333333e+01,DOWN_FORCE_DETACH,1792672801567536622,2.538019721e-04,-1.872256358e-04,-3.982475751e-03,2.523367881e-04,-1.895659639e-04,-3.977148567e-03,2.460104298e-04,-1.893078712e-04,-3.973527102e-03,7.017916735e-01,-1.856746745e-04,8.367584654e-01,7.017902083e-01,-1.880150026e-04,8.367637926e-01,7.019753980e-01,-1.875586023e-04,8.255991600e-01
+53,3.686666667e+01,DOWN_FORCE_DETACH,1792672802364524330,2.508980414e-04,-1.936194367e-04,-4.153991653e-03,2.470649533e-04,-1.954270255e-04,-4.143441535e-03,2.400288034e-04,-1.951747322e-04,-4.139673309e-03,7.017887695e-01,-1.920684754e-04,8.365869495e-01,7.017849364e-01,-1.938760641e-04,8.365974997e-01,7.019694164e-01,-1.934254634e-04,8.254330138e-01
+54,3.723333333e+01,DOWN_FORCE_DETACH,1792672803062449063,2.449446219e-04,-1.955139766e-04,-4.324851012e-03,2.448012576e-04,-1.895886649e-04,-4.308706700e-03,2.371423894e-04,-1.892746353e-04,-4.304771421e-03,7.017828161e-01,-1.939630153e-04,8.364160902e-01,7.017826727e-01,-1.880377036e-04,8.364322345e-01,7.019665300e-01,-1.875253664e-04,8.252679157e-01
+55,3.761666667e+01,DOWN_FORCE_DETACH,1792672803796432669,2.424465745e-04,-2.081032346e-04,-4.507000414e-03,2.423759939e-04,-2.080115960e-04,-4.506891320e-03,2.339219992e-04,-2.076889609e-04,-4.502555129e-03,7.017803181e-01,-2.065522733e-04,8.362339408e-01,7.017802475e-01,-2.064606347e-04,8.362340499e-01,7.019633096e-01,-2.059396920e-04,8.250701320e-01
+56,3.790000000e+01,DOWN_FORCE_DETACH,1792672804327028130,2.674181322e-04,-2.088905120e-04,-4.628059535e-03,2.676835839e-04,-2.082745021e-04,-4.618951647e-03,2.594967938e-04,-2.078808951e-04,-4.614661642e-03,7.018052896e-01,-2.073395507e-04,8.361128817e-01,7.018055551e-01,-2.067235408e-04,8.361219895e-01,7.019888844e-01,-2.061316262e-04,8.249580254e-01
+57,3.820000000e+01,DOWN_FORCE_DETACH,1792672804892608315,2.651801365e-04,-1.995902060e-04,-4.798805729e-03,2.652001697e-04,-1.997221935e-04,-4.798529776e-03,2.562871939e-04,-1.993417624e-04,-4.793868364e-03,7.018030516e-01,-1.980392447e-04,8.359421355e-01,7.018030717e-01,-1.981712322e-04,8.359424114e-01,7.019856748e-01,-1.975924935e-04,8.247788187e-01
+58,3.848333333e+01,DOWN_FORCE_DETACH,1792672805456452981,2.600919163e-04,-2.117515826e-04,-4.976834420e-03,2.590034795e-04,-2.082654217e-04,-4.969297765e-03,2.493866826e-04,-2.078621894e-04,-4.964413372e-03,7.017979634e-01,-2.102006212e-04,8.357641068e-01,7.017968750e-01,-2.067144604e-04,8.357716434e-01,7.019787743e-01,-2.061129206e-04,8.246082737e-01
+59,3.898333333e+01,DOWN_PEAK_HOLD,1792672806388576702,2.466446334e-04,-2.057846146e-04,-5.086023933e-03,2.438356315e-04,-2.089103930e-04,-5.088519284e-03,2.334153936e-04,-2.084588071e-04,-5.084542373e-03,7.017845161e-01,-2.042336532e-04,8.356549173e-01,7.017817071e-01,-2.073594317e-04,8.356524219e-01,7.019628030e-01,-2.067095383e-04,8.244881447e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/down/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ebdbf3052185b4eee3cde36fae621af6c5980ae1
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_DOWN,0.0000e+00,-7.0161e-03,3.0112e-04,2.4532e+00,-3.6792e-02,3.6285e-02,6.8510e-08,2.4010e-04,-7.2445e-07,8.7976e-05,2.9802e-07,1.6797e-05,-1.3184e-08,2.5572e-04,1.6800e-05
+1,7.8333e-01,DOWN_FORCE_DETACH,1.9287e-04,3.2196e-03,5.1760e-03,2.4631e+00,-3.7124e-02,3.6997e-02,1.8161e-06,1.0476e-02,4.8741e-03,9.9320e-03,-3.3175e-04,7.2842e-04,1.7344e-06,1.5236e-02,8.0041e-04
+2,1.4000e+00,DOWN_FORCE_DETACH,3.8459e-04,5.0420e-03,1.0288e-02,2.4853e+00,-3.7477e-02,3.7108e-02,2.8856e-06,1.2298e-02,9.9859e-03,3.2146e-02,-6.8412e-04,8.3955e-04,2.8040e-06,3.5838e-02,1.0830e-03
+3,2.1167e+00,DOWN_FORCE_DETACH,5.7903e-04,1.4192e-02,1.3498e-02,2.4973e+00,-3.7694e-02,3.7746e-02,-3.1059e-07,2.1449e-02,1.3196e-02,4.4221e-02,-9.0101e-04,1.4773e-03,-3.9228e-07,5.0889e-02,1.7304e-03
+4,2.9167e+00,DOWN_FORCE_DETACH,7.7174e-04,1.7874e-02,1.4098e-02,2.4930e+00,-3.7728e-02,3.8012e-02,-8.6790e-06,2.5131e-02,1.3796e-02,3.9878e-02,-9.3547e-04,1.7440e-03,-8.7606e-06,4.9114e-02,1.9791e-03
+5,3.6500e+00,DOWN_FORCE_DETACH,9.6752e-04,2.0239e-02,1.3056e-02,2.4970e+00,-3.7646e-02,3.8181e-02,-1.9095e-05,2.7496e-02,1.2754e-02,4.3872e-02,-8.5372e-04,1.9122e-03,-1.9177e-05,5.3324e-02,2.0942e-03
+6,4.5333e+00,DOWN_FORCE_DETACH,1.1613e-03,2.3456e-02,1.6196e-02,2.4959e+00,-3.7854e-02,3.8413e-02,-2.8590e-05,3.0713e-02,1.5894e-02,4.2748e-02,-1.0618e-03,2.1445e-03,-2.8671e-05,5.4984e-02,2.3931e-03
+7,5.2000e+00,DOWN_FORCE_DETACH,1.3578e-03,2.5655e-02,1.8844e-02,2.4984e+00,-3.8031e-02,3.8568e-02,-3.5765e-05,3.2912e-02,1.8542e-02,4.5230e-02,-1.2379e-03,2.2999e-03,-3.5847e-05,5.8930e-02,2.6122e-03
+8,5.9167e+00,DOWN_FORCE_DETACH,1.5471e-03,2.6270e-02,2.0331e-02,2.4989e+00,-3.8129e-02,3.8612e-02,-4.2889e-05,3.3526e-02,2.0029e-02,4.5819e-02,-1.3365e-03,2.3437e-03,-4.2971e-05,6.0204e-02,2.6983e-03
+9,6.4500e+00,DOWN_FORCE_DETACH,1.7441e-03,2.6730e-02,2.2106e-02,2.5034e+00,-3.8252e-02,3.8641e-02,-4.6009e-05,3.3987e-02,2.1804e-02,5.0242e-02,-1.4593e-03,2.3723e-03,-4.6090e-05,6.4457e-02,2.7855e-03
+10,7.2333e+00,DOWN_FORCE_DETACH,1.9364e-03,2.7562e-02,2.6611e-02,2.5104e+00,-3.8572e-02,3.8691e-02,-4.6739e-05,3.4819e-02,2.6309e-02,5.7271e-02,-1.7789e-03,2.4229e-03,-4.6820e-05,7.2003e-02,3.0062e-03
+11,7.6667e+00,DOWN_FORCE_DETACH,2.1285e-03,2.7044e-02,2.4967e-02,2.5082e+00,-3.8463e-02,3.8655e-02,-4.9004e-05,3.4300e-02,2.4665e-02,5.5035e-02,-1.6707e-03,2.3867e-03,-4.9085e-05,6.9381e-02,2.9137e-03
+12,8.1667e+00,DOWN_FORCE_DETACH,2.3152e-03,2.3568e-02,3.0253e-02,2.5087e+00,-3.8842e-02,3.8408e-02,-4.3761e-05,3.0824e-02,2.9951e-02,5.5594e-02,-2.0497e-03,2.1400e-03,-4.3843e-05,7.0271e-02,2.9636e-03
+13,8.7500e+00,DOWN_FORCE_DETACH,2.5139e-03,2.2327e-02,3.2043e-02,2.5115e+00,-3.8982e-02,3.8316e-02,-4.1182e-05,2.9583e-02,3.1742e-02,5.8405e-02,-2.1895e-03,2.0473e-03,-4.1264e-05,7.2759e-02,2.9979e-03
+14,9.3000e+00,DOWN_FORCE_DETACH,2.7067e-03,2.0572e-02,3.4151e-02,2.5147e+00,-3.9145e-02,3.8188e-02,-3.6658e-05,2.7828e-02,3.3849e-02,6.1532e-02,-2.3521e-03,1.9197e-03,-3.6739e-05,7.5540e-02,3.0363e-03
+15,1.0117e+01,DOWN_FORCE_DETACH,2.9035e-03,1.9273e-02,3.5349e-02,2.5173e+00,-3.9248e-02,3.8094e-02,-3.0239e-05,2.6529e-02,3.5047e-02,6.4173e-02,-2.4554e-03,1.8261e-03,-3.0321e-05,7.7783e-02,3.0602e-03
+16,1.0933e+01,DOWN_FORCE_DETACH,3.0972e-03,1.7789e-02,3.6041e-02,2.5104e+00,-3.9307e-02,3.7995e-02,-2.4902e-05,2.5045e-02,3.5739e-02,5.7311e-02,-2.5148e-03,1.7264e-03,-2.4984e-05,7.2035e-02,3.0504e-03
+17,1.1733e+01,DOWN_FORCE_DETACH,3.2901e-03,1.6142e-02,3.7824e-02,2.5145e+00,-3.9430e-02,3.7875e-02,-2.3209e-05,2.3399e-02,3.7522e-02,6.1356e-02,-2.6371e-03,1.6071e-03,-2.3291e-05,7.5631e-02,3.0883e-03
+18,1.2717e+01,DOWN_FORCE_DETACH,3.4807e-03,1.8335e-02,3.9416e-02,2.5101e+00,-3.9530e-02,3.8031e-02,-2.8788e-05,2.5592e-02,3.9114e-02,5.7014e-02,-2.7375e-03,1.7626e-03,-2.8870e-05,7.3725e-02,3.2560e-03
+19,1.3517e+01,DOWN_FORCE_DETACH,3.6773e-03,1.9804e-02,4.1657e-02,2.5102e+00,-3.9679e-02,3.8135e-02,-3.6547e-05,2.7060e-02,4.1355e-02,5.7096e-02,-2.8860e-03,1.8670e-03,-3.6629e-05,7.5514e-02,3.4374e-03
+20,1.4267e+01,DOWN_FORCE_DETACH,3.8701e-03,2.0260e-02,3.6368e-02,2.5079e+00,-3.9310e-02,3.8171e-02,-5.1907e-05,2.7516e-02,3.6066e-02,5.4809e-02,-2.5177e-03,1.9024e-03,-5.1989e-05,7.1147e-02,3.1560e-03
+21,1.4950e+01,DOWN_FORCE_DETACH,4.0658e-03,2.2029e-02,3.7651e-02,2.5111e+00,-3.9402e-02,3.8293e-02,-5.8042e-05,2.9285e-02,3.7349e-02,5.7981e-02,-2.6095e-03,2.0242e-03,-5.8123e-05,7.4929e-02,3.3030e-03
+22,1.5717e+01,DOWN_FORCE_DETACH,4.2559e-03,2.3069e-02,3.8104e-02,2.5119e+00,-3.9435e-02,3.8363e-02,-6.2637e-05,3.0326e-02,3.7802e-02,5.8748e-02,-2.6420e-03,2.0941e-03,-6.2719e-05,7.6157e-02,3.3719e-03
+23,1.6550e+01,DOWN_FORCE_DETACH,4.4493e-03,2.3315e-02,3.7967e-02,2.5115e+00,-3.9421e-02,3.8375e-02,-6.4758e-05,3.0571e-02,3.7665e-02,5.8332e-02,-2.6287e-03,2.1065e-03,-6.4839e-05,7.5868e-02,3.3692e-03
+24,1.7367e+01,DOWN_FORCE_DETACH,4.6454e-03,2.2944e-02,3.5628e-02,2.5111e+00,-3.9251e-02,3.8345e-02,-6.6588e-05,3.0200e-02,3.5326e-02,5.7932e-02,-2.4579e-03,2.0762e-03,-6.6670e-05,7.4271e-02,3.2182e-03
+25,1.8100e+01,DOWN_FORCE_DETACH,4.8342e-03,2.1793e-02,3.5702e-02,2.5112e+00,-3.9244e-02,3.8261e-02,-6.4523e-05,2.9049e-02,3.5400e-02,5.8091e-02,-2.4511e-03,1.9927e-03,-6.4605e-05,7.3970e-02,3.1596e-03
+26,1.8733e+01,DOWN_FORCE_DETACH,5.0305e-03,2.2062e-02,3.3687e-02,2.5079e+00,-3.9092e-02,3.8281e-02,-6.4760e-05,2.9318e-02,3.3385e-02,5.4806e-02,-2.2989e-03,2.0124e-03,-6.4842e-05,7.0554e-02,3.0559e-03
+27,1.9367e+01,DOWN_FORCE_DETACH,5.2254e-03,2.2455e-02,3.6913e-02,2.5103e+00,-3.9304e-02,3.8305e-02,-6.0019e-05,2.9711e-02,3.6611e-02,5.7163e-02,-2.5117e-03,2.0370e-03,-6.0101e-05,7.4100e-02,3.2345e-03
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_12.5/press_depth_10/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..58c2fe027efa0bf196ee5575e174f6fab13026dd
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de07080eae3645cac0517a1d9b330c2954a6b8da86e061259df26248d342ec63
+size 16844800
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/fem_node.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..ec4d1b44c2d1ec78f808b9e3fab9236b7e1ee7f6
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/franka_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..47960dab5ea49ef4008c297ea25b673b53aa1947
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..84612c924377bbf1ff7680dd9433c14c589ffe51
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..0968e8eef3a8e30d4d0565e4810212d819e3643d
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+15,1.500000000e+00,WAIT_W2,1792672714012050402,1.105459658e-06,3.127117855e-05,2.095220240e-06,6.490354613e-07,2.411006101e-05,-1.162252393e-07,9.928258139e-07,2.408360385e-05,7.668788604e-09,7.015389769e-01,3.282213987e-05,8.407430364e-01,7.015385205e-01,2.566102233e-05,8.407408250e-01,7.017303803e-01,2.583286231e-05,8.295726948e-01
+16,1.550000000e+00,WAIT_W2,1792672714110231204,3.309850915e-06,4.295183624e-05,4.511600473e-06,6.490354613e-07,2.411006101e-05,-1.162252393e-07,1.001911003e-06,2.408462202e-05,1.068851452e-08,7.015411813e-01,4.450279756e-05,8.407454528e-01,7.015385205e-01,2.566102233e-05,8.407408250e-01,7.017303894e-01,2.583388049e-05,8.295726978e-01
+17,1.650000000e+00,WAIT_W2,1792672714310344900,1.808734192e-06,4.780811034e-05,2.399657595e-06,1.873120567e-06,4.778527646e-05,1.918084218e-06,2.263435750e-06,4.778675833e-05,2.000775608e-06,7.015396802e-01,4.935907167e-05,8.407433408e-01,7.015397446e-01,4.933623778e-05,8.407428593e-01,7.017316509e-01,4.953601679e-05,8.295746879e-01
+18,1.750000000e+00,WAIT_W2,1792672714510397828,-5.395751139e-07,3.201384945e-05,-9.085584041e-07,1.873120567e-06,4.778527646e-05,1.918084218e-06,2.282263407e-06,4.779674372e-05,2.007902528e-06,7.015373319e-01,3.356481077e-05,8.407400326e-01,7.015397446e-01,4.933623778e-05,8.407428593e-01,7.017316697e-01,4.954600219e-05,8.295746950e-01
+19,1.850000000e+00,WAIT_W2,1792672714676635261,2.158851773e-07,2.513730153e-05,-2.470695526e-07,2.997507423e-07,2.528560593e-05,-2.373293778e-07,7.290728188e-07,2.533111075e-05,-8.876041580e-08,7.015380874e-01,2.668826285e-05,8.407406941e-01,7.015381712e-01,2.683656725e-05,8.407407039e-01,7.017301165e-01,2.708036922e-05,8.295725984e-01
+20,1.950000000e+00,WAIT_W2,1792672714876306145,-6.841791853e-07,1.305939978e-05,-7.053700435e-08,2.997507423e-07,2.528560593e-05,-2.373293778e-07,7.428233902e-07,2.532447779e-05,-8.417641573e-08,7.015371873e-01,1.461036110e-05,8.407408707e-01,7.015381712e-01,2.683656725e-05,8.407407039e-01,7.017301303e-01,2.707373625e-05,8.295726030e-01
+21,2.033333333e+00,WAIT_W2,1792672715044230455,3.284916132e-06,5.933582092e-06,5.753976363e-06,3.123567239e-06,6.206659521e-06,5.800456780e-06,3.672673501e-06,6.276852989e-06,5.896138745e-06,7.015411564e-01,7.484543413e-06,8.407466952e-01,7.015409950e-01,7.757620842e-06,8.407467416e-01,7.017330601e-01,8.026111454e-06,8.295785833e-01
+22,2.100000000e+00,WAIT_W2,1792672715176286991,1.812548208e-06,4.242720392e-06,3.694192564e-06,3.123567239e-06,6.206659521e-06,5.800456780e-06,3.683967827e-06,6.270973303e-06,5.904789706e-06,7.015396840e-01,5.793681713e-06,8.407446354e-01,7.015409950e-01,7.757620842e-06,8.407467416e-01,7.017330714e-01,8.020231767e-06,8.295785919e-01
+23,2.183333333e+00,UP_FORCE_RAMP,1792672715342578033,-1.220631547e-06,-7.590311050e-06,2.317741865e-07,3.123567239e-06,6.206659521e-06,5.800456780e-06,3.696536625e-06,6.268950404e-06,5.911705486e-06,7.015366508e-01,-6.039349729e-06,8.407411730e-01,7.015409950e-01,7.757620842e-06,8.407467416e-01,7.017330840e-01,8.018208869e-06,8.295785988e-01
+24,2.266666667e+00,UP_FORCE_RAMP,1792672715508597653,4.535874749e-07,-8.106529608e-06,5.512615548e-07,1.069043145e-06,-1.451330108e-05,3.404535549e-06,1.628609628e-06,-1.448115987e-05,3.518002908e-06,7.015383251e-01,-6.555568287e-06,8.407414924e-01,7.015389405e-01,-1.296233976e-05,8.407443457e-01,7.017310161e-01,-1.273190141e-05,8.295762051e-01
+25,2.366666667e+00,UP_FORCE_RAMP,1792672715708149408,1.509443379e-06,-1.942953247e-05,5.414720298e-06,1.069043145e-06,-1.451330108e-05,3.404535549e-06,1.640134191e-06,-1.448376095e-05,3.522689251e-06,7.015393809e-01,-1.787857115e-05,8.407463559e-01,7.015389405e-01,-1.296233976e-05,8.407443457e-01,7.017310276e-01,-1.273450248e-05,8.295762098e-01
+26,2.450000000e+00,UP_FORCE_RAMP,1792672715874185449,-4.050685862e-07,-2.451462474e-05,1.716394903e-06,1.069043145e-06,-1.451330108e-05,3.404535549e-06,1.650247138e-06,-1.448553133e-05,3.526769405e-06,7.015374664e-01,-2.296366342e-05,8.407426576e-01,7.015389405e-01,-1.296233976e-05,8.407443457e-01,7.017310377e-01,-1.273627286e-05,8.295762139e-01
+27,2.516666667e+00,UP_FORCE_RAMP,1792672716006140349,-7.935997614e-07,-3.223127448e-05,1.613694382e-06,2.861380866e-06,-3.435844028e-05,7.528560480e-06,3.436730669e-06,-3.430422364e-05,7.644720021e-06,7.015370779e-01,-3.068031316e-05,8.407425549e-01,7.015407329e-01,-3.280747896e-05,8.407484697e-01,7.017328242e-01,-3.255496517e-05,8.295803319e-01
+28,2.616666667e+00,UP_FORCE_RAMP,1792672716206306005,1.788285567e-06,-3.745419545e-05,6.610360593e-06,2.861380866e-06,-3.435844028e-05,7.528560480e-06,3.448661497e-06,-3.430690311e-05,7.652387302e-06,7.015396598e-01,-3.590323413e-05,8.407475515e-01,7.015407329e-01,-3.280747896e-05,8.407484697e-01,7.017328361e-01,-3.255764465e-05,8.295803395e-01
+29,2.666666667e+00,UP_FORCE_RAMP,1792672716308561483,-8.909665008e-07,-4.334407851e-05,1.094096649e-06,2.861380866e-06,-3.435844028e-05,7.528560480e-06,3.454696681e-06,-3.430805806e-05,7.655797967e-06,7.015369805e-01,-4.179311719e-05,8.407420353e-01,7.015407329e-01,-3.280747896e-05,8.407484697e-01,7.017328422e-01,-3.255879959e-05,8.295803429e-01
+30,2.766666667e+00,UP_FORCE_RAMP,1792672716508240718,3.136388597e-06,-4.708381327e-05,7.914557699e-06,2.861380866e-06,-3.435844028e-05,7.528560480e-06,3.466372584e-06,-3.430952088e-05,7.662098353e-06,7.015410079e-01,-4.553285195e-05,8.407488557e-01,7.015407329e-01,-3.280747896e-05,8.407484697e-01,7.017328538e-01,-3.256026241e-05,8.295803492e-01
+31,2.833333333e+00,UP_FORCE_RAMP,1792672716642193557,1.524799669e-06,-5.116903284e-05,7.833916091e-06,2.861380866e-06,-3.435844028e-05,7.528560480e-06,3.473880471e-06,-3.431012871e-05,7.666037424e-06,7.015393963e-01,-4.961807152e-05,8.407487751e-01,7.015407329e-01,-3.280747896e-05,8.407484697e-01,7.017328614e-01,-3.256087024e-05,8.295803532e-01
+32,2.900000000e+00,UP_FORCE_RAMP,1792672716772228372,-1.023906234e-06,-5.635418449e-05,1.807031362e-06,-7.796432774e-07,-5.594839964e-05,1.486964900e-06,-2.389253280e-07,-5.592510457e-05,1.688437828e-06,7.015368476e-01,-5.480322317e-05,8.407427482e-01,7.015370918e-01,-5.439743832e-05,8.407424282e-01,7.017291485e-01,-5.417584611e-05,8.295743756e-01
+33,2.983333333e+00,UP_FORCE_RAMP,1792672716938465261,-2.279680428e-06,-5.958350848e-05,2.785413102e-06,-7.796432774e-07,-5.594839964e-05,1.486964900e-06,-2.329401139e-07,-5.592887557e-05,1.688752755e-06,7.015355918e-01,-5.803254716e-05,8.407437266e-01,7.015370918e-01,-5.439743832e-05,8.407424282e-01,7.017291545e-01,-5.417961710e-05,8.295743759e-01
+34,3.066666667e+00,UP_FORCE_RAMP,1792672717104284734,-4.125142097e-06,-6.279004330e-05,1.217136652e-06,-7.796432774e-07,-5.594839964e-05,1.486964900e-06,-2.259326328e-07,-5.593066959e-05,1.690350770e-06,7.015337463e-01,-6.123908198e-05,8.407421583e-01,7.015370918e-01,-5.439743832e-05,8.407424282e-01,7.017291615e-01,-5.418141113e-05,8.295743775e-01
+35,3.150000000e+00,UP_FORCE_RAMP,1792672717270310482,-1.956081937e-06,-6.591405260e-05,9.451019084e-06,-7.796432774e-07,-5.594839964e-05,1.486964900e-06,-2.188995527e-07,-5.593176702e-05,1.692297056e-06,7.015359154e-01,-6.436309128e-05,8.407503922e-01,7.015370918e-01,-5.439743832e-05,8.407424282e-01,7.017291686e-01,-5.418250856e-05,8.295743794e-01
+36,3.216666667e+00,UP_FORCE_RAMP,1792672717404369627,-5.225888684e-06,-6.800492579e-05,8.589575030e-06,-7.796432774e-07,-5.594839964e-05,1.486964900e-06,-2.133583388e-07,-5.593236827e-05,1.693944333e-06,7.015326456e-01,-6.645396447e-05,8.407495308e-01,7.015370918e-01,-5.439743832e-05,8.407424282e-01,7.017291741e-01,-5.418310980e-05,8.295743811e-01
+37,3.283333333e+00,UP_FORCE_RAMP,1792672717538203193,-6.110026222e-06,-7.026395866e-05,1.095427771e-05,-2.701120868e-06,-7.366490289e-05,1.424111576e-05,-2.113750388e-06,-7.362117596e-05,1.437329022e-05,7.015317615e-01,-6.871299734e-05,8.407518955e-01,7.015351704e-01,-7.211394156e-05,8.407551823e-01,7.017272737e-01,-7.187191750e-05,8.295870604e-01
+38,3.350000000e+00,UP_FORCE_RAMP,1792672717670770886,-2.804640726e-06,-7.343163889e-05,2.379479174e-05,-2.701120868e-06,-7.366490289e-05,1.424111576e-05,-2.109964611e-06,-7.362253844e-05,1.438200667e-05,7.015350668e-01,-7.188067757e-05,8.407647360e-01,7.015351704e-01,-7.211394156e-05,8.407551823e-01,7.017272775e-01,-7.187327997e-05,8.295870691e-01
+39,3.416666667e+00,UP_FORCE_RAMP,1792672717804407539,-3.871987447e-06,-6.741010837e-05,3.738260876e-05,-3.667481770e-06,-6.731838253e-05,3.731707705e-05,-3.003591478e-06,-6.728063778e-05,3.719399638e-05,7.015339995e-01,-6.585914705e-05,8.407783238e-01,7.015342040e-01,-6.576742121e-05,8.407782583e-01,7.017263839e-01,-6.553137932e-05,8.296098811e-01
+40,3.500000000e+00,UP_FORCE_RAMP,1792672717968288764,-5.834028772e-06,-7.135468792e-05,5.350152429e-05,-3.667481770e-06,-6.731838253e-05,3.731707705e-05,-2.999381381e-06,-6.728226578e-05,3.722810330e-05,7.015320375e-01,-6.980372660e-05,8.407944427e-01,7.015342040e-01,-6.576742121e-05,8.407782583e-01,7.017263881e-01,-6.553300731e-05,8.296099152e-01
+41,3.600000000e+00,UP_FORCE_RAMP,1792672718168474694,-8.018154926e-06,-7.171384391e-05,5.717271144e-05,-6.655835469e-06,-7.044356268e-05,5.793912769e-05,-5.984145679e-06,-7.042802825e-05,5.770091749e-05,7.015298533e-01,-7.016288259e-05,8.407981139e-01,7.015312156e-01,-6.889260136e-05,8.407988803e-01,7.017234033e-01,-6.867876979e-05,8.296303881e-01
+42,3.700000000e+00,UP_FORCE_RAMP,1792672718368319848,-6.375289931e-06,-7.530967341e-05,6.707845176e-05,-6.655835469e-06,-7.044356268e-05,5.793912769e-05,-5.980186099e-06,-7.042838170e-05,5.773350847e-05,7.015314962e-01,-7.375871209e-05,8.408080196e-01,7.015312156e-01,-6.889260136e-05,8.407988803e-01,7.017234073e-01,-6.867912323e-05,8.296304206e-01
+43,3.800000000e+00,UP_FORCE_RAMP,1792672718536559214,-6.581965051e-06,-7.195722153e-05,7.102237657e-05,-6.655835469e-06,-7.044356268e-05,5.793912769e-05,-5.975433650e-06,-7.042850148e-05,5.775827686e-05,7.015312895e-01,-7.040626021e-05,8.408119636e-01,7.015312156e-01,-6.889260136e-05,8.407988803e-01,7.017234120e-01,-6.867924301e-05,8.296304454e-01
+44,3.900000000e+00,UP_FORCE_RAMP,1792672718736474994,-5.168622701e-06,-7.513761973e-05,7.582344567e-05,-2.217287224e-06,-6.887891406e-05,7.835708766e-05,-1.351134641e-06,-6.884028794e-05,7.804364169e-05,7.015327029e-01,-7.358665841e-05,8.408167646e-01,7.015356542e-01,-6.732795274e-05,8.408192983e-01,7.017280363e-01,-6.709102948e-05,8.296507308e-01
+45,4.033333333e+00,UP_FORCE_RAMP,1792672719001628717,-3.684395245e-06,-7.155076734e-05,8.707516636e-05,-2.217287224e-06,-6.887891406e-05,7.835708766e-05,-1.340559120e-06,-6.883941131e-05,7.808917341e-05,7.015341871e-01,-6.999980602e-05,8.408280164e-01,7.015356542e-01,-6.732795274e-05,8.408192983e-01,7.017280469e-01,-6.709015284e-05,8.296507763e-01
+46,4.116666667e+00,UP_FORCE_RAMP,1792672719150411143,-2.466841260e-06,-6.850603092e-05,9.120370527e-05,-2.217287224e-06,-6.887891406e-05,7.835708766e-05,-1.335103685e-06,-6.883913268e-05,7.811188541e-05,7.015354046e-01,-6.695506960e-05,8.408321449e-01,7.015356542e-01,-6.732795274e-05,8.408192983e-01,7.017280524e-01,-6.708987421e-05,8.296507990e-01
+47,4.200000000e+00,UP_FORCE_RAMP,1792672719300411091,-3.057475137e-06,-7.098761045e-05,9.845140657e-05,-3.041847660e-06,-7.106433165e-05,9.827339237e-05,-2.069877139e-06,-7.101621320e-05,9.786484494e-05,7.015348140e-01,-6.943664913e-05,8.408393926e-01,7.015348296e-01,-6.951337033e-05,8.408392146e-01,7.017273176e-01,-6.926695474e-05,8.296705520e-01
+48,4.300000000e+00,UP_FORCE_RAMP,1792672719500571497,1.133598605e-07,-6.999762014e-05,1.116986400e-04,-3.041847660e-06,-7.106433165e-05,9.827339237e-05,-2.065124793e-06,-7.101850813e-05,9.791528637e-05,7.015379848e-01,-6.844665882e-05,8.408526398e-01,7.015348296e-01,-6.951337033e-05,8.408392146e-01,7.017273223e-01,-6.926924967e-05,8.296706024e-01
+49,4.400000000e+00,UP_FORCE_RAMP,1792672719700478284,3.102120998e-06,-7.674106333e-05,1.242041236e-04,5.231491236e-07,-6.964772813e-05,1.185078176e-04,1.641265579e-06,-6.960565661e-05,1.180318004e-04,7.015409736e-01,-7.519010201e-05,8.408651453e-01,7.015383946e-01,-6.809676681e-05,8.408594490e-01,7.017310287e-01,-6.785639815e-05,8.296907189e-01
+50,4.500000000e+00,UP_FORCE_RAMP,1792672719864304781,1.381823961e-06,-7.359658171e-05,1.302970340e-04,5.231491236e-07,-6.964772813e-05,1.185078176e-04,1.649061342e-06,-6.960466354e-05,1.180765402e-04,7.015392533e-01,-7.204562039e-05,8.408712382e-01,7.015383946e-01,-6.809676681e-05,8.408594490e-01,7.017310365e-01,-6.785540507e-05,8.296907637e-01
+51,4.600000000e+00,UP_FORCE_RAMP,1792672720064404959,-1.372275263e-06,-7.112107862e-05,1.285234459e-04,5.231491236e-07,-6.964772813e-05,1.185078176e-04,1.655459712e-06,-6.960410861e-05,1.181129445e-04,7.015364992e-01,-6.957011730e-05,8.408694646e-01,7.015383946e-01,-6.809676681e-05,8.408594490e-01,7.017310429e-01,-6.785485014e-05,8.296908001e-01
+52,4.700000000e+00,UP_FORCE_RAMP,1792672720264392898,-2.247127974e-06,-7.161678107e-05,1.354402260e-04,2.910608828e-06,-6.625638560e-05,1.380817452e-04,4.142128474e-06,-6.622108660e-05,1.375212385e-04,7.015356244e-01,-7.006581975e-05,8.408763814e-01,7.015407821e-01,-6.470542428e-05,8.408790229e-01,7.017335296e-01,-6.447182814e-05,8.297102084e-01
+53,4.783333333e+00,UP_FORCE_RAMP,1792672720414498595,1.917260595e-06,-6.868481282e-05,1.439559579e-04,2.910608828e-06,-6.625638560e-05,1.380817452e-04,4.148136141e-06,-6.622004761e-05,1.375582883e-04,7.015397887e-01,-6.713385150e-05,8.408848971e-01,7.015407821e-01,-6.470542428e-05,8.408790229e-01,7.017335356e-01,-6.447078914e-05,8.297102454e-01
+54,4.866666667e+00,UP_FORCE_RAMP,1792672720564391433,-1.335252500e-06,-6.763319583e-05,1.428860596e-04,2.910608828e-06,-6.625638560e-05,1.380817452e-04,4.153471538e-06,-6.621938005e-05,1.375903786e-04,7.015365362e-01,-6.608223451e-05,8.408838272e-01,7.015407821e-01,-6.470542428e-05,8.408790229e-01,7.017335409e-01,-6.447012159e-05,8.297102775e-01
+55,4.983333333e+00,UP_FORCE_RAMP,1792672720798575564,-1.143206372e-06,-6.798709914e-05,1.485772808e-04,2.910608828e-06,-6.625638560e-05,1.380817452e-04,4.160378825e-06,-6.621868079e-05,1.376309851e-04,7.015367283e-01,-6.643613782e-05,8.408895185e-01,7.015407821e-01,-6.470542428e-05,8.408790229e-01,7.017335479e-01,-6.446942233e-05,8.297103181e-01
+56,5.066666667e+00,UP_FORCE_RAMP,1792672720964323987,-1.882148965e-06,-6.636551089e-05,1.527745224e-04,2.910608828e-06,-6.625638560e-05,1.380817452e-04,4.164988245e-06,-6.621825894e-05,1.376577901e-04,7.015359893e-01,-6.481454957e-05,8.408937157e-01,7.015407821e-01,-6.470542428e-05,8.408790229e-01,7.017335525e-01,-6.446900048e-05,8.297103449e-01
+57,5.200000000e+00,UP_FORCE_HOLD,1792672721196516700,-3.811016698e-06,-6.874254145e-05,1.579769149e-04,-1.380377658e-06,-7.174586496e-05,1.569672159e-04,-1.329184381e-07,-7.169906490e-05,1.564606436e-04,7.015340605e-01,-6.719158013e-05,8.408989181e-01,7.015364911e-01,-7.019490364e-05,8.408979084e-01,7.017292546e-01,-6.994980643e-05,8.297291478e-01
+58,5.266666667e+00,UP_FORCE_HOLD,1792672721346215937,-1.177875442e-06,-6.758492567e-05,1.645119111e-04,-1.380377658e-06,-7.174586496e-05,1.569672159e-04,-1.321721050e-07,-7.169927961e-05,1.564903772e-04,7.015366936e-01,-6.603396435e-05,8.409054531e-01,7.015364911e-01,-7.019490364e-05,8.408979084e-01,7.017292553e-01,-6.995002115e-05,8.297291775e-01
+59,5.400000000e+00,UP_SETTLE,1792672721596447882,-1.991811022e-06,-7.038661912e-05,1.717334229e-04,-1.380377658e-06,-7.174586496e-05,1.569672159e-04,-1.288106783e-07,-7.169918953e-05,1.565387686e-04,7.015358797e-01,-6.883565779e-05,8.409126746e-01,7.015364911e-01,-7.019490364e-05,8.408979084e-01,7.017292587e-01,-6.994993106e-05,8.297292259e-01
diff --git a/Fixed/s2/ball_0050_12.5/press_depth_10/up/simulation_data.csv b/Fixed/s2/ball_0050_12.5/press_depth_10/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7b502cb8cd26eb32ce9a3f04609acb0826ed7a1a
--- /dev/null
+++ b/Fixed/s2/ball_0050_12.5/press_depth_10/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,XJC_ZERO_HOLD_BEFORE_UP,0.0000e+00,-7.0203e-03,3.0082e-04,2.4532e+00,-3.6792e-02,3.6285e-02,4.9011e-08,2.4040e-04,-7.1980e-07,8.7976e-05,3.0920e-07,1.6812e-05,-1.2762e-08,2.5599e-04,1.6815e-05
+1,1.3333e-01,WAIT_W2,2.4383e-05,-5.1591e-03,2.9473e-04,2.4539e+00,-3.6790e-02,3.6415e-02,-1.4860e-07,2.1016e-03,-6.8097e-06,7.8130e-04,2.6934e-06,1.4697e-04,-2.1038e-07,2.2422e-03,1.4699e-04
+2,2.3333e-01,WAIT_W2,4.5016e-05,-3.8234e-03,2.9387e-04,2.4544e+00,-3.6789e-02,3.6508e-02,-3.9409e-07,3.4373e-03,-7.6766e-06,1.2867e-03,4.1313e-06,2.4033e-04,-4.5587e-07,3.6703e-03,2.4037e-04
+3,3.1667e-01,WAIT_W2,6.9958e-05,-2.7514e-03,2.9293e-04,2.4548e+00,-3.6787e-02,3.6583e-02,-6.4263e-07,4.5093e-03,-8.6100e-06,1.6973e-03,5.2936e-06,3.1525e-04,-7.0441e-07,4.8181e-03,3.1529e-04
+4,4.1667e-01,WAIT_W2,9.2551e-05,-1.5104e-03,2.9163e-04,2.4553e+00,-3.6786e-02,3.6670e-02,-1.0005e-06,5.7503e-03,-9.9107e-06,2.1760e-03,6.6161e-06,4.0195e-04,-1.0623e-06,6.1483e-03,4.0200e-04
+5,5.3333e-01,WAIT_W2,1.1653e-04,-1.2273e-04,2.8984e-04,2.4558e+00,-3.6785e-02,3.6767e-02,-1.4824e-06,7.1380e-03,-1.1706e-05,2.7144e-03,8.0727e-06,4.9887e-04,-1.5442e-06,7.6367e-03,4.9894e-04
+6,6.8333e-01,WAIT_W2,1.4068e-04,1.5691e-03,2.8824e-04,2.4565e+00,-3.6783e-02,3.6885e-02,-2.1725e-06,8.8298e-03,-1.3301e-05,3.3762e-03,9.7528e-06,6.1702e-04,-2.2343e-06,9.4533e-03,6.1710e-04
+7,7.5000e-01,WAIT_W2,1.6220e-04,2.2882e-03,2.8787e-04,2.4568e+00,-3.6782e-02,3.6935e-02,-2.5024e-06,9.5489e-03,-1.3676e-05,3.6595e-03,1.0427e-05,6.6724e-04,-2.5641e-06,1.0226e-02,6.6732e-04
+8,8.6667e-01,WAIT_W2,1.8509e-04,3.5029e-03,2.8673e-04,2.4573e+00,-3.6781e-02,3.7020e-02,-3.1002e-06,1.0764e-02,-1.4812e-05,4.1378e-03,1.1548e-05,7.5204e-04,-3.1620e-06,1.1532e-02,7.5213e-04
+9,9.8333e-01,WAIT_W2,2.0866e-04,4.6631e-03,2.8598e-04,2.4577e+00,-3.6780e-02,3.7101e-02,-3.7204e-06,1.1924e-02,-1.5569e-05,4.5958e-03,1.2547e-05,8.3303e-04,-3.7822e-06,1.2779e-02,8.3313e-04
+10,1.0333e+00,WAIT_W2,2.2693e-04,5.1442e-03,2.8579e-04,2.4579e+00,-3.6780e-02,3.7135e-02,-3.9932e-06,1.2405e-02,-1.5753e-05,4.7863e-03,1.2938e-05,8.6661e-04,-4.0550e-06,1.3296e-02,8.6671e-04
+11,1.1167e+00,WAIT_W2,2.5442e-04,5.9254e-03,2.8540e-04,2.4582e+00,-3.6779e-02,3.7189e-02,-4.4500e-06,1.3186e-02,-1.6148e-05,5.0952e-03,1.3553e-05,9.2114e-04,-4.5117e-06,1.4136e-02,9.2125e-04
+12,1.1833e+00,WAIT_W2,2.7641e-04,6.5322e-03,2.8529e-04,2.4585e+00,-3.6779e-02,3.7232e-02,-4.8185e-06,1.3793e-02,-1.6258e-05,5.3356e-03,1.4011e-05,9.6348e-04,-4.8803e-06,1.4789e-02,9.6360e-04
+13,1.2833e+00,WAIT_W2,3.0134e-04,7.4130e-03,2.8600e-04,2.4588e+00,-3.6778e-02,3.7293e-02,-5.3798e-06,1.4674e-02,-1.5546e-05,5.6846e-03,1.4577e-05,1.0250e-03,-5.4416e-06,1.5736e-02,1.0251e-03
+14,1.4167e+00,WAIT_W2,3.2525e-04,8.3452e-03,-8.6434e-03,2.4593e+00,-3.6152e-02,3.7358e-02,-1.4257e-05,1.5606e-02,-8.9450e-03,6.1781e-03,6.4061e-04,1.0898e-03,-1.4319e-05,1.9019e-02,1.2642e-03
+15,1.5000e+00,WAIT_W2,3.4985e-04,9.0461e-03,-8.5120e-03,2.4596e+00,-3.6161e-02,3.7407e-02,-1.4490e-05,1.6307e-02,-8.8136e-03,6.4471e-03,6.3211e-04,1.1388e-03,-1.4551e-05,1.9625e-02,1.3026e-03
+16,1.5500e+00,WAIT_W2,3.6821e-04,9.4497e-03,-8.4636e-03,2.4597e+00,-3.6164e-02,3.7435e-02,-1.4655e-05,1.6710e-02,-8.7652e-03,6.6035e-03,6.2910e-04,1.1671e-03,-1.4717e-05,1.9992e-02,1.3259e-03
+17,1.6500e+00,WAIT_W2,3.9482e-04,1.0233e-02,-8.3987e-03,2.4600e+00,-3.6167e-02,3.7490e-02,-1.5006e-05,1.7494e-02,-8.7002e-03,6.9077e-03,6.2520e-04,1.2218e-03,-1.5067e-05,2.0723e-02,1.3726e-03
+18,1.7500e+00,WAIT_W2,4.1515e-04,1.0562e-02,-1.7099e-02,2.4595e+00,-3.5557e-02,3.7513e-02,-2.3253e-05,1.7823e-02,-1.7401e-02,6.4149e-03,1.2355e-03,1.2450e-03,-2.3315e-05,2.5721e-02,1.7542e-03
+19,1.8500e+00,WAIT_W2,4.3885e-04,1.1325e-02,-1.6947e-02,2.4599e+00,-3.5567e-02,3.7566e-02,-2.3365e-05,1.8585e-02,-1.7248e-02,6.7565e-03,1.2256e-03,1.2984e-03,-2.3427e-05,2.6241e-02,1.7856e-03
+20,1.9500e+00,WAIT_W2,4.6121e-04,1.2574e-02,-8.5730e-03,2.4610e+00,-3.6153e-02,3.7654e-02,-1.6098e-05,1.9834e-02,-8.8746e-03,7.9081e-03,6.3980e-04,1.3855e-03,-1.6159e-05,2.3124e-02,1.5262e-03
+21,2.0333e+00,WAIT_W2,4.8728e-04,1.3103e-02,-8.6328e-03,2.4612e+00,-3.6148e-02,3.7691e-02,-1.6501e-05,2.0364e-02,-8.9344e-03,8.1017e-03,6.4428e-04,1.4224e-03,-1.6562e-05,2.3667e-02,1.5616e-03
+22,2.1000e+00,WAIT_W2,5.0795e-04,1.2430e-02,-1.5593e-03,2.4589e+00,-3.6643e-02,3.7644e-02,-1.0373e-05,1.9690e-02,-1.8608e-03,5.7967e-03,1.4921e-04,1.3764e-03,-1.0435e-05,2.0610e-02,1.3845e-03
+23,2.1833e+00,UP_FORCE_RAMP,5.3350e-04,1.2995e-02,-1.6942e-03,2.4593e+00,-3.6634e-02,3.7684e-02,-1.0897e-05,2.0255e-02,-1.9957e-03,6.1677e-03,1.5865e-04,1.4156e-03,-1.0959e-05,2.1267e-02,1.4245e-03
+24,2.2667e+00,UP_FORCE_RAMP,5.5436e-04,1.4352e-02,6.0113e-03,2.4607e+00,-3.7173e-02,3.7778e-02,-5.8886e-06,2.1613e-02,5.7098e-03,7.5986e-03,-3.7994e-04,1.5101e-03,-5.9504e-06,2.3611e-02,1.5572e-03
+25,2.3667e+00,UP_FORCE_RAMP,5.7689e-04,1.4845e-02,5.8220e-03,2.4609e+00,-3.7161e-02,3.7812e-02,-5.0937e-06,2.2106e-02,5.5204e-03,7.7755e-03,-3.6791e-04,1.5443e-03,-5.1555e-06,2.4075e-02,1.5876e-03
+26,2.4500e+00,UP_FORCE_RAMP,5.9868e-04,1.5295e-02,5.7104e-03,2.4611e+00,-3.7153e-02,3.7844e-02,-5.7325e-06,2.2556e-02,5.4089e-03,7.9830e-03,-3.6021e-04,1.5756e-03,-5.7943e-06,2.4530e-02,1.6162e-03
+27,2.5167e+00,UP_FORCE_RAMP,6.2245e-04,1.4969e-02,1.3080e-02,2.4594e+00,-3.7668e-02,3.7822e-02,-1.0228e-06,2.2230e-02,1.2779e-02,6.2840e-03,-8.7532e-04,1.5536e-03,-1.0845e-06,2.6400e-02,1.7832e-03
+28,2.6167e+00,UP_FORCE_RAMP,6.4975e-04,1.5504e-02,1.2897e-02,2.4599e+00,-3.7657e-02,3.7859e-02,-2.3707e-07,2.2764e-02,1.2596e-02,6.7866e-03,-8.6406e-04,1.5906e-03,-2.9885e-07,2.6887e-02,1.8101e-03
+29,2.6667e+00,UP_FORCE_RAMP,6.6765e-04,1.5774e-02,1.2825e-02,2.4601e+00,-3.7652e-02,3.7877e-02,-6.6893e-07,2.3035e-02,1.2523e-02,6.9654e-03,-8.5919e-04,1.6093e-03,-7.3070e-07,2.7128e-02,1.8243e-03
+30,2.7667e+00,UP_FORCE_RAMP,6.9244e-04,1.6297e-02,1.2733e-02,2.4604e+00,-3.7646e-02,3.7914e-02,-1.4875e-06,2.3558e-02,1.2432e-02,7.2925e-03,-8.5307e-04,1.6457e-03,-1.5492e-06,2.7617e-02,1.8536e-03
+31,2.8333e+00,UP_FORCE_RAMP,7.1637e-04,1.6633e-02,1.2694e-02,2.4606e+00,-3.7643e-02,3.7937e-02,-2.0094e-06,2.3894e-02,1.2392e-02,7.4961e-03,-8.5051e-04,1.6690e-03,-2.0712e-06,2.7941e-02,1.8733e-03
+32,2.9000e+00,UP_FORCE_RAMP,7.3951e-04,1.8378e-02,2.0879e-02,2.4635e+00,-3.8216e-02,3.8058e-02,4.7087e-06,2.5639e-02,2.0577e-02,1.0336e-02,-1.4238e-03,1.7900e-03,4.6469e-06,3.4462e-02,2.2872e-03
+33,2.9833e+00,UP_FORCE_RAMP,7.6221e-04,1.8607e-02,2.0599e-02,2.4634e+00,-3.8197e-02,3.8074e-02,3.9403e-06,2.5868e-02,2.0298e-02,1.0285e-02,-1.4046e-03,1.8060e-03,3.8785e-06,3.4452e-02,2.2879e-03
+34,3.0667e+00,UP_FORCE_RAMP,7.8562e-04,1.8916e-02,2.0491e-02,2.4635e+00,-3.8190e-02,3.8096e-02,3.1435e-06,2.6177e-02,2.0189e-02,1.0359e-02,-1.3974e-03,1.8275e-03,3.0817e-06,3.4643e-02,2.3005e-03
+35,3.1500e+00,UP_FORCE_RAMP,8.0909e-04,1.9229e-02,2.0426e-02,2.4636e+00,-3.8186e-02,3.8117e-02,2.4110e-06,2.6490e-02,2.0124e-02,1.0455e-02,-1.3932e-03,1.8493e-03,2.3492e-06,3.4871e-02,2.3154e-03
+36,3.2167e+00,UP_FORCE_RAMP,8.3153e-04,1.9477e-02,2.0390e-02,2.4637e+00,-3.8184e-02,3.8135e-02,1.8475e-06,2.6737e-02,2.0088e-02,1.0538e-02,-1.3910e-03,1.8665e-03,1.7857e-06,3.5064e-02,2.3278e-03
+37,3.2833e+00,UP_FORCE_RAMP,8.5499e-04,2.0422e-02,2.6878e-02,2.4581e+00,-3.8638e-02,3.8205e-02,5.4188e-06,2.7683e-02,2.6577e-02,4.9417e-03,-1.8451e-03,1.9366e-03,5.3571e-06,3.8692e-02,2.6748e-03
+38,3.3500e+00,UP_FORCE_RAMP,8.8082e-04,2.0624e-02,2.6906e-02,2.4587e+00,-3.8642e-02,3.8219e-02,6.4056e-06,2.7885e-02,2.6604e-02,5.5609e-03,-1.8488e-03,1.9506e-03,6.3438e-06,3.8939e-02,2.6876e-03
+39,3.4167e+00,UP_FORCE_RAMP,9.0263e-04,2.0814e-02,2.6813e-02,2.4591e+00,-3.8636e-02,3.8232e-02,5.7052e-06,2.8074e-02,2.6512e-02,5.9326e-03,-1.8429e-03,1.9636e-03,5.6434e-06,3.9067e-02,2.6929e-03
+40,3.5000e+00,UP_FORCE_RAMP,9.2645e-04,2.1436e-02,2.4369e-02,2.4502e+00,-3.8466e-02,3.8282e-02,2.6770e-06,2.8697e-02,2.4068e-02,-2.9714e-03,-1.6738e-03,2.0134e-03,2.6152e-06,3.7571e-02,2.6183e-03
+41,3.6000e+00,UP_FORCE_RAMP,9.4545e-04,2.2896e-02,2.5540e-02,2.4423e+00,-3.8550e-02,3.8390e-02,2.6857e-06,3.0157e-02,2.5238e-02,-1.0796e-02,-1.7574e-03,2.1217e-03,2.6239e-06,4.0779e-02,2.7550e-03
+42,3.7000e+00,UP_FORCE_RAMP,9.6910e-04,2.3046e-02,2.5511e-02,2.4442e+00,-3.8549e-02,3.8399e-02,1.6021e-06,3.0307e-02,2.5210e-02,-8.9037e-03,-1.7564e-03,2.1308e-03,1.5403e-06,4.0415e-02,2.7614e-03
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_15/press_depth_01/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..1b01e712056acc2c6229bc76200c9ec58bf564a4
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+size 58951680
diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/fem_node.csv b/Fixed/s2/ball_0050_15/press_depth_01/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..3902842049289d15ad36e5be639c5f2da7263607
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/fem_node.csv
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/franka_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..a0b62809e6a25d5b59b15ee66267f9f97d825859
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/franka_data.csv
@@ -0,0 +1,61 @@
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+2744,1791628992477053186,34176309000000,1791628992469822193,DOWN_FORCE_DETACH,1,0.0455,0.04557660594582558,0.6759887887513941,-0.00478615708865226,0.09090735203075985,0.9999999742350368,8.814617409710584e-05,-0.000167866558695213,8.380847591057569e-05,0.6761,-0.0048,0.091,1.0,0.0,0.0,0.0,-0.10023140182401466,-0.1046170588967005,0.012119980407867555,-0.00626276498785713,0.005191001908757843,-0.0009289623802772582,-0.07599592094108734,-0.11642822074100632,0.06618704647495145,-0.008249762445387516,0.003193523688635295,-0.002078665251289446,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9879833519727678,-0.44776425418786975,0.36538927945833954,0.4983080937944918,-0.05606055167453313,-0.3415097751630809,0.5629484540759943,0.012119980407867555,0.1975591746176547,0.1975591746176547,0.1975591746176547,0,0,0.0,0.0
+2939,1791628994102040632,34177934000000,1791628994101821991,DOWN_FORCE_DETACH,1,0.0455,0.045501090586185455,0.6759905353562192,-0.00480114892475765,0.09088589442833525,0.9999999749983007,8.388195948550691e-05,-0.00016129206086698571,9.162396127295686e-05,0.6761,-0.0048,0.09095681096019267,1.0,0.0,0.0,0.0,0.004161031351245712,0.00230161726864642,0.015551612951881393,2.6011722664536982e-05,-0.00101612696720201,-0.00013764026485693615,0.028396512234173037,-0.009509544575659404,0.06961867901896529,-0.001960985734865849,-0.003013605187324558,-0.0012873431358691237,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1364662918322959,-0.37242609139550137,0.31437228823609853,0.5279288791564927,0.010758383414993387,-0.2855443327390228,0.5629484540759943,0.015551612951881393,0.24857616583989572,0.24857616583989572,0.3275591746176763,0,0,-4.26046017035483e-05,-8.731248643390472e-05
+3163,1791628995969012319,34179801000000,1791628995961830820,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.675994087520276,-0.0048085862778365065,0.09080918300474736,0.9999999760488024,7.716826759982064e-05,-0.00015320414961810075,9.959320268849834e-05,0.6761,-0.0048,0.09086668535399244,1.0,0.0,0.0,0.0,0.03183040472350417,0.028364736414797365,0.09617746744178307,0.0010652919783024552,-0.0020657517837272673,-0.0006384424306322787,0.0560658856064315,0.01655357457049154,0.15024453350886696,-0.0009217054792279307,-0.004063230003849816,-0.0017881453016444662,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2201312309139303,-0.34011375460705295,0.1721447052025616,0.5498772652822487,0.11505462263495544,-0.2598781163381349,0.5629484540759943,0.09617746744178307,0.39080374887343267,0.39080374887343267,0.47691917461772204,0,0,-5.557100268424454e-05,-8.992181585310561e-05
+3354,1791628997560986534,34181392999999,1791628997557822085,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760028382709806,-0.0048095104977731035,0.0907275802331133,0.9999999769483038,8.072598632889562e-05,-0.00014082828710683076,0.00010581571309476107,0.6761,-0.0048,0.09076621375341574,1.0,0.0,0.0,0.0,0.031146906222923612,0.033406301825516536,0.17067656972507306,0.0020478007669395143,-0.0021039034595305177,-0.00011472194602226739,0.05538238710585094,0.021595139981210713,0.22474363579215695,6.080330940912832e-05,-0.004101381679653066,-0.001264424817034455,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2865417130864738,-0.31535838995317705,0.01615729967382066,0.5407218835274666,0.23019218931545546,-0.2447596506934265,0.5629484540759943,0.17067656972507306,0.5467911544021736,0.5467911544021736,0.6042791746176887,0,0,-6.719904866306502e-05,9.99324470659701e-05
+3540,1791628999111031534,34182943000000,1791628999105821931,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760140656987018,-0.004816668964229027,0.09063064050871593,0.9999999799650817,7.169512101554077e-05,-0.00012095351916128279,0.00010836400052980017,0.6761,-0.0048,0.09064942006386532,1.0,0.0,0.0,0.0,0.021774789588847834,0.02691103721306942,0.2673462572028699,0.0020469113717852512,-0.0021241770431848963,-0.0001940337527674258,0.04601027047177516,0.015099875368763595,0.3214133232699538,5.991391425486537e-05,-0.0041216552633074445,-0.0013437366237796134,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2786099045607575,-0.3447264871939569,-0.07075869922777434,0.5495414431071077,0.2803687009420289,-0.269291819920442,0.5629484540759943,0.2673462572028699,0.6337071533037686,0.6337071533037686,0.7282791746176406,0,0,-8.171002259940862e-05,4.20739235381717e-05
+3721,1791629000619064383,34184451000000,1791629000617822128,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760404287123527,-0.004811954557980422,0.09053591826110881,0.9999999845371563,6.0872125069592245e-05,-8.812228730519153e-05,0.00010439156313278897,0.6761,-0.0048,0.09052070456697926,1.0,0.0,0.0,0.0,0.011491423908405456,0.05322563445173205,0.3519460101545709,0.0030265219523163862,-0.0011497638546056825,-0.0002359333806332361,0.03572690479133278,0.04141447260742623,0.4060130762216548,0.0010395244947860004,-0.0031472420747282307,-0.0013856362516454237,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3425616498229103,-0.268469480029358,-0.202666405828269,0.5230720713205772,0.3772334415643698,-0.21931579179214847,0.5629484540759943,0.3519460101545709,0.7656148599042633,0.7656148599042633,0.8489191746175938,1,0,-9.291421850379932e-05,9.962447119893909e-05
+3889,1791629002019061322,34185851000000,1791629002013822193,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760436316102951,-0.004811632290434642,0.09041156538848444,0.999999985080266,6.181520644971545e-05,-8.172796633289577e-05,0.00010383521536390938,0.6761,-0.0048,0.09038886307531717,1.0,0.0,0.0,0.0,0.020486605820925576,0.05639882580347723,0.4483713075207959,0.0030072135715830555,-0.0011706008278905195,-0.0003131886605450198,0.0447220867038529,0.04458766395917141,0.5024383735878798,0.0010202161140526697,-0.0031680790480130678,-0.0014628915315572073,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.295385711734359,-0.18409766226604585,-0.24169600107493203,0.5017698496163827,0.38902524723093806,-0.15964252835755918,0.5629484540759943,0.4483713075207959,0.8046444551509263,0.8046444551509263,0.9609191746175504,1,0,-9.450131957108721e-05,-9.045071222424923e-05
+4077,1791629003585981007,34187417999999,1791629003581821689,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760489568367971,-0.004813510710701229,0.09027448166602846,0.9999999813091814,0.00010613600103260571,-7.251629039172027e-05,0.00011091004469006279,0.6761,-0.0048,0.09024284566791171,1.0,0.0,0.0,0.0,0.020286873208072063,0.0443023852277758,0.5686735505693437,0.0029840166254519493,-0.0011958648359883415,-0.00041037196116739923,0.04452235409099939,0.03249122338346997,0.6227406166364275,0.0009970191679215634,-0.0031933430561108898,-0.0015600748321795868,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3088381703668603,-0.2724266384018926,-0.47683336888402217,0.5270432916504694,0.5442659710573542,-0.2181890333045651,0.5629484540759943,0.5686735505693437,1.0397818229600164,1.0397818229600164,1.0862791746176215,1,0,-9.31623806057783e-05,9.595290814535246e-05
+4256,1791629005076954494,34188909000000,1791629005073822036,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760504332224071,-0.004814799416206553,0.09013778699550705,0.9999999854794777,7.779430692656331e-05,-6.642056849382574e-05,0.00010010126148004094,0.6761,-0.0048,0.090097127021386,1.0,0.0,0.0,0.0,0.028712403227021642,0.051534516085265755,0.6695170136087185,0.0038968414903014174,-0.0012312232290883547,-7.93117288413539e-05,0.05294788410994897,0.039723354240959935,0.7235840796758024,0.0019098440327710313,-0.003228701449210903,-0.0012290145998535415,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3514968081838845,-0.28193706358955056,-0.5489334388098658,0.5376615820008719,0.6057471233799836,-0.22757664320319165,0.5629484540759943,0.6695170136087185,1.11188189288586,1.11188189288586,1.2055591746177408,1,0,-0.00010130961399371229,8.830911976532291e-05
+4436,1791629006577010780,34190409000000,1791629006573821775,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760585320377772,-0.00481642434028454,0.08999625412265574,0.9999999863079815,7.065269353430284e-05,-5.398976498930283e-05,0.00010449977817431672,0.6761,-0.0048,0.08993970094446063,1.0,0.0,0.0,0.0,0.019557752002335477,0.056922126562412675,0.7693404614021228,0.0029229619448385125,-0.0003325286957303968,-0.0005588099713845407,0.0437932328852628,0.045110964718106855,0.8234075274692066,0.0009359644873081265,-0.002330006915852945,-0.0017085128423967282,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3074669088214128,-0.2991315583705327,-0.6364909569180429,0.5312405935706609,0.6484260618715236,-0.24056762859256897,0.5629484540759943,0.7693404614021228,1.1994394109940372,1.1994394109940372,1.3255591746178608,1,0,-0.00010926943169105195,8.458202820195025e-05
+4595,1791629007901925953,34191733999999,1791629007897821728,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760741261941747,-0.0048210063826048324,0.08986111759009711,0.9999999840946301,9.352708494626332e-05,-3.145628786385451e-05,0.00011626173140249777,0.6761,-0.0048,0.08978384457572967,1.0,0.0,0.0,0.0,0.01843282830436231,0.05306934189659729,0.8501874042370253,0.003915852446313033,-0.0002672712154484732,0.00018902690927188979,0.04266830918728964,0.04125818005229146,0.9042544703041092,0.0019288549887826465,-0.0022647494355710215,-0.0009606759617402978,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3346610186311936,-0.30787447240544025,-0.7556523651956465,0.5468349695173783,0.7294772540281832,-0.24047579754562262,0.5629484540759943,0.8501874042370253,1.3186008192716407,1.3186008192716407,1.4315591746179668,1,0,-0.00012601031683792818,9.963358890552882e-05
+4747,1791629009169018650,34193000999999,1791629009165821670,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760809183447779,-0.0048204182926258644,0.08970267216235318,0.9999999861179906,8.07746980985606e-05,-2.325467974827104e-05,0.00011018870727462207,0.6761,-0.0048,0.08961490796374894,1.0,0.0,0.0,0.0,0.009429697336319945,0.05554564763653541,0.9205879920187285,0.0039019380861324126,-0.00028310966406215783,0.00023881527574033017,0.03366517821924727,0.043734485792229584,0.9746550580858124,0.001914940628602027,-0.002280587884184706,-0.0009108875952718574,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3214838548281058,-0.3284891605822876,-0.7821659950229691,0.5554270850589418,0.7430208911738723,-0.2568376556573922,0.5629484540759943,0.9205879920187285,1.3451144490989635,1.3451144490989635,1.5329191746180681,1,0,-0.00014067275310112982,-9.667704357731226e-05
+4891,1791629010368904184,34194201000000,1791629010365821910,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760902507151041,-0.004820406510381647,0.08953416193227567,0.9999999880449523,7.156606464175552e-05,-7.595948692084026e-06,0.00010086406547880959,0.6761,-0.0048,0.08943176604914664,1.0,0.0,0.0,0.0,0.013611705380889287,0.06189104887290908,0.9825744867384143,0.003891662830474633,-0.00029708444099477496,0.0003098628926233506,0.03784718626381661,0.05007988702860326,1.0366415528054982,0.001904665372944247,-0.002294562661117323,-0.000839839978388837,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.297479884587867,-0.34214941094587187,-0.8628781870538297,0.5599185236170648,0.788604240333223,-0.2635588701506166,0.5629484540759943,0.9825744867384143,1.425826641129824,1.425826641129824,1.6289191746181642,1,0,-0.00016348946310809487,1.0256932499219163e-05
+5007,1791629011336010941,34195167999999,1791629011333821636,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760929576516856,-0.004825404098368041,0.08937010974274913,0.9999999868843814,7.936857569384514e-05,-3.047609127863784e-06,0.00010660883070678394,0.6761,-0.0048,0.0892595615552555,1.0,0.0,0.0,0.0,0.011681585296340578,0.056329551374695544,1.010552824404275,0.002871215353192316,-0.00028061312455378165,0.00027445003062956776,0.035917066179267904,0.044518389530389724,1.0646198904713589,0.0008842178956619302,-0.00227809134467633,-0.0008752528403826198,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2963824202061556,-0.3498427709072865,-0.8131933751942614,0.5739851914147799,0.7515404246768354,-0.26789937490130467,0.5629484540759943,1.010552824404275,1.3761418292702556,1.3761418292702556,1.7062791746182415,1,0,-0.00019223372813989415,-9.984264390106574e-05
+5115,1791629012236003556,34196068000000,1791629012229822036,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760847829432792,-0.004828466086126409,0.08916913161162439,0.9999999870309682,7.179331623213952e-05,-1.8855805357712663e-05,0.00010895460606771408,0.6761,-0.0048,0.08907321154459684,1.0,0.0,0.0,0.0,0.017690226030231716,0.05346406802094958,1.0406002610384046,0.002859569822442588,-0.0002906355373890083,0.00024850985340798745,0.04192570691315904,0.04165290617664375,1.0946673271054885,0.0008725723649122021,-0.0022881137575115566,-0.0009011930176042001,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3180335615527226,-0.2621417331638776,-0.87508490990231,0.5465328932276368,0.796976056973024,-0.21527682198713982,0.5629484540759943,1.0406002610384046,1.4380333639783043,1.4380333639783043,1.7782791746183135,1,0,-0.00022148301683930083,-9.999999025923074e-05
+5214,1791629013060970367,34196892999999,1791629013057821768,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760868167892924,-0.004827088788946983,0.08897154603726257,0.9999999864519367,7.562472130830031e-05,-1.7526861731608147e-05,0.00011186018802825824,0.6761,-0.0048,0.08887715661540313,1.0,0.0,0.0,0.0,0.017586709501324328,0.03807336177552104,1.0481018590964601,0.0018574408550569867,-0.0009198458046081113,0.0002210839029203824,0.041822190384251653,0.02626219993121522,1.102168925163544,-0.00012955660247339923,-0.0029173240247306596,-0.0009286189680918052,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2794851924289434,-0.40981750955594143,-0.8924467860115655,0.5957505827563871,0.7950774320875846,-0.3092097576712574,0.5629484540759943,1.0481018590964601,1.4553952400875598,1.4553952400875598,1.8442791746183795,1,0,-0.0002560258399828249,-9.999999025923074e-05
+5302,1791629013794005745,34197625999999,1791629013789822521,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760836685638527,-0.004833438537289063,0.08876693418741888,0.9999999851497127,8.414230961757228e-05,-2.2905812010234516e-05,0.00011635649653431315,0.6761,-0.0048,0.0886779394253335,1.0,0.0,0.0,0.0,0.019689680147625517,0.03466804304999736,1.04029613532962,0.0018635197510998751,-0.0012446703108978715,0.00022484250515350773,0.04392516103055284,0.022856881205691536,1.094363201396704,-0.00012347770643051064,-0.0032421485310204197,-0.0009248603658586798,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2028495546017703,-0.2763163253048204,-0.8351225295202783,0.5605227225811146,0.72974673847887,-0.22147380031802472,0.5629484540759943,1.04029613532962,1.3980709835962726,1.3980709835962726,1.9029191746184382,1,0,-0.00028822333494468575,-9.999999025923074e-05
+5382,1791629014460997935,34198292999999,1791629014457822906,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760831403825227,-0.004835192601094438,0.0885671920138176,0.9999999852255648,8.32142068979094e-05,-2.51578952544434e-05,0.00011590604238502809,0.6761,-0.0048,0.08847463548219044,1.0,0.0,0.0,0.0,0.013812458539477587,0.035346728338765086,1.0554759678084515,0.0018619972642404505,-0.0012758401633354236,0.0002133727374980743,0.03804793942240491,0.023535566494459263,1.1095430338755354,-0.00012500019328993547,-0.003273318383457972,-0.0009363301335141133,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2098218968645076,-0.24556991329334385,-0.8797265504627292,0.5589882697025997,0.7539439718693471,-0.20043683924248265,0.5629484540759943,1.0554759678084515,1.4426750045387235,1.4426750045387235,1.9562791746184915,1,0,-0.0003210459980043919,-9.999999025923074e-05
+5455,1791629015068943900,34198900999999,1791629015065822543,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760886719721515,-0.0048340416177788,0.08837070781657409,0.9999999854235614,8.11923405660527e-05,-1.6185767669141784e-05,0.0001172244263949662,0.6761,-0.0048,0.0882711633645178,1.0,0.0,0.0,0.0,0.01760637971059966,0.0392314467561457,1.0599375399508082,0.0018565994693493712,-0.0008836627319328905,-0.0007944764303989636,0.041841860593526986,0.027420284911839874,1.114004606017892,-0.00013039798818101464,-0.0028811409520554387,-0.0019441793014111511,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2066928208682164,-0.26443013765882506,-0.8994424486810081,0.5672645396837332,0.7614091569666575,-0.2129546092323268,0.5629484540759943,1.0599375399508082,1.4623909027570023,1.4623909027570023,2.00491917461854,1,0,-0.0003489069631088234,-9.999999025923074e-05
+5522,1791629015626990514,34199459000000,1791629015625821838,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760856882654043,-0.004827497365098951,0.08815961255289087,0.9999999847829544,8.622030271516868e-05,-2.439720320514595e-05,0.00011767663881084866,0.6761,-0.0048,0.08806903002509844,1.0,0.0,0.0,0.0,0.028815823361069824,0.0393369883397328,1.0704411815299189,0.0018580518656705724,-0.0012911202629618096,0.00020075306915261172,0.05305130424399715,0.027525826495426974,1.1245082475970027,-0.00012894559185981346,-0.003288598483084358,-0.0009489498018595758,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1877114357840144,-0.32499558745357954,-0.9219133431847127,0.5935836272877747,0.7664054724871809,-0.25192576573379455,0.5629484540759943,1.0704411815299189,1.484861797260707,1.484861797260707,2.049559174618585,1,0,-0.0003755814385012198,-9.999999025923074e-05
+5582,1791629016126986647,34199959000000,1791629016121821928,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760797157569937,-0.004827271829176215,0.0879556286178739,0.9999999839449984,9.256286736752345e-05,-3.676696076461292e-05,0.0001167611813948316,0.6761,-0.0048,0.08787510132184863,1.0,0.0,0.0,0.0,0.030094429948541127,0.032968276725728336,1.0800745390736721,0.0008370809083132187,-0.0012735639045039944,0.00018185823367274393,0.05432991083146845,0.021157114881422513,1.134141605140756,-0.0011499165492171671,-0.0032710421246265426,-0.0009678446373394436,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.136367736763601,-0.26699100492651806,-0.9184771405360861,0.579501632089522,0.74852844114804,-0.21320343979912762,0.5629484540759943,1.0800745390736721,1.4814255946120802,1.4814255946120802,2.089559174618625,1,0,-0.00040010532273013064,-9.999999025923074e-05
+5645,1791629016651883496,34200483999999,1791629016649822031,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760797900276606,-0.00483144027349194,0.0877412507214415,0.9999999845982923,8.372338961801305e-05,-3.572578805001965e-05,0.00011815388980271852,0.6761,-0.0048,0.08765832808059432,1.0,0.0,0.0,0.0,0.02938585522863136,0.022919414593079435,1.0800485041027073,0.0008356405309292933,-0.0012727078623096556,0.0001817651671540743,0.053621336111558685,0.011108252748773612,1.1341155701697911,-0.0011513569266010926,-0.003270186082432204,-0.0009679377038581133,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1309164859526575,-0.3052609073426464,-0.9501538877419065,0.5852015259213221,0.7648128355710156,-0.24131674307196502,0.5629484540759943,1.0800485041027073,1.5131023418179006,1.5131023418179006,2.131559174618667,1,0,-0.0004254817085561343,-9.999999025923074e-05
+5705,1791629017151970698,34200983999999,1791629017149822300,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760798980605084,-0.004838469469146123,0.0875266175426574,0.999999984693126,7.995544757986834e-05,-3.500164196656344e-05,0.00012016082384529803,0.6761,-0.0048,0.08743954401157637,1.0,0.0,0.0,0.0,0.028621552482729365,0.023046048493454693,1.0823246226746903,0.0008348870490746511,-0.001272433300667767,0.00014071413486577535,0.05285703336565669,0.01123488664914887,1.1363916887417742,-0.0011521104084557348,-0.0032699115207903153,-0.0010089887361464122,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0747239607430723,-0.25982083765442904,-0.8360070364747878,0.5798666243452151,0.6754951356758122,-0.2115673671272428,0.5629484540759943,1.0823246226746903,1.3989554905507822,1.3989554905507822,2.171559174618707,1,0,-0.0004497618388790966,-9.999999025923074e-05
+5761,1791629017618986282,34201451000000,1791629017617822084,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760797797356749,-0.004838148334737709,0.08731468733735609,0.9999999837235586,9.435273466814852e-05,-3.632780542796983e-05,0.00011736097794000746,0.6761,-0.0048,0.08722406468388429,1.0,0.0,0.0,0.0,0.020137490740701064,0.012762295709368598,1.0759511668415633,0.0008355385793788425,-0.0012705526874269581,0.00010340678992144044,0.04437297162362839,0.0009511338650627755,1.1300182329086472,-0.0011514588781515434,-0.0032680309075495064,-0.0010462960810907471,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.093969261507321,-0.2809116926762949,-0.8545683186234075,0.5862081816205347,0.6951722794751946,-0.22837933114741613,0.5629484540759943,1.0759511668415633,1.4175167726994018,1.4175167726994018,2.208919174618744,1,0,-0.00047311183433015733,-9.999999025923074e-05
+5813,1791629018051940198,34201884000000,1791629018049821977,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760802026159574,-0.004841662772028669,0.08710805819517327,0.9999999845470111,8.322613484402682e-05,-3.5063271166406955e-05,0.00011913362033165386,0.6761,-0.0048,0.08701453086053458,1.0,0.0,0.0,0.0,0.015853603667319673,0.022199714127497498,1.0612178594609203,0.0008114096248333447,-0.0002606457934089994,0.00021164999924381265,0.040089084550247,0.010388552283191674,1.1152849255280042,-0.0011755878326970412,-0.0022581240135315477,-0.0009380528717683749,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.048529667395471,-0.31226651785829507,-0.8642699948172262,0.6023958894767794,0.6889250736460326,-0.2437151893938851,0.5629484540759943,1.0612178594609203,1.4272184488932205,1.4272184488932205,2.243559174618779,1,0,-0.0004947618301124043,-9.999999025923074e-05
+5865,1791629018485953254,34202318000000,1791629018481822309,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760801066659884,-0.004853413779010855,0.08689043682544095,0.9999999855394962,6.655016699704737e-05,-3.4338409041666785e-05,0.00012147353948277243,0.6761,-0.0048,0.08679510617718528,1.0,0.0,0.0,0.0,0.011125993158220819,0.014440523889434185,1.0699036811379543,0.000809120160473426,-0.00025643045073881236,0.00019636126361223896,0.035361474041148144,0.002629362045128361,1.1239707472050382,-0.00117787729705696,-0.0022539086708613606,-0.0009533416073999486,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0721244031600188,-0.27168565219073193,-0.8661320011029919,0.5901327884919139,0.6996332208361445,-0.22004522278876038,0.5629484540759943,1.0699036811379543,1.4290804551789862,1.4290804551789862,2.2782791746188136,1,0,-0.0005164618258849104,-9.999999025923074e-05
+5913,1791629018885973051,34202718000000,1791629018885821476,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760774271635133,-0.004847915747197562,0.08667395632135994,0.999999983895447,8.76716975272708e-05,-3.855586641151014e-05,0.00012032908474682923,0.6761,-0.0048,0.08658453144761252,1.0,0.0,0.0,0.0,0.0120056231810386,0.009059141852098747,1.0516613790314686,-0.00020757574011642322,-0.00023322745052336332,0.00020792538988051944,0.036241104063965926,-0.002752019992207077,1.1057284450985525,-0.002194573197646809,-0.0022307056706459116,-0.0009417774811316681,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0430678916368101,-0.264009377470648,-0.8717774104534148,0.5997860870542011,0.6936366413869416,-0.21021284225010298,0.5629484540759943,1.0516613790314686,1.4347258645294092,1.4347258645294092,2.3102791746188456,1,0,-0.0005364618219886027,-9.999999025923074e-05
+5961,1791629019285975434,34203118000000,1791629019285821535,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760762311924696,-0.004851155361090302,0.08646166032159741,0.9999999849227834,8.017545129820685e-05,-3.824001622950152e-05,0.00011707645172839257,0.6761,-0.0048,0.08636595671959829,1.0,0.0,0.0,0.0,0.0077365009928840114,0.008663160005798627,1.0393976288554292,-0.0002054537058176543,-0.0002304460830168148,0.0002126461836810266,0.03197198187581134,-0.003148001838507197,1.093464694922513,-0.00219245116334804,-0.002227924303139363,-0.000937056687331161,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9975860577132767,-0.23547101707658097,-0.8090770880941661,0.5809801914023479,0.6445928293772495,-0.19897923721011448,0.5629484540759943,1.0393976288554292,1.3720255421701604,1.3720255421701604,2.3422791746188776,1,0,-0.000556461818092295,-9.999999025923074e-05
+6005,1791629019651977303,34203483999999,1791629019645822053,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760791643458522,-0.004849806136420688,0.08626076460527886,0.9999999863106152,6.646968634959203e-05,-3.1465983390239334e-05,0.00011581583075347861,0.6761,-0.0048,0.08615895194483071,1.0,0.0,0.0,0.0,0.009102770013203039,0.0032088302230834625,1.0195748399033515,-0.00021313234190829507,0.0003051844646842219,0.0002406427212328677,0.033338250896130364,-0.008602331621222361,1.0736419059704354,-0.002200129799438681,-0.0016922937554383264,-0.0009090601497793199,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0500725222859495,-0.28993317076556735,-0.716201125530201,0.5993565407943625,0.6006224058158152,-0.23180622961073855,0.5629484540759943,1.0195748399033515,1.2791495796061954,1.2791495796061954,2.371559174618907,1,0,-0.0005747618145271735,-9.999999025923074e-05
+6049,1791629020018926975,34203851000000,1791629020013822229,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760730355888028,-0.004848674142665384,0.08603884507735735,0.9999999852358793,7.625165939600421e-05,-4.095599998271606e-05,0.00011610080166598279,0.6761,-0.0048,0.08594465630955701,1.0,0.0,0.0,0.0,-0.004800657855984623,-0.002003855221335154,1.0005416687594266,-0.00019926725793266518,-0.0002208019221229202,0.00024593328225476073,0.019434823026942702,-0.013815017065640978,1.0546087348265105,-0.002186264715463051,-0.0022182801422454684,-0.0009037695887574268,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0163875840343226,-0.34348536028773097,-0.7429131614123508,0.6157612958894814,0.6085411606196154,-0.26667180732333545,0.5629484540759943,1.0005416687594266,1.305861615488345,1.305861615488345,2.4009191746189362,1,0,-0.0005931118109523112,-9.999999025923074e-05
+6093,1791629020385910208,34204218000000,1791629020381822234,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760744763711709,-0.004846180396537766,0.08581971351596043,0.999999984749074,8.256153153182158e-05,-3.769387972208342e-05,0.0001170789516496493,0.6761,-0.0048,0.08572362622559529,1.0,0.0,0.0,0.0,0.010831409378439877,0.010271745006718732,0.9995750604894766,0.0007935574137912713,-0.0002389368790942461,0.0001290756823186922,0.0350668902613672,-0.0015394168375870909,1.0536421265565605,-0.0011934400437391146,-0.0022364150992167943,-0.0010206271886934954,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0017461431777608,-0.2851057450653109,-0.6524323979276403,0.6008013283589215,0.5483364284487876,-0.22751434897518089,0.5629484540759943,0.9995750604894766,1.2153808520036344,1.2153808520036344,2.4302791746189656,1,0,-0.0006114618073774489,-9.999999025923074e-05
+6132,1791629020710928958,34204542999999,1791629020709822158,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760724390717031,-0.004848644400684451,0.08561448394470295,0.9999999854378968,7.057559109220182e-05,-3.930350153808682e-05,0.00011849637665374942,0.6761,-0.0048,0.08552226863871364,1.0,0.0,0.0,0.0,0.01089399252433352,0.009583431221015175,0.9995927290555691,0.0006853228229345739,-0.0002381320868138732,0.000258678591905746,0.035129473407260844,-0.0022277306232906485,1.053659795122653,-0.001301674634595812,-0.0022356103069364214,-0.0008910242791064415,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9985251390902764,-0.24794688017607056,-0.6823680971610049,0.5923091767452585,0.5689300381341617,-0.20379418021732632,0.5629484540759943,0.9995927290555691,1.245316551236999,1.245316551236999,2.4562791746189916,1,0,-0.0006277118042116988,-9.999999025923074e-05
+6172,1791629021043910867,34204875999999,1791629021041822352,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760710699238601,-0.0048491117931162364,0.08540551376970297,0.9999999859369713,6.7568405186018e-05,-4.024445357937928e-05,0.00011568844542197599,0.6761,-0.0048,0.08531047670845283,1.0,0.0,0.0,0.0,0.01145428571753699,0.015223408993424975,0.9727545484214282,0.0006203032466037622,-0.0002181832893657686,-0.0006610916206339368,0.035689766600464315,0.003412247149119151,1.026821614488512,-0.0013666942109266237,-0.002215661509488317,-0.0018107944916461243,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.039162853095411,-0.2927549384247883,-0.627604570827676,0.6090446783329222,0.5412928333571722,-0.2297108309809116,0.5629484540759943,0.9727545484214282,1.1905530249036702,1.1905530249036702,2.4829191746190182,1,0,-0.0006443618009680227,-9.999999025923074e-05
+6216,1791629021410972037,34205243000000,1791629021405821796,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760683942180556,-0.004850310994466914,0.08516560208194032,0.9999999847238125,7.755138521971067e-05,-4.383044096220418e-05,0.00011857451020725223,0.6761,-0.0048,0.08507063787815534,1.0,0.0,0.0,0.0,0.002247108864626826,-0.004975266418461632,0.9390176206109531,-0.00018846944934572916,-0.00020105674460936876,0.0002966811572327966,0.02648258974755415,-0.016786428262767456,0.993084686678037,-0.002175466906876115,-0.002198534964731917,-0.000853021713779391,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0706189450663541,-0.2948645845676932,-0.6703528142465582,0.6032637320852392,0.5797657279328724,-0.2324051488463898,0.5629484540759943,0.9390176206109531,1.2333012683225526,1.2333012683225526,2.5122791746190476,1,0,-0.0006627117973931604,-9.999999025923074e-05
+6252,1791629021710965244,34205542999999,1791629021709823698,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.676068606075959,-0.004851932859697801,0.08496496358156995,0.999999985917431,6.918405388560334e-05,-4.2394524100238544e-05,0.00011412393814943406,0.6761,-0.0048,0.08486958183937719,1.0,0.0,0.0,0.0,0.0021224631171851,-0.013466292688811957,0.9389711143891336,-0.0001930458558744093,1.7236335615430746e-05,0.0002974427538601966,0.026357944000112425,-0.02527745453311778,0.9930381804562175,-0.002180043313404795,-0.0019802418845071175,-0.000852260117151991,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.089913312994025,-0.3114533128785711,-0.6431571026879785,0.6064181372777213,0.5641856960895612,-0.24376948662687506,0.5629484540759943,0.9389711143891336,1.2061055567639727,1.2061055567639727,2.5362791746190716,1,0,-0.0006777117944709296,-9.999999025923074e-05
+6292,1791629022043859638,34205875999999,1791629022037821979,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760679617475186,-0.004856926255964116,0.08473935626644119,0.9999999860113885,6.477883694405911e-05,-4.1720359718195234e-05,0.0001161171872880353,0.6761,-0.0048,0.08464113991236007,1.0,0.0,0.0,0.0,-0.007210000609644145,0.00438376590355607,0.9188226298002076,-0.00020907286517693772,0.0008103796617900728,0.00015041582912118695,0.01702548027328318,-0.007427395940749754,0.9728896958672915,-0.0021960703227073236,-0.0011870985583324755,-0.0009992870418910006,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1020631940423142,-0.2466970372484613,-0.7133394779318698,0.5892216445312162,0.6126786234517351,-0.1975954598475486,0.5629484540759943,0.9188226298002076,1.2762879320078642,1.2762879320078642,2.5629191746190982,1,0,-0.0006943617912272534,-9.999999025923074e-05
+6328,1791629022343958733,34206176000000,1791629022341821727,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760629265400122,-0.0048588723109195976,0.08452310647111806,0.9999999855152457,6.669644994367788e-05,-4.941635077605993e-05,0.0001162840518586359,0.6761,-0.0048,0.08443058887543169,1.0,0.0,0.0,0.0,-0.004199092535455775,0.002845700077589426,0.8924741465624891,-0.00020647042875519567,0.0008139488935938626,0.00034499917708091126,0.02003638834747155,-0.008965461766716398,0.946541212629573,-0.0021934678862855815,-0.0011835293265286856,-0.0008047036939312763,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1730856537246093,-0.26014411690004957,-0.6259486828333821,0.5900471652719098,0.5759693965205123,-0.20462086703661125,0.5629484540759943,0.8924741465624891,1.1888971369093764,1.1888971369093764,2.5869191746191222,1,0,-0.0007093617883050226,-9.999999025923074e-05
+6364,1791629022643958452,34206476000000,1791629022641821806,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760582944099445,-0.004859820856083521,0.08430289852434963,0.9999999853281035,6.204488184338978e-05,-5.783007849553914e-05,0.00011658804303340138,0.6761,-0.0048,0.08421553783937998,1.0,0.0,0.0,0.0,-0.007079371434904943,-0.007297583886345011,0.8678121077352793,-0.00020271329151899968,0.0008213239471788869,0.00035988850644646446,0.017156109448022382,-0.019108745730650835,0.9218791738023632,-0.0021897107490493855,-0.0011761542729436614,-0.0007898143645657231,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1244727058643782,-0.2565038593275478,-0.6729415679796352,0.5808661077930535,0.5914559325973052,-0.20557483505327462,0.5629484540759943,0.8678121077352793,1.2358900220556295,1.2358900220556295,2.6109191746191462,1,0,-0.0007243617853827919,-9.999999025923074e-05
+6400,1791629022943940298,34206775999999,1791629022941821645,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760613485474576,-0.00485210615358387,0.08409378051340441,0.999999985950608,6.309439630595412e-05,-5.117292644273884e-05,0.0001137632501420716,0.6761,-0.0048,0.08399598680420493,1.0,0.0,0.0,0.0,-0.007005124089428265,-0.008456300968766328,0.8281860635726186,-0.0001870035901915877,0.0008350383452673321,-0.0005448037512603573,0.01723035679349906,-0.02026746281307215,0.8822531296397025,-0.0021740010477219736,-0.0011624398748552162,-0.0016945066222725448,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.19784033493569,-0.2915936022551236,-0.694118796749047,0.5846075056632433,0.6208653530853071,-0.22872494700035717,0.5629484540759943,0.8281860635726186,1.2570672508250413,1.2570672508250413,2.6349191746191702,1,0,-0.0007393617824605611,-9.999999025923074e-05
+6436,1791629023243887147,34207076000000,1791629023241823688,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760593940923493,-0.004853720437930437,0.08387210062452016,0.9999999861288874,6.059422695274653e-05,-5.3073292210808256e-05,0.00011267943321709758,0.6761,-0.0048,0.08377193576990656,1.0,0.0,0.0,0.0,-0.0070073583533985205,0.001983245120793174,0.8380998311803746,-0.00018711009942777882,0.0008321812726417867,-0.0005895074766080778,0.017228122529528805,-0.00982791672351265,0.8921668972474585,-0.0021741075569581647,-0.0011652969474807615,-0.0017392103476202654,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1989971102081374,-0.3437554588325927,-0.586933098064352,0.603556079842797,0.5490375567450109,-0.26309275618946537,0.5629484540759943,0.8380998311803746,1.1498815521403463,1.1498815521403463,2.6589191746191942,1,0,-0.0007543617795383303,-9.999999025923074e-05
+6467,1791629023501909998,34207334000000,1791629023501821332,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.676053888664202,-0.004854898047685282,0.08367195702401771,0.9999999853778312,6.426963576207298e-05,-5.8826491080664146e-05,0.00011443801753959665,0.6761,-0.0048,0.08357565278111112,1.0,0.0,0.0,0.0,-0.01636962849521037,-0.015853948430737164,0.798042622979001,-0.00020343677720222704,0.0017191568341337932,-0.0005713285117997235,0.007865852387716955,-0.027665110275042988,0.8521096890460849,-0.002190434234732613,-0.00027832138598875506,-0.0017210313828119111,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2431810333718156,-0.3888366353580077,-0.6157126509326283,0.6096399033609651,0.577386941581295,-0.288484827669676,0.5629484540759943,0.798042622979001,1.1786611050086226,1.1786611050086226,2.679559174619215,1,0,-0.0007672617770252118,-9.999999025923074e-05
+6500,1791629023776953234,34207608999999,1791629023773821958,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760518454001195,-0.004851363266615679,0.08345157717298085,0.9999999851165606,6.420332114549515e-05,-6.254594170702503e-05,0.00011478537255497281,0.6761,-0.0048,0.08336277204279885,1.0,0.0,0.0,0.0,-0.016142383360273772,-0.010420736380622197,0.7883346274159878,-0.00018661799556694532,0.000839709299203562,0.0002942845381690366,0.008093097522653551,-0.02223189822492802,0.8424016934830717,-0.002173615453097331,-0.0011577689209189862,-0.000855418332843151,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2390665357230177,-0.2705337616638087,-0.5979102023782622,0.5742239829436815,0.5648181071289091,-0.21018791030844075,0.5629484540759943,0.7883346274159878,1.1608586564542565,1.1608586564542565,2.701559174619237,1,0,-0.0007810117743465003,-9.999999025923074e-05
+6533,1791629024051950744,34207884000000,1791629024045821984,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760434221764258,-0.004858862215521294,0.083223960630146,0.9999999847310849,5.453952025615872e-05,-7.489465731860516e-05,0.0001157450886982791,0.6761,-0.0048,0.08314611005522322,1.0,0.0,0.0,0.0,-0.015992117495664884,-0.008999391222476432,0.7581689683450259,-0.00017466083600607392,0.0008514522625830913,8.681452382955303e-05,0.00824336338726244,-0.020810553066782256,0.8122360344121098,-0.00216165829353646,-0.001146025957539457,-0.0010628883471826345,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2433761910778318,-0.31955757087305436,-0.6189525680388179,0.5865139564853142,0.5768575238790178,-0.24449202715487778,0.5629484540759943,0.7581689683450259,1.181901022114812,1.181901022114812,2.723559174619259,1,0,-0.0007947617716677888,-9.999999025923074e-05
+6564,1791629024310954640,34208142999999,1791629024309822131,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760406756551547,-0.004856717703528034,0.08301322318256985,0.9999999842544152,5.9110430513154594e-05,-7.575706476554197e-05,0.00011705066416329935,0.6761,-0.0048,0.08293859620668924,1.0,0.0,0.0,0.0,-0.025508418079164825,-0.022472311456611927,0.7176415498006766,-0.00019480424648920212,0.0018740232407849016,-0.00047750646967033685,-0.0012729371962374992,-0.03428347330091775,0.7717086158677605,-0.002181801704019588,-0.00012345497933764668,-0.0016272093406825244,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2523560997091518,-0.37589897277524736,-0.5322661102619379,0.5911950047237531,0.5225275582956063,-0.2807482660698903,0.5629484540759943,0.7176415498006766,1.0952145643379323,1.0952145643379323,2.7442791746192796,1,0,-0.0008077117691449295,-9.999999025923074e-05
+6595,1791629024568917848,34208400999999,1791629024561822321,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760375290652969,-0.0048605012559383145,0.08279567288532698,0.9999999836416286,5.786870235672311e-05,-8.313117127916433e-05,0.00011789838341070068,0.6761,-0.0048,0.0827285489205753,1.0,0.0,0.0,0.0,-0.025683262457489368,-0.014484713173832577,0.6975877991545272,-0.00018970630702734668,0.0018777480597365287,-0.0005075974599705853,-0.0014477815745620435,-0.0262958750181384,0.7516548652216111,-0.0021767037645577325,-0.00011973016038601956,-0.0016573003309827729,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3308344786666804,-0.31401464698842463,-0.6660469499166951,0.5799976372149274,0.6250051126504118,-0.23571903567676517,0.5629484540759943,0.6975877991545272,1.2289954039926894,1.2289954039926894,2.7649191746193003,1,0,-0.000820611766631811,-9.999999025923074e-05
+6623,1791629024801905710,34208634000000,1791629024801821822,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760325587327172,-0.0048600126580466444,0.08259811806120845,0.9999999835053069,5.325230891724243e-05,-8.840876885164203e-05,0.00011738965625305091,0.6761,-0.0048,0.08253599497921563,1.0,0.0,0.0,0.0,-0.03407580336758317,-0.02700759587434037,0.6669815946912513,-0.0011867524131769277,0.0019039529746448557,-0.0004952755717455137,-0.00984032248465584,-0.038818757718646194,0.7210486607583352,-0.0031737498707073136,-9.352524547769263e-05,-0.0016449784427577012,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3546385609761598,-0.26880303049670246,-0.6627284849053183,0.5550793972353772,0.6262658915928824,-0.2122288736345913,0.5629484540759943,0.6669815946912513,1.2256769389813127,1.2256769389813127,2.783559174619319,1,0,-0.0008322617643622118,-9.999999025923074e-05
+6655,1791629025068951442,34208900999999,1791629025065821478,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760230006632331,-0.004855296196288147,0.08235776535166717,0.9999999819516562,5.500161860954752e-05,-0.00010463109125466136,0.00011647621409935364,0.6761,-0.0048,0.08231200553847942,1.0,0.0,0.0,0.0,-0.033050050853979294,-0.03239832197148684,0.646906154277249,-0.001202393557743125,0.0019091164796137346,-0.00047906866206631846,-0.00881456997105197,-0.04420948381579266,0.7009732203443328,-0.003189391015273511,-8.836174050881371e-05,-0.001628771533078506,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4116718920580344,-0.32384029411408655,-0.6232330027961692,0.5698261725590207,0.6159572038860879,-0.24641958824019045,0.5629484540759943,0.646906154277249,1.1861814568721636,1.1861814568721636,2.8049191746193403,1,0,-0.0008456117617614264,-9.999999025923074e-05
+6683,1791629025301947057,34209134000000,1791629025301821371,DOWN_FORCE_DETACH,1,0.0455,0.045501746237277985,0.6760158869126005,-0.004865177065908175,0.08214282985483334,0.9999999808888808,4.5886023210063585e-05,-0.00011643268183678004,0.00011833429791575815,0.6761,-0.0048,0.08211362659825455,1.0,0.0,0.0,0.0,-0.03400550559412485,-0.03881297265672988,0.6190544346305938,-0.0011983209830295667,0.0019160327037568818,-0.0004567210571539528,-0.00977002471119753,-0.0506241345010357,0.6731215006976777,-0.0031853184405599526,-8.144551636566637e-05,-0.0016064239281661404,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4330954732352381,-0.2939840949438389,-0.5671418709898688,0.5602008266559518,0.5842532925123788,-0.22315564851446873,0.5629484540759943,0.6190544346305938,1.1300903250658632,1.1300903250658632,2.823559174619359,1,0,-0.0008572617594918272,-9.999999025923074e-05
+6711,1791629025535900353,34209368000000,1791629025529821877,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760066267657561,-0.004857516297561665,0.08192440996841831,0.9999999789037868,4.882163154247319e-05,-0.00013301336191513466,0.00011644391046051234,0.6761,-0.0048,0.08191166429680129,1.0,0.0,0.0,0.0,-0.03345091949498161,-0.05317556361910036,0.5771884898505442,-0.0022112280772985157,0.0019443388185663795,-0.0004343338687081281,-0.009215438612054278,-0.06498672546340618,0.631255555917628,-0.0041982255348289015,-5.313940155616885e-05,-0.0015840367397203156,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4838575626283173,-0.26810759754452035,-0.4829246220177728,0.5476600938138585,0.5412175320317132,-0.2089594746069171,0.5629484540759943,0.5771884898505442,1.0458730760937671,1.0458730760937671,2.8422791746193776,1,0,-0.0008689617572124872,-9.999999025923074e-05
+6739,1791629025768945041,34209601000000,1791629025765822271,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6760055027259514,-0.0048619471180720766,0.08171987254512558,0.999999979291022,4.511433074381134e-05,-0.00013271677159857242,0.00011494248862302752,0.6761,-0.0048,0.08170784480763632,1.0,0.0,0.0,0.0,-0.035556793262242356,-0.04387991649350538,0.5575513997983084,-0.00223373536615103,0.002958732791293017,-0.0004024663089688522,-0.011321312379315027,-0.05569107833781121,0.6116184658653923,-0.004220732823681416,0.0009612545711704689,-0.0015521691799810398,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.476823500806119,-0.31719048557111806,-0.6037981915975282,0.554033747524078,0.6109862869275119,-0.24225265676128738,0.5629484540759943,0.5575513997983084,1.1667466456735225,1.1667466456735225,2.8609191746193963,1,0,-0.0008806117549428879,-9.999999025923074e-05
+6767,1791629026001924896,34209834000000,1791629026001821733,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759965913680237,-0.004864959114977456,0.0814961416806613,0.999999977236575,4.147072808018832e-05,-0.00014797534327498876,0.00011555600573239878,0.6761,-0.0048,0.08150131086900017,1.0,0.0,0.0,0.0,-0.04275710416852902,-0.05464238976863049,0.5361110874673263,-0.0022312270929042196,0.002966701685609783,-0.0003865734702544056,-0.018521623285601696,-0.06645355161293631,0.5901781535344102,-0.0042182245504346055,0.0009692234654872344,-0.0015362763412665932,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5334719424755823,-0.3078811364408394,-0.5736907016236443,0.5447959083495136,0.6076784726362566,-0.23928013206859583,0.5629484540759943,0.5361110874673263,1.1366391556996387,1.1366391556996387,2.879559174619415,1,0,-0.0008922617526732887,-9.999999025923074e-05
+6795,1791629026235912396,34210068000000,1791629026233821516,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759900028904956,-0.004864305613258448,0.08127089690047914,0.999999975027528,4.1657058985595445e-05,-0.0001599697187925435,0.00011858408978535042,0.6761,-0.0048,0.08129115856914244,1.0,0.0,0.0,0.0,-0.06032673900120657,-0.0680893010328009,0.4955288249839792,-0.0032446903165040293,0.002995553234120922,-0.00036744875635002,-0.03609125811827924,-0.07990046287710673,0.5495958910510631,-0.005231687774034415,0.0009980750139983738,-0.0015171516273622075,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5993237304953982,-0.25981811100471364,-0.6390335653052285,0.5258655463231411,0.6625391904964392,-0.20555464780913224,0.5629484540759943,0.4955288249839792,1.2019820193812227,1.2019820193812227,2.8982791746194336,1,0,-0.0009039617503939487,-9.999999025923074e-05
+6819,1791629026435915022,34210267999999,1791629026429821919,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759863930633269,-0.004864866471352515,0.08108108795641586,0.9999999741346934,3.507868140629141e-05,-0.0001665832573511235,0.00011913430008851872,0.6761,-0.0048,0.08110937121925944,1.0,0.0,0.0,0.0,-0.06103207703756186,-0.0701540935039211,0.4757515665775457,-0.0032410937694219866,0.0029999925621685035,-0.00035126417481289723,-0.036796596154634535,-0.08196525534822692,0.5298186326446296,-0.0052280912269523725,0.0010025143420459553,-0.0015009670458250848,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.6138858192129457,-0.3197579424183686,-0.5553207371371831,0.5394628545394493,0.611096158270946,-0.24539884769842601,0.5629484540759943,0.4757515665775457,1.1182691912131775,1.1182691912131775,2.9142791746194496,1,0,-0.0009139617484457948,-9.999999025923074e-05
+6847,1791629026668943910,34210500999999,1791629026661822012,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759747411657034,-0.004863292504981753,0.08085018163951876,0.9999999715470669,3.3915285986963084e-05,-0.00018238864836953703,0.00011803755428964486,0.6761,-0.0048,0.08089506673213712,1.0,0.0,0.0,0.0,-0.06916558243403939,-0.08770553840160449,0.4351951413520869,-0.004255950366049311,0.003028179584652591,-0.00033115575165805077,-0.04493010155111206,-0.0995167002459103,0.4892622074191708,-0.006242947823579697,0.0010307013645300428,-0.0014808586226702383,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5949105329179536,-0.29157975417094234,-0.4419504983407328,0.5339615088311872,0.5307641975440515,-0.22376946908827253,0.5629484540759943,0.4351951413520869,1.004898952416727,1.004898952416727,2.9329191746194683,1,0,-0.0009256117461761956,-9.999999025923074e-05
+6875,1791629026901891204,34210733999999,1791629026897821774,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759746347580244,-0.004860964489317466,0.08063488092335816,0.9999999715506627,3.626992008394507e-05,-0.00018226636312927623,0.00011749469747822422,0.6761,-0.0048,0.0806780477955436,1.0,0.0,0.0,0.0,-0.07836920224646843,-0.1050318697732729,0.40513840108138316,-0.004251814219726433,0.003037152514387704,-0.00030862158263168294,-0.054133721363541096,-0.11684303161757872,0.45920546714846705,-0.006238811677256819,0.0010396742942651556,-0.0014583244536438705,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.7063114954151106,-0.3561808446680721,-0.5285290519357652,0.5445795372356266,0.6153587489076866,-0.27052944149146524,0.5629484540759943,0.40513840108138316,1.0914775060117594,1.0914775060117594,2.951559174619487,1,0,-0.0009372617439065964,-9.999999025923074e-05
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+6931,1791629027368940151,34211201000000,1791629027361821811,DOWN_FORCE_DETACH,1,0.0455,0.045502401888370514,0.6759752999629469,-0.004860956664612219,0.08019759298383444,0.9999999726593313,4.0427544582394544e-05,-0.00017497749487454622,0.00011778238920248356,0.6761,-0.0048,0.08023490601220368,1.0,0.0,0.0,0.0,-0.09689196786538318,-0.09647650464664433,0.36451725394869205,-0.004270445133350435,0.004058701538672424,-0.00026188361395373776,-0.07265648698245586,-0.10828766649095015,0.41858432001577595,-0.006257442590880821,0.0020612233185498758,-0.0014115864849659253,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.694877074073016,-0.2525694060539976,-0.48631368529369234,0.5086668433117946,0.5783895684513591,-0.20424665541113018,0.5629484540759943,0.36451725394869205,1.0492621393696866,1.0492621393696866,2.9889191746195243,1,0,-0.0009606117393576571,-9.999999025923074e-05
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f4f478bb3686450930fa01691fa1a6a557b44d1b
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_15/press_depth_01/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..35d878a5e7c73880288643b8bdc05fb8e4ae50f6
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+14,1.018333333e+01,DOWN_FORCE_DETACH,1791629012231681742,9.669538259e-05,-3.715965698e-05,-1.739047059e-03,9.852330506e-05,-4.067955308e-05,-1.719543406e-03,9.510422911e-05,-4.070225415e-05,-1.718661809e-03,7.016345669e-01,-3.560869566e-05,8.390018941e-01,7.016363948e-01,-3.912859176e-05,8.390213978e-01,7.018243702e-01,-3.895594967e-05,8.278539931e-01
+15,1.060000000e+01,DOWN_FORCE_DETACH,1791629013063504861,9.545483612e-05,-3.885563633e-05,-1.940229729e-03,9.551063810e-05,-4.000086871e-05,-1.931513892e-03,9.125639068e-05,-4.002780461e-05,-1.930464438e-03,7.016333263e-01,-3.730467501e-05,8.388007115e-01,7.016333821e-01,-3.844990739e-05,8.388094273e-01,7.018205223e-01,-3.828150013e-05,8.276421904e-01
+16,1.098333333e+01,DOWN_FORCE_DETACH,1791629013793812692,9.413918301e-05,-4.477229135e-05,-2.142769178e-03,9.161426478e-05,-4.446114962e-05,-2.126014444e-03,8.652170317e-05,-4.451553271e-05,-2.124955925e-03,7.016320107e-01,-4.322133003e-05,8.385981720e-01,7.016294857e-01,-4.291018830e-05,8.386149267e-01,7.018157876e-01,-4.276922823e-05,8.274476989e-01
+17,1.133333333e+01,DOWN_FORCE_DETACH,1791629014457666302,9.527719251e-05,-4.510199063e-05,-2.339348694e-03,9.202909610e-05,-4.011712037e-05,-2.334806343e-03,8.617426226e-05,-4.014722775e-05,-2.333644239e-03,7.016331487e-01,-4.355102931e-05,8.384015925e-01,7.016299006e-01,-3.856615904e-05,8.384061348e-01,7.018154402e-01,-3.840092327e-05,8.272390106e-01
+18,1.165000000e+01,DOWN_FORCE_DETACH,1791629015067094308,9.703797040e-05,-4.243108981e-05,-2.541213814e-03,9.516274855e-05,-4.293729341e-05,-2.528436883e-03,8.875058095e-05,-4.297087681e-05,-2.527286725e-03,7.016349095e-01,-4.088012849e-05,8.381997274e-01,7.016330342e-01,-4.138633209e-05,8.382125043e-01,7.018180165e-01,-4.122457233e-05,8.270453681e-01
+19,1.195000000e+01,DOWN_FORCE_DETACH,1791629015623800973,9.506799723e-05,-3.643947736e-05,-2.749017982e-03,9.525518031e-05,-3.643013946e-05,-2.748800468e-03,8.799796596e-05,-3.642584110e-05,-2.747570860e-03,7.016329395e-01,-3.488851604e-05,8.379919232e-01,7.016331267e-01,-3.487917814e-05,8.379921407e-01,7.018172639e-01,-3.467953662e-05,8.268250840e-01
+20,1.221666667e+01,DOWN_FORCE_DETACH,1791629016123639470,8.748787379e-05,-4.100346169e-05,-2.956534325e-03,9.024696956e-05,-3.955153982e-05,-2.940916348e-03,8.211500297e-05,-3.953960845e-05,-2.939682817e-03,7.016253594e-01,-3.945250037e-05,8.377844069e-01,7.016281185e-01,-3.800057849e-05,8.378000248e-01,7.018113809e-01,-3.779330397e-05,8.266329721e-01
+21,1.250000000e+01,DOWN_FORCE_DETACH,1791629016653831778,9.036497236e-05,-4.280568319e-05,-3.168687399e-03,9.041345780e-05,-4.012052055e-05,-3.157340773e-03,8.149491051e-05,-4.007578252e-05,-3.156185719e-03,7.016282365e-01,-4.125472187e-05,8.375722538e-01,7.016282849e-01,-3.856955923e-05,8.375836004e-01,7.018107608e-01,-3.832947804e-05,8.264164692e-01
+22,1.276666667e+01,DOWN_FORCE_DETACH,1791629017153652109,9.026261966e-05,-5.023520597e-05,-3.383295930e-03,9.184167516e-05,-5.016356923e-05,-3.366660907e-03,8.218934624e-05,-5.015035176e-05,-3.365595378e-03,7.016281341e-01,-4.868424465e-05,8.373576453e-01,7.016297132e-01,-4.861260791e-05,8.373742803e-01,7.018114553e-01,-4.840404728e-05,8.262070595e-01
+23,1.300000000e+01,DOWN_FORCE_DETACH,1791629017618064900,8.921296971e-05,-5.238964554e-05,-3.595509109e-03,8.781789971e-05,-4.939092704e-05,-3.581611892e-03,7.728609704e-05,-4.938973068e-05,-3.580560042e-03,7.016270845e-01,-5.083868422e-05,8.371454321e-01,7.016256894e-01,-4.783996572e-05,8.371593293e-01,7.018065520e-01,-4.764342620e-05,8.259920948e-01
+24,1.323333333e+01,DOWN_FORCE_DETACH,1791629018053680059,9.093708173e-05,-5.255527104e-05,-3.801522064e-03,9.078951337e-05,-5.249625175e-05,-3.801537914e-03,7.953990142e-05,-5.246791219e-05,-3.800371746e-03,7.016288086e-01,-5.100430972e-05,8.369394191e-01,7.016286610e-01,-5.094529043e-05,8.369394033e-01,7.018088058e-01,-5.072160771e-05,8.257722831e-01
+25,1.345000000e+01,DOWN_FORCE_DETACH,1791629018483706125,9.005349980e-05,-6.406698776e-05,-4.019367945e-03,8.793682194e-05,-5.615808739e-05,-4.003659649e-03,7.587508316e-05,-5.615130431e-05,-4.002632590e-03,7.016279250e-01,-6.251602644e-05,8.367215732e-01,7.016258083e-01,-5.460712607e-05,8.367372815e-01,7.018051410e-01,-5.440499983e-05,8.255700223e-01
+26,1.365000000e+01,DOWN_FORCE_DETACH,1791629018883722360,8.697004699e-05,-6.896798602e-05,-4.235073361e-03,8.676594368e-05,-6.885995970e-05,-4.235114669e-03,7.386351686e-05,-6.886547216e-05,-4.234033087e-03,7.016248415e-01,-6.741702470e-05,8.365058678e-01,7.016246374e-01,-6.730899838e-05,8.365058265e-01,7.018031295e-01,-6.711916768e-05,8.253386218e-01
+27,1.385000000e+01,DOWN_FORCE_DETACH,1791629019283805575,8.728201322e-05,-6.551527010e-05,-4.443364982e-03,8.720554005e-05,-6.557352966e-05,-4.442765957e-03,7.350954085e-05,-6.555160405e-05,-4.441790497e-03,7.016251535e-01,-6.396430878e-05,8.362975762e-01,7.016250770e-01,-6.402256834e-05,8.362981752e-01,7.018027755e-01,-6.380529957e-05,8.251308644e-01
+28,1.403333333e+01,DOWN_FORCE_DETACH,1791629019649655709,8.878919671e-05,-6.343465145e-05,-4.648571905e-03,8.858616486e-05,-6.350031170e-05,-4.648742406e-03,7.419426964e-05,-6.347224281e-05,-4.647783921e-03,7.016266607e-01,-6.188369013e-05,8.360923693e-01,7.016264576e-01,-6.194935038e-05,8.360921988e-01,7.018034602e-01,-6.172593833e-05,8.249248710e-01
+29,1.421666667e+01,DOWN_FORCE_DETACH,1791629020015783756,8.420626907e-05,-6.127514524e-05,-4.869384304e-03,8.400750302e-05,-6.132158991e-05,-4.868938171e-03,6.866889595e-05,-6.126700391e-05,-4.868160325e-03,7.016220778e-01,-5.972418392e-05,8.358715569e-01,7.016218790e-01,-5.977062859e-05,8.358720030e-01,7.017979348e-01,-5.952069943e-05,8.247044945e-01
+30,1.440000000e+01,DOWN_FORCE_DETACH,1791629020381675949,8.404958889e-05,-5.762783669e-05,-5.088468839e-03,8.375043596e-05,-5.763262579e-05,-5.088517084e-03,6.760803798e-05,-5.758271398e-05,-5.087866543e-03,7.016219211e-01,-5.607687537e-05,8.356524723e-01,7.016216219e-01,-5.608166447e-05,8.356524241e-01,7.017968740e-01,-5.583640950e-05,8.244847883e-01
+31,1.456666667e+01,DOWN_FORCE_DETACH,1791629020713734172,8.537535840e-05,-5.502589317e-05,-5.292799948e-03,8.290111735e-05,-5.887156961e-05,-5.277743621e-03,6.606168505e-05,-5.883081318e-05,-5.277293481e-03,7.016232468e-01,-5.347493185e-05,8.354481412e-01,7.016207726e-01,-5.732060828e-05,8.354631976e-01,7.017953276e-01,-5.708450870e-05,8.242953614e-01
+32,1.473333333e+01,DOWN_FORCE_DETACH,1791629021045684401,8.169499310e-05,-5.835926131e-05,-5.507990564e-03,8.155732178e-05,-5.846885542e-05,-5.507940672e-03,6.388580477e-05,-5.843535196e-05,-5.507484015e-03,7.016195665e-01,-5.680829999e-05,8.352329506e-01,7.016194288e-01,-5.691789410e-05,8.352330005e-01,7.017931517e-01,-5.668904748e-05,8.240651709e-01
+33,1.491666667e+01,DOWN_FORCE_DETACH,1791629021411743757,8.126182604e-05,-5.978000887e-05,-5.742975147e-03,8.127794563e-05,-5.973795133e-05,-5.742784567e-03,6.274316395e-05,-5.971933835e-05,-5.742419461e-03,7.016191333e-01,-5.822904755e-05,8.349979660e-01,7.016191494e-01,-5.818699001e-05,8.349981566e-01,7.017920091e-01,-5.797303387e-05,8.238302354e-01
+34,1.508333333e+01,DOWN_FORCE_DETACH,1791629021711787489,7.741175943e-05,-6.351509645e-05,-5.947976975e-03,7.719006561e-05,-6.373210121e-05,-5.948242687e-03,5.779041955e-05,-6.374878491e-05,-5.947932548e-03,7.016152832e-01,-6.196413513e-05,8.347929642e-01,7.016150615e-01,-6.218113988e-05,8.347926985e-01,7.017870564e-01,-6.200248043e-05,8.236247223e-01
+35,1.525000000e+01,DOWN_FORCE_DETACH,1791629022044272178,7.843236668e-05,-6.826001002e-05,-6.170347099e-03,7.805748684e-05,-6.789960108e-05,-6.170019895e-03,5.791439907e-05,-6.791109594e-05,-6.169887911e-03,7.016163038e-01,-6.670904870e-05,8.345705941e-01,7.016159290e-01,-6.634863976e-05,8.345709213e-01,7.017871803e-01,-6.616479146e-05,8.234027670e-01
+36,1.541666667e+01,DOWN_FORCE_DETACH,1791629022343894377,7.339715917e-05,-7.020606498e-05,-6.386596894e-03,7.337990827e-05,-7.008698299e-05,-6.386213824e-03,5.230395795e-05,-7.011400217e-05,-6.386261277e-03,7.016112686e-01,-6.865510366e-05,8.343543443e-01,7.016112514e-01,-6.853602167e-05,8.343547274e-01,7.017815699e-01,-6.836769769e-05,8.231863936e-01
+37,1.556666667e+01,DOWN_FORCE_DETACH,1791629022641736456,6.788288429e-05,-6.655784190e-05,-6.606736325e-03,6.772419411e-05,-6.658797490e-05,-6.606406395e-03,4.571633319e-05,-6.666515775e-05,-6.606596251e-03,7.016057544e-01,-6.500688058e-05,8.341342049e-01,7.016055957e-01,-6.503701357e-05,8.341345348e-01,7.017749823e-01,-6.491885327e-05,8.229660586e-01
+38,1.573333333e+01,DOWN_FORCE_DETACH,1791629022942915111,7.112455622e-05,-6.278701122e-05,-6.814302085e-03,7.088435600e-05,-6.274246096e-05,-6.814275680e-03,4.823583953e-05,-6.284651121e-05,-6.814578279e-03,7.016089960e-01,-6.123604990e-05,8.339266391e-01,7.016087558e-01,-6.119149964e-05,8.339266655e-01,7.017775018e-01,-6.110020673e-05,8.227580766e-01
+39,1.588333333e+01,DOWN_FORCE_DETACH,1791629023241719782,6.948654279e-05,-6.640548447e-05,-7.036942858e-03,6.932445547e-05,-6.654008698e-05,-7.036715238e-03,4.588328132e-05,-6.672744890e-05,-7.037065366e-03,7.016073580e-01,-6.485452315e-05,8.337039983e-01,7.016071959e-01,-6.498912566e-05,8.337042260e-01,7.017751492e-01,-6.498114441e-05,8.225355895e-01
+40,1.603333333e+01,DOWN_FORCE_DETACH,1791629023505702367,6.570326653e-05,-6.945810227e-05,-7.238928621e-03,6.550792228e-05,-6.924935972e-05,-7.238530016e-03,4.123661145e-05,-6.953075986e-05,-7.238909938e-03,7.016035747e-01,-6.790714094e-05,8.335020126e-01,7.016033794e-01,-6.769839840e-05,8.335024112e-01,7.017705025e-01,-6.778445538e-05,8.223337449e-01
+41,1.616666667e+01,DOWN_FORCE_DETACH,1791629023773767145,6.143068366e-05,-7.188713436e-05,-7.454075140e-03,6.109950821e-05,-7.193093478e-05,-7.454598570e-03,3.590078536e-05,-7.224197228e-05,-7.455059823e-03,7.015993022e-01,-7.033617304e-05,8.332868660e-01,7.015989710e-01,-7.037997346e-05,8.332863426e-01,7.017651667e-01,-7.049566780e-05,8.221175950e-01
+42,1.631666667e+01,DOWN_FORCE_DETACH,1791629024055717394,5.710831897e-05,-6.722777815e-05,-7.685954235e-03,5.978591458e-05,-6.748590414e-05,-7.667433789e-03,3.385497706e-05,-6.783321500e-05,-7.667947817e-03,7.015949798e-01,-6.567681683e-05,8.330549870e-01,7.015976574e-01,-6.593494282e-05,8.330735074e-01,7.017631209e-01,-6.608691052e-05,8.219047071e-01
+43,1.645000000e+01,DOWN_FORCE_DETACH,1791629024306563069,5.161343716e-05,-6.822830894e-05,-7.892730238e-03,5.131500102e-05,-6.791456444e-05,-7.892700592e-03,2.431602193e-05,-6.828347056e-05,-7.893233876e-03,7.015894849e-01,-6.667734762e-05,8.328482110e-01,7.015891865e-01,-6.636360312e-05,8.328482406e-01,7.017535820e-01,-6.653716608e-05,8.216794210e-01
+44,1.658333333e+01,DOWN_FORCE_DETACH,1791629024571721514,5.073250895e-05,-6.933691999e-05,-8.112630171e-03,5.051338031e-05,-6.936437212e-05,-8.112508756e-03,2.277837698e-05,-6.972467670e-05,-8.113054123e-03,7.015886040e-01,-6.778595867e-05,8.326283110e-01,7.015883849e-01,-6.781341079e-05,8.326284324e-01,7.017520443e-01,-6.797837222e-05,8.214596007e-01
+45,1.671666667e+01,DOWN_FORCE_DETACH,1791629024803742007,4.325213515e-05,-7.141613131e-05,-8.313785101e-03,4.324596333e-05,-7.106689555e-05,-8.313737564e-03,1.462130629e-05,-7.140871087e-05,-8.314287090e-03,7.015811236e-01,-6.986516999e-05,8.324271561e-01,7.015811174e-01,-6.951593423e-05,8.324272036e-01,7.017438872e-01,-6.966240639e-05,8.212583678e-01
+46,1.685000000e+01,DOWN_FORCE_DETACH,1791629025071718708,3.458914358e-05,-7.246756502e-05,-8.552529558e-03,3.426355018e-05,-7.258030667e-05,-8.552301309e-03,4.529594896e-06,-7.295574811e-05,-8.552876178e-03,7.015724606e-01,-7.091660369e-05,8.321884116e-01,7.015721350e-01,-7.102934535e-05,8.321886399e-01,7.017337955e-01,-7.120944363e-05,8.210197787e-01
+47,1.696666667e+01,DOWN_FORCE_DETACH,1791629025301766969,2.484994162e-05,-7.630919137e-05,-8.767865109e-03,2.451218747e-05,-7.606804052e-05,-8.767610471e-03,-6.195773338e-06,-7.647525004e-05,-8.768180228e-03,7.015627214e-01,-7.475823004e-05,8.319730761e-01,7.015623837e-01,-7.451707920e-05,8.319733307e-01,7.017230702e-01,-7.472894556e-05,8.208044746e-01
+48,1.710000000e+01,DOWN_FORCE_DETACH,1791629025538631827,1.893885196e-05,-7.834427229e-05,-8.985413111e-03,1.844530734e-05,-7.848904838e-05,-8.985527900e-03,-1.327193138e-05,-7.891535962e-05,-8.986126526e-03,7.015568103e-01,-7.679331097e-05,8.317555281e-01,7.015563168e-01,-7.693808706e-05,8.317554133e-01,7.017159940e-01,-7.716905514e-05,8.205865283e-01
+49,1.721666667e+01,DOWN_FORCE_DETACH,1791629025769766680,1.481642015e-05,-7.514636758e-05,-9.193726789e-03,1.456070266e-05,-7.504303767e-05,-9.193656237e-03,-1.792096321e-05,-7.539943819e-05,-9.194300288e-03,7.015526879e-01,-7.359540626e-05,8.315472144e-01,7.015524322e-01,-7.349207635e-05,8.315472850e-01,7.017113450e-01,-7.365313371e-05,8.203783546e-01
+50,1.735000000e+01,DOWN_FORCE_DETACH,1791629026001817354,7.061987182e-06,-7.629286903e-05,-9.413561684e-03,6.946591342e-06,-7.625740819e-05,-9.413426794e-03,-2.651320175e-05,-7.665523710e-05,-9.414037303e-03,7.015449335e-01,-7.474190771e-05,8.313273795e-01,7.015448181e-01,-7.470644687e-05,8.313275144e-01,7.017027527e-01,-7.490893262e-05,8.201586176e-01
+51,1.746666667e+01,DOWN_FORCE_DETACH,1791629026233721868,1.031392899e-06,-7.414241407e-05,-9.635202672e-03,1.027596339e-06,-7.425092388e-05,-9.634918878e-03,-3.334178391e-05,-7.459354294e-05,-9.635568304e-03,7.015389029e-01,-7.259145275e-05,8.311057385e-01,7.015388991e-01,-7.269996256e-05,8.311060223e-01,7.016959242e-01,-7.284723846e-05,8.199370866e-01
+52,1.756666667e+01,DOWN_FORCE_DETACH,1791629026433700119,-5.812675529e-06,-7.207922962e-05,-9.829756340e-03,-5.902876526e-06,-7.217070990e-05,-9.829579807e-03,-4.111430309e-05,-7.251899635e-05,-9.830207817e-03,7.015320588e-01,-7.052826830e-05,8.309111848e-01,7.015319686e-01,-7.061974858e-05,8.309113614e-01,7.016881516e-01,-7.077269187e-05,8.197424471e-01
+53,1.768333333e+01,DOWN_FORCE_DETACH,1791629026667703448,-1.444845267e-05,-7.628803259e-05,-1.005849565e-02,-1.463692845e-05,-7.619210892e-05,-1.005817691e-02,-5.084496460e-05,-7.657512363e-05,-1.005880537e-02,7.015234230e-01,-7.473707127e-05,8.306824455e-01,7.015232346e-01,-7.464114760e-05,8.306827643e-01,7.016784210e-01,-7.482881914e-05,8.195138495e-01
+54,1.780000000e+01,DOWN_FORCE_DETACH,1791629026901705845,-1.342267156e-05,-7.446379123e-05,-1.027056875e-02,-1.361833906e-05,-7.451711420e-05,-1.027033608e-02,-5.058021598e-05,-7.487363943e-05,-1.027101582e-02,7.015244488e-01,-7.291282991e-05,8.304703724e-01,7.015242531e-01,-7.296615288e-05,8.304706051e-01,7.016786857e-01,-7.312733495e-05,8.193016391e-01
+55,1.791666667e+01,DOWN_FORCE_DETACH,1791629027133702121,-1.403479439e-05,-7.405837430e-05,-1.049261137e-02,-1.397628421e-05,-7.418982262e-05,-1.049257798e-02,-5.168091939e-05,-7.456362988e-05,-1.049324287e-02,7.015238367e-01,-7.250741298e-05,8.302483298e-01,7.015238952e-01,-7.263886129e-05,8.302483632e-01,7.016775850e-01,-7.281732540e-05,8.190794120e-01
+56,1.803333333e+01,DOWN_FORCE_DETACH,1791629027365725919,-1.373275343e-05,-7.936670591e-05,-1.070783747e-02,-1.396448785e-05,-7.951416846e-05,-1.070795981e-02,-5.231142531e-05,-7.993330400e-05,-1.070863635e-02,7.015241387e-01,-7.781574459e-05,8.300331037e-01,7.015239070e-01,-7.796320714e-05,8.300329814e-01,7.016769545e-01,-7.818699952e-05,8.188640185e-01
+57,1.815000000e+01,DOWN_FORCE_DETACH,1791629027599731507,-1.807275329e-05,-7.333450950e-05,-1.094331171e-02,-1.845503383e-05,-7.315742721e-05,-1.094327481e-02,-5.773125441e-05,-7.352126206e-05,-1.094396469e-02,7.015197987e-01,-7.178354818e-05,8.297976295e-01,7.015194164e-01,-7.160646589e-05,8.297976664e-01,7.016715347e-01,-7.177495758e-05,8.186286902e-01
+58,1.825000000e+01,DOWN_FORCE_DETACH,1791629027799720557,-2.192125607e-05,-8.112588234e-05,-1.114213498e-02,-2.221037572e-05,-8.147280281e-05,-1.114221224e-02,-6.229364799e-05,-8.189904681e-05,-1.114291789e-02,7.015159502e-01,-7.957492102e-05,8.295988062e-01,7.015156611e-01,-7.992184149e-05,8.295987289e-01,7.016669723e-01,-8.015274233e-05,8.184297370e-01
+59,1.851666667e+01,DOWN_SETTLE,1791629028331785703,-2.389522806e-05,-6.706342389e-05,-1.134950153e-02,-2.152745000e-05,-6.717569367e-05,-1.133135278e-02,-6.216039349e-05,-6.752476393e-05,-1.133205497e-02,7.015139763e-01,-6.551246257e-05,8.293914397e-01,7.015163440e-01,-6.562473235e-05,8.294095884e-01,7.016671055e-01,-6.577845945e-05,8.182405999e-01
diff --git a/Fixed/s2/ball_0050_15/press_depth_01/down/simulation_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..1317eb748c22e1e7ae1547066fed93c9c3aaf267
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-2.8287e-04,2.2409e-04,2.4540e+00,-3.6809e-02,3.6768e-02,-7.6378e-06,5.2400e-05,-1.3749e-07,4.0293e-05,-1.3784e-07,3.6620e-06,-4.1153e-08,6.6100e-05,3.6648e-06
+1,8.3333e-01,DOWN_FORCE_DETACH,2.1918e-04,1.0790e-03,3.1601e-03,2.4605e+00,-3.7020e-02,3.6858e-02,-5.9030e-06,1.4143e-03,2.9359e-03,6.5074e-03,-2.1154e-04,9.4425e-05,1.6936e-06,7.2778e-03,2.3166e-04
+2,1.7667e+00,DOWN_FORCE_DETACH,4.3571e-04,7.1934e-04,4.8049e-03,2.4651e+00,-3.7131e-02,3.6828e-02,-5.3951e-06,1.0546e-03,4.5806e-03,1.1095e-02,-3.2215e-04,6.3855e-05,2.2015e-06,1.2049e-02,3.2843e-04
+3,2.6000e+00,DOWN_FORCE_DETACH,6.5845e-04,-1.8726e-04,5.6267e-03,2.4669e+00,-3.7176e-02,3.6760e-02,-6.4139e-06,1.4801e-04,5.4025e-03,1.2904e-02,-3.6748e-04,-3.8929e-06,1.1828e-06,1.3990e-02,3.6750e-04
+4,3.4167e+00,DOWN_FORCE_DETACH,8.7622e-04,3.9131e-05,6.7156e-03,2.4707e+00,-3.7239e-02,3.6772e-02,-3.9297e-06,3.7440e-04,6.4914e-03,1.6753e-02,-4.3088e-04,8.0988e-06,3.6669e-06,1.7971e-02,4.3097e-04
+5,4.2167e+00,DOWN_FORCE_DETACH,1.0925e-03,-9.4010e-04,7.2545e-03,2.4710e+00,-3.7278e-02,3.6704e-02,3.4398e-06,-6.0483e-04,7.0302e-03,1.7046e-02,-4.7002e-04,-5.9873e-05,1.1036e-05,1.8449e-02,4.7394e-04
+6,4.9333e+00,DOWN_FORCE_DETACH,1.3106e-03,2.6424e-03,6.3592e-03,2.4812e+00,-3.7223e-02,3.6950e-02,9.4517e-06,2.9777e-03,6.1350e-03,2.7193e-02,-4.1482e-04,1.8578e-04,1.7048e-05,2.8035e-02,4.5484e-04
+7,5.7167e+00,DOWN_FORCE_DETACH,1.5313e-03,3.4612e-03,6.2074e-03,2.4806e+00,-3.7199e-02,3.7006e-02,1.1231e-05,3.7965e-03,5.9832e-03,2.6634e-02,-3.9056e-04,2.4197e-04,1.8828e-05,2.7561e-02,4.5983e-04
+8,6.4833e+00,DOWN_FORCE_DETACH,1.7538e-03,5.5266e-03,5.3760e-03,2.4779e+00,-3.7130e-02,3.7152e-02,5.5779e-06,5.8619e-03,5.1518e-03,2.3938e-02,-3.2117e-04,3.8853e-04,1.3175e-05,2.5178e-02,5.0426e-04
+9,7.2667e+00,DOWN_FORCE_DETACH,1.9664e-03,6.1658e-03,6.5132e-03,2.4816e+00,-3.7221e-02,3.7195e-02,-2.7842e-07,6.5010e-03,6.2890e-03,2.7674e-02,-4.1263e-04,4.3073e-04,7.3182e-06,2.9114e-02,5.9652e-04
+10,7.9667e+00,DOWN_FORCE_DETACH,2.1862e-03,4.5673e-03,7.6514e-03,2.4794e+00,-3.7303e-02,3.7086e-02,-1.2362e-06,4.9025e-03,7.4272e-03,2.5429e-02,-4.9462e-04,3.2194e-04,6.3605e-06,2.6941e-02,5.9020e-04
+11,8.6333e+00,DOWN_FORCE_DETACH,2.4099e-03,3.5028e-03,7.6743e-03,2.4870e+00,-3.7293e-02,3.7003e-02,2.0140e-06,3.8381e-03,7.4501e-03,3.3008e-02,-4.8451e-04,2.3860e-04,9.6107e-06,3.4055e-02,5.4016e-04
+12,9.2500e+00,DOWN_FORCE_DETACH,2.6249e-03,3.6753e-03,7.0151e-03,2.4956e+00,-3.7235e-02,3.7009e-02,5.7871e-06,4.0106e-03,6.7909e-03,4.1584e-02,-4.2670e-04,2.4482e-04,1.3384e-05,4.2325e-02,4.9213e-04
+13,9.7333e+00,DOWN_FORCE_DETACH,2.8432e-03,3.1617e-03,8.9323e-03,2.4968e+00,-3.7363e-02,3.6973e-02,1.2226e-05,3.4970e-03,8.7081e-03,4.2857e-02,-5.5499e-04,2.0891e-04,1.9823e-05,4.3873e-02,5.9334e-04
+14,1.0183e+01,DOWN_FORCE_DETACH,3.0624e-03,2.3695e-03,1.0056e-02,2.5033e+00,-3.7440e-02,3.6909e-02,1.1657e-05,2.7048e-03,9.8313e-03,4.9306e-02,-6.3129e-04,1.4473e-04,1.9253e-05,5.0349e-02,6.4796e-04
+15,1.0600e+01,DOWN_FORCE_DETACH,3.2844e-03,4.1320e-03,1.0397e-02,2.5120e+00,-3.7450e-02,3.7027e-02,1.2196e-05,4.4672e-03,1.0173e-02,5.8019e-02,-6.4114e-04,2.6299e-04,1.9792e-05,5.9073e-02,6.9327e-04
+16,1.0983e+01,DOWN_FORCE_DETACH,3.5061e-03,5.0503e-03,1.1511e-02,2.5121e+00,-3.7511e-02,3.7087e-02,2.1212e-05,5.3855e-03,1.1287e-02,5.8109e-02,-7.0234e-04,3.2264e-04,2.8809e-05,5.9439e-02,7.7343e-04
+17,1.1333e+01,DOWN_FORCE_DETACH,3.7188e-03,5.8792e-03,1.0578e-02,2.5197e+00,-3.7429e-02,3.7140e-02,2.1903e-05,6.2145e-03,1.0354e-02,6.5769e-02,-6.2017e-04,3.7594e-04,2.9500e-05,6.6869e-02,7.2582e-04
+18,1.1650e+01,DOWN_FORCE_DETACH,3.9357e-03,6.1978e-03,1.1172e-02,2.5210e+00,-3.7471e-02,3.7161e-02,1.8843e-05,6.5330e-03,1.0948e-02,6.7008e-02,-6.6234e-04,3.9730e-04,2.6440e-05,6.8210e-02,7.7281e-04
+19,1.1950e+01,DOWN_FORCE_DETACH,4.1620e-03,6.4626e-03,1.0378e-02,2.5175e+00,-3.7404e-02,3.7180e-02,1.6726e-05,6.7979e-03,1.0154e-02,6.3528e-02,-5.9541e-04,4.1578e-04,2.4323e-05,6.4692e-02,7.2662e-04
+20,1.2217e+01,DOWN_FORCE_DETACH,4.3741e-03,6.5442e-03,1.0890e-02,2.5262e+00,-3.7434e-02,3.7180e-02,1.6200e-05,6.8795e-03,1.0666e-02,7.2255e-02,-6.2586e-04,4.1574e-04,2.3797e-05,7.3361e-02,7.5173e-04
+21,1.2500e+01,DOWN_FORCE_DETACH,4.5972e-03,3.8444e-03,1.0741e-02,2.5241e+00,-3.7411e-02,3.6995e-02,1.8850e-05,4.1797e-03,1.0517e-02,7.0081e-02,-6.0249e-04,2.3130e-04,2.6447e-05,7.0989e-02,6.4591e-04
+22,1.2767e+01,DOWN_FORCE_DETACH,4.8213e-03,3.9000e-03,1.4513e-02,2.5199e+00,-3.7657e-02,3.6999e-02,1.7091e-05,4.2352e-03,1.4288e-02,6.5941e-02,-8.4889e-04,2.3473e-04,2.4688e-05,6.7604e-02,8.8109e-04
+23,1.3000e+01,DOWN_FORCE_DETACH,5.0386e-03,5.0947e-03,1.3841e-02,2.5241e+00,-3.7597e-02,3.7076e-02,1.5019e-05,5.4300e-03,1.3617e-02,7.0113e-02,-7.8873e-04,3.1230e-04,2.2616e-05,7.1629e-02,8.4861e-04
+24,1.3233e+01,DOWN_FORCE_DETACH,5.2515e-03,4.2824e-03,1.5198e-02,2.5161e+00,-3.7666e-02,3.7025e-02,1.7635e-05,4.6176e-03,1.4974e-02,6.2155e-02,-8.5796e-04,2.6091e-04,2.5231e-05,6.4100e-02,8.9711e-04
+25,1.3450e+01,DOWN_FORCE_DETACH,5.4751e-03,5.5188e-03,1.5369e-02,2.5224e+00,-3.7659e-02,3.7110e-02,2.0081e-05,5.8541e-03,1.5145e-02,6.8391e-02,-8.5020e-04,3.4636e-04,2.7678e-05,7.0292e-02,9.1846e-04
+26,1.3650e+01,DOWN_FORCE_DETACH,5.6973e-03,5.3248e-03,1.6817e-02,2.5139e+00,-3.7741e-02,3.7098e-02,1.9898e-05,5.6601e-03,1.6593e-02,5.9917e-02,-9.3245e-04,3.3456e-04,2.7495e-05,6.2430e-02,9.9103e-04
+27,1.3850e+01,DOWN_FORCE_DETACH,5.9135e-03,3.7658e-03,1.8896e-02,2.5103e+00,-3.7869e-02,3.6994e-02,1.6904e-05,4.1011e-03,1.8672e-02,5.6357e-02,-1.0611e-03,2.3005e-04,2.4500e-05,5.9511e-02,1.0860e-03
+28,1.4033e+01,DOWN_FORCE_DETACH,6.1206e-03,2.1995e-03,1.8732e-02,2.5121e+00,-3.7839e-02,3.6885e-02,1.9716e-05,2.5348e-03,1.8508e-02,5.8145e-02,-1.0302e-03,1.2116e-04,2.7312e-05,6.1072e-02,1.0376e-03
+29,1.4217e+01,DOWN_FORCE_DETACH,6.3455e-03,4.2188e-03,1.7621e-02,2.5010e+00,-3.7767e-02,3.7029e-02,1.5464e-05,4.5541e-03,1.7397e-02,4.7036e-02,-9.5863e-04,2.6550e-04,2.3060e-05,5.0356e-02,9.9498e-04
+30,1.4400e+01,DOWN_FORCE_DETACH,6.5691e-03,3.4387e-03,1.6961e-02,2.4958e+00,-3.7730e-02,3.6980e-02,-1.8810e-07,3.7739e-03,1.6737e-02,4.1819e-02,-9.2166e-04,2.1582e-04,7.4086e-06,4.5202e-02,9.4662e-04
+31,1.4567e+01,DOWN_FORCE_DETACH,6.7756e-03,2.6875e-03,1.5591e-02,2.4978e+00,-3.7661e-02,3.6932e-02,1.8396e-06,3.0228e-03,1.5367e-02,4.3777e-02,-8.5237e-04,1.6796e-04,9.4363e-06,4.6495e-02,8.6881e-04
+32,1.4733e+01,DOWN_FORCE_DETACH,6.9929e-03,2.7232e-03,1.5138e-02,2.4932e+00,-3.7631e-02,3.6940e-02,8.5399e-06,3.0584e-03,1.4914e-02,3.9256e-02,-8.2286e-04,1.7584e-04,1.6137e-05,4.2104e-02,8.4160e-04
+33,1.4917e+01,DOWN_FORCE_DETACH,7.2307e-03,2.3092e-03,1.5905e-02,2.4889e+00,-3.7677e-02,3.6915e-02,8.4867e-06,2.6445e-03,1.5681e-02,3.4941e-02,-8.6821e-04,1.5122e-04,1.6083e-05,3.8389e-02,8.8143e-04
+34,1.5083e+01,DOWN_FORCE_DETACH,7.4391e-03,2.1648e-03,1.5596e-02,2.4849e+00,-3.7648e-02,3.6906e-02,4.7353e-06,2.5001e-03,1.5372e-02,3.0966e-02,-8.3942e-04,1.4256e-04,1.2332e-05,3.4662e-02,8.5153e-04
+35,1.5250e+01,DOWN_FORCE_DETACH,7.6639e-03,1.6876e-03,1.6600e-02,2.4728e+00,-3.7717e-02,3.6882e-02,4.3967e-06,2.0229e-03,1.6375e-02,1.8819e-02,-9.0834e-04,1.1826e-04,1.1993e-05,2.5028e-02,9.1609e-04
+36,1.5417e+01,DOWN_FORCE_DETACH,7.8819e-03,1.6876e-03,1.5632e-02,2.4705e+00,-3.7663e-02,3.6885e-02,-1.0100e-05,2.0229e-03,1.5408e-02,1.6557e-02,-8.5435e-04,1.2065e-04,-2.5038e-06,2.2708e-02,8.6283e-04
+37,1.5567e+01,DOWN_FORCE_DETACH,8.1038e-03,1.5770e-03,1.3732e-02,2.4666e+00,-3.7560e-02,3.6882e-02,-6.9648e-06,1.9123e-03,1.3508e-02,1.2639e-02,-7.5119e-04,1.1789e-04,6.3187e-07,1.8597e-02,7.6038e-04
+38,1.5733e+01,DOWN_FORCE_DETACH,8.3134e-03,7.1896e-04,9.9677e-03,2.4619e+00,-3.7342e-02,3.6828e-02,-1.7114e-06,1.0542e-03,9.7435e-03,7.8807e-03,-5.3351e-04,6.4220e-05,5.8852e-06,1.2576e-02,5.3740e-04
+39,1.5883e+01,DOWN_FORCE_DETACH,8.5394e-03,5.1921e-04,7.2861e-03,2.4599e+00,-3.7183e-02,3.6817e-02,-5.4231e-07,8.5449e-04,7.0619e-03,5.8842e-03,-3.7495e-04,5.2717e-05,7.0543e-06,9.2317e-03,3.7871e-04
+40,1.6033e+01,DOWN_FORCE_DETACH,8.7450e-03,5.6289e-04,4.4731e-03,2.4571e+00,-3.7027e-02,3.6822e-02,-4.7732e-06,8.9817e-04,4.2489e-03,3.1581e-03,-2.1899e-04,5.8293e-05,2.8234e-06,5.3697e-03,2.2663e-04
+41,1.6167e+01,DOWN_FORCE_DETACH,8.9633e-03,1.0036e-05,2.1327e-03,2.4553e+00,-3.6896e-02,3.6786e-02,8.1097e-07,3.4531e-04,1.9085e-03,1.3063e-03,-8.7406e-05,2.2419e-05,8.4076e-06,2.3383e-03,9.0627e-05
+42,1.6317e+01,DOWN_FORCE_DETACH,9.1977e-03,-1.4329e-05,-1.2255e-04,2.4529e+00,-3.6774e-02,3.6786e-02,-1.1250e-08,3.2094e-04,-3.4677e-04,-1.0533e-03,3.4101e-05,2.2285e-05,7.5854e-06,1.1545e-03,4.1437e-05
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_15/press_depth_01/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..f8addf9473e3880353a4e2f26fbaf6c6db269872
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c038b3664335254c52534c28d0b511408f90cab3ab7db378822c64433fbfb5c4
+size 16312320
diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/fem_node.csv b/Fixed/s2/ball_0050_15/press_depth_01/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9eb4952faf3c8852597bfeb8c72bc1c2885457c2
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/franka_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..9c155a036b40b84fd1fa9d44f200985c43226a8c
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/franka_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/up/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..7f4f7329b4fecfbefcd64d6ec89f10fbc3abc388
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_15/press_depth_01/up/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..25d875a4343843ee635aab9de904133c8497da69
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+41,3.316666667e+00,UP_FORCE_RAMP,1791628984590053123,-1.383927362e-05,8.535469146e-06,3.447543210e-04,-1.164236985e-05,8.142815964e-06,3.394187589e-04,-1.061622087e-05,8.169541274e-06,3.389177020e-04,7.015240322e-01,1.008643047e-05,8.410856955e-01,7.015262291e-01,9.693777285e-06,8.410803599e-01,7.017186497e-01,9.915852264e-06,8.299115725e-01
+42,3.400000000e+00,UP_FORCE_RAMP,1791628984755861302,-1.759148207e-05,1.077896743e-05,3.516236991e-04,-1.164236985e-05,8.142815964e-06,3.394187589e-04,-1.061292133e-05,8.169336330e-06,3.389844615e-04,7.015202800e-01,1.232992875e-05,8.410925649e-01,7.015262291e-01,9.693777285e-06,8.410803599e-01,7.017186530e-01,9.915647320e-06,8.299116393e-01
+43,3.516666667e+00,UP_FORCE_RAMP,1791628984989828810,-1.374126334e-05,1.243061611e-05,3.691383119e-04,-1.481156552e-05,1.053782389e-05,3.600397428e-04,-1.379354064e-05,1.054741736e-05,3.596414404e-04,7.015241302e-01,1.398157743e-05,8.411100795e-01,7.015230599e-01,1.208878521e-05,8.411009809e-01,7.017154724e-01,1.229372835e-05,8.299322963e-01
+44,3.633333333e+00,UP_FORCE_RAMP,1791628985220098982,-1.532376143e-05,1.028381853e-05,3.779602259e-04,-1.481156552e-05,1.053782389e-05,3.600397428e-04,-1.379412435e-05,1.054717430e-05,3.597203868e-04,7.015225477e-01,1.183477985e-05,8.411189014e-01,7.015230599e-01,1.208878521e-05,8.411009809e-01,7.017154718e-01,1.229348529e-05,8.299323752e-01
+45,3.733333333e+00,UP_FORCE_RAMP,1791628985419944951,-1.385319195e-05,1.199497518e-05,3.901411095e-04,-1.372080359e-05,1.107750617e-05,3.824698724e-04,-1.258139619e-05,1.110449120e-05,3.820910385e-04,7.015240183e-01,1.354593650e-05,8.411310823e-01,7.015241507e-01,1.262846749e-05,8.411234111e-01,7.017166845e-01,1.285080219e-05,8.299547459e-01
+46,3.833333333e+00,UP_FORCE_RAMP,1791628985619799001,-1.557698471e-05,1.360426201e-05,3.939453484e-04,-1.372080359e-05,1.107750617e-05,3.824698724e-04,-1.258114982e-05,1.110419721e-05,3.821525995e-04,7.015222945e-01,1.515522333e-05,8.411348865e-01,7.015241507e-01,1.262846749e-05,8.411234111e-01,7.017166848e-01,1.285050820e-05,8.299548074e-01
+47,3.900000000e+00,UP_FORCE_RAMP,1791628985751886465,-1.378716640e-05,7.461906811e-06,4.004046238e-04,-1.273490340e-05,1.200931409e-05,4.033484854e-04,-1.148510064e-05,1.204427119e-05,4.029755140e-04,7.015240843e-01,9.012868132e-06,8.411413458e-01,7.015251366e-01,1.356027541e-05,8.411442897e-01,7.017177808e-01,1.379058218e-05,8.299756303e-01
+48,4.000000000e+00,UP_FORCE_RAMP,1791628985952391904,-1.351366833e-05,1.048452679e-05,4.083737028e-04,-1.273490340e-05,1.200931409e-05,4.033484854e-04,-1.148409783e-05,1.204423165e-05,4.030398224e-04,7.015243578e-01,1.203548811e-05,8.411493149e-01,7.015251366e-01,1.356027541e-05,8.411442897e-01,7.017177818e-01,1.379054264e-05,8.299756947e-01
+49,4.133333333e+00,UP_FORCE_RAMP,1791628986219852704,-1.574559955e-05,1.039294886e-05,4.172363104e-04,-1.273490340e-05,1.200931409e-05,4.033484854e-04,-1.148309086e-05,1.204378429e-05,4.031059561e-04,7.015221259e-01,1.194391019e-05,8.411581775e-01,7.015251366e-01,1.356027541e-05,8.411442897e-01,7.017177828e-01,1.379009528e-05,8.299757608e-01
+50,4.216666667e+00,UP_FORCE_RAMP,1791628986385739024,-1.168298594e-05,9.758987064e-06,4.269544555e-04,-1.306630343e-05,1.588124900e-05,4.229095405e-04,-1.176432491e-05,1.593710040e-05,4.225636183e-04,7.015261885e-01,1.130994838e-05,8.411678956e-01,7.015248052e-01,1.743221032e-05,8.411638507e-01,7.017175016e-01,1.768341139e-05,8.299952185e-01
+51,4.283333333e+00,UP_FORCE_RAMP,1791628986517724877,-1.279356450e-05,1.831456660e-05,4.282290750e-04,-1.306630343e-05,1.588124900e-05,4.229095405e-04,-1.176436275e-05,1.593707368e-05,4.226000688e-04,7.015250779e-01,1.986552792e-05,8.411691703e-01,7.015248052e-01,1.743221032e-05,8.411638507e-01,7.017175016e-01,1.768338467e-05,8.299952549e-01
+52,4.383333333e+00,UP_FORCE_RAMP,1791628986718048874,-1.234126454e-05,1.390340379e-05,4.350412923e-04,-1.306630343e-05,1.588124900e-05,4.229095405e-04,-1.176407494e-05,1.593687661e-05,4.226443984e-04,7.015255302e-01,1.545436511e-05,8.411759825e-01,7.015248052e-01,1.743221032e-05,8.411638507e-01,7.017175019e-01,1.768318760e-05,8.299952992e-01
+53,4.450000000e+00,UP_FORCE_HOLD,1791628986849727650,-1.234349838e-05,8.940359967e-06,4.398401337e-04,-1.306630343e-05,1.588124900e-05,4.229095405e-04,-1.176374953e-05,1.593674318e-05,4.226695020e-04,7.015255280e-01,1.049132129e-05,8.411807813e-01,7.015248052e-01,1.743221032e-05,8.411638507e-01,7.017175022e-01,1.768305417e-05,8.299953243e-01
+54,4.566666667e+00,UP_FORCE_HOLD,1791628987083723114,-1.361754033e-05,1.231962542e-05,4.432436507e-04,-1.356594053e-05,1.232687575e-05,4.431849994e-04,-1.213358948e-05,1.236117665e-05,4.428858167e-04,7.015242539e-01,1.387058675e-05,8.411841848e-01,7.015243055e-01,1.387783707e-05,8.411841262e-01,7.017171324e-01,1.410748764e-05,8.300155407e-01
+55,4.700000000e+00,UP_FORCE_HOLD,1791628987349974328,-1.369218844e-05,1.595552484e-05,4.498800553e-04,-1.356594053e-05,1.232687575e-05,4.431849994e-04,-1.213475528e-05,1.236371317e-05,4.429540759e-04,7.015241793e-01,1.750648616e-05,8.411908212e-01,7.015243055e-01,1.387783707e-05,8.411841262e-01,7.017171312e-01,1.411002416e-05,8.300156089e-01
+56,4.816666667e+00,UP_FORCE_HOLD,1791628987581729316,-1.359987903e-05,1.269396549e-05,4.547026788e-04,-1.356594053e-05,1.232687575e-05,4.431849994e-04,-1.213445190e-05,1.236351635e-05,4.429937075e-04,7.015242716e-01,1.424492681e-05,8.411956439e-01,7.015243055e-01,1.387783707e-05,8.411841262e-01,7.017171315e-01,1.410982734e-05,8.300156485e-01
+57,4.900000000e+00,UP_FORCE_HOLD,1791628987747704292,-1.265888105e-05,9.584626558e-06,4.603313055e-04,-1.356594053e-05,1.232687575e-05,4.431849994e-04,-1.213402202e-05,1.236342348e-05,4.430172318e-04,7.015252126e-01,1.113558788e-05,8.412012725e-01,7.015243055e-01,1.387783707e-05,8.411841262e-01,7.017171319e-01,1.410973447e-05,8.300156721e-01
+58,4.983333333e+00,UP_FORCE_HOLD,1791628987913689378,-1.522243449e-05,1.192543956e-05,4.590133241e-04,-1.356594053e-05,1.232687575e-05,4.431849994e-04,-1.213350359e-05,1.236334466e-05,4.430374985e-04,7.015226490e-01,1.347640088e-05,8.411999545e-01,7.015243055e-01,1.387783707e-05,8.411841262e-01,7.017171324e-01,1.410965565e-05,8.300156923e-01
+59,5.083333333e+00,UP_SETTLE,1791628988113646626,-1.471025081e-05,1.290681556e-05,4.614949806e-04,-1.164707500e-05,1.237526098e-05,4.640088125e-04,-1.011589042e-05,1.238597971e-05,4.637674390e-04,7.015231612e-01,1.445777688e-05,8.412024362e-01,7.015262244e-01,1.392622230e-05,8.412049500e-01,7.017191500e-01,1.413229070e-05,8.300364223e-01
diff --git a/Fixed/s2/ball_0050_15/press_depth_01/up/simulation_data.csv b/Fixed/s2/ball_0050_15/press_depth_01/up/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..572dc15b8ac2a4f0ad7d59367a033a2cd456f697
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_01/up/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,UP_FORCE_RAMP,0.0000e+00,-2.8279e-04,2.2418e-04,2.4540e+00,-3.6808e-02,3.6768e-02,-7.6101e-06,5.2393e-05,-1.3402e-07,4.0531e-05,-1.4156e-07,3.6620e-06,-4.1747e-08,6.6241e-05,3.6649e-06
+1,1.0000e-01,UP_FORCE_RAMP,2.5911e-05,4.8373e-06,2.2359e-04,2.4542e+00,-3.6809e-02,3.6788e-02,-7.8347e-06,3.4002e-04,-7.2764e-07,2.6655e-04,-9.3505e-07,2.3801e-05,-2.6632e-07,4.3204e-04,2.3821e-05
+2,1.5000e-01,UP_FORCE_RAMP,4.8639e-05,1.3290e-04,2.2340e-04,2.4543e+00,-3.6810e-02,3.6797e-02,-7.9315e-06,4.6808e-04,-9.1977e-07,3.7050e-04,-1.3188e-06,3.2771e-05,-3.6310e-07,5.9697e-04,3.2800e-05
+3,2.3333e-01,UP_FORCE_RAMP,7.6941e-05,3.2573e-04,2.2317e-04,2.4545e+00,-3.6810e-02,3.6810e-02,-8.0722e-06,6.6091e-04,-1.1483e-06,5.3072e-04,-1.9185e-06,4.6268e-05,-5.0376e-07,8.4763e-04,4.6311e-05
+4,3.1667e-01,UP_FORCE_RAMP,1.0016e-04,4.9561e-04,2.2296e-04,2.4546e+00,-3.6811e-02,3.6822e-02,-8.1897e-06,8.3079e-04,-1.3534e-06,6.7568e-04,-2.4736e-06,5.8144e-05,-6.2129e-07,1.0709e-03,5.8200e-05
+5,4.5000e-01,UP_FORCE_RAMP,1.2350e-04,7.2637e-04,2.2284e-04,2.4549e+00,-3.6812e-02,3.6838e-02,-8.3363e-06,1.0616e-03,-1.4741e-06,8.8072e-04,-3.2969e-06,7.4293e-05,-7.6793e-07,1.3793e-03,7.4371e-05
+6,5.6667e-01,UP_FORCE_RAMP,1.4989e-04,8.9340e-04,2.2281e-04,2.4550e+00,-3.6812e-02,3.6850e-02,-8.4311e-06,1.2286e-03,-1.5078e-06,1.0357e-03,-3.9414e-06,8.5969e-05,-8.6266e-07,1.6069e-03,8.6063e-05
+7,6.5000e-01,UP_FORCE_RAMP,1.7023e-04,9.9592e-04,2.2289e-04,2.4551e+00,-3.6813e-02,3.6857e-02,-8.4830e-06,1.3311e-03,-1.4312e-06,1.1337e-03,-4.3698e-06,9.3136e-05,-9.1458e-07,1.7484e-03,9.3243e-05
+8,7.6667e-01,UP_FORCE_RAMP,1.9596e-04,1.1195e-03,2.2289e-04,2.4552e+00,-3.6813e-02,3.6866e-02,-8.5370e-06,1.4547e-03,-1.4275e-06,1.2555e-03,-4.9025e-06,1.0177e-04,-9.6865e-07,1.9216e-03,1.0189e-04
+9,8.3333e-01,UP_FORCE_RAMP,2.2175e-04,1.1811e-03,2.2291e-04,2.4553e+00,-3.6814e-02,3.6870e-02,-8.5597e-06,1.5162e-03,-1.4127e-06,1.3180e-03,-5.1819e-06,1.0607e-04,-9.9126e-07,2.0090e-03,1.0620e-04
+10,9.0000e-01,UP_FORCE_RAMP,2.4221e-04,1.2368e-03,2.2291e-04,2.4553e+00,-3.6814e-02,3.6874e-02,-8.5771e-06,1.5719e-03,-1.4039e-06,1.3757e-03,-5.4464e-06,1.0996e-04,-1.0087e-06,2.0889e-03,1.1010e-04
+11,1.0000e+00,UP_FORCE_RAMP,2.7237e-04,2.8243e-03,5.5168e-03,2.4561e+00,-3.7185e-02,3.6985e-02,-3.6370e-06,3.1595e-03,5.2925e-03,2.0995e-03,-3.7631e-04,2.2138e-04,3.9314e-06,6.5116e-03,4.3662e-04
+12,1.0833e+00,UP_FORCE_RAMP,2.9367e-04,2.6933e-03,5.4954e-03,2.4560e+00,-3.7184e-02,3.6976e-02,-3.7768e-06,3.0284e-03,5.2710e-03,2.0623e-03,-3.7526e-04,2.1226e-04,3.7916e-06,6.4194e-03,4.3115e-04
+13,1.1833e+00,UP_FORCE_RAMP,3.2319e-04,2.5629e-03,5.4896e-03,2.4560e+00,-3.7184e-02,3.6967e-02,-3.9417e-06,2.8981e-03,5.2653e-03,2.0247e-03,-3.7535e-04,2.0315e-04,3.6267e-06,6.3420e-03,4.2681e-04
+14,1.2667e+00,UP_FORCE_RAMP,3.4445e-04,2.4707e-03,5.4877e-03,2.4560e+00,-3.7184e-02,3.6961e-02,-4.0662e-06,2.8059e-03,5.2634e-03,1.9965e-03,-3.7558e-04,1.9669e-04,3.5021e-06,6.2899e-03,4.2398e-04
+15,1.3833e+00,UP_FORCE_RAMP,3.7040e-04,2.3614e-03,5.4863e-03,2.4559e+00,-3.7184e-02,3.6953e-02,-4.2192e-06,2.6966e-03,5.2619e-03,1.9608e-03,-3.7592e-04,1.8902e-04,3.3492e-06,6.2293e-03,4.2078e-04
+16,1.4833e+00,UP_FORCE_RAMP,3.9188e-04,2.6449e-03,4.0188e-03,2.4507e+00,-3.7082e-02,3.6977e-02,-5.7123e-06,2.9801e-03,3.7945e-03,-3.3147e-03,-2.7330e-04,2.1354e-04,1.8561e-06,5.8538e-03,3.4684e-04
+17,1.5333e+00,UP_FORCE_RAMP,4.2157e-04,2.5743e-03,4.0480e-03,2.4512e+00,-3.7084e-02,3.6972e-02,-5.7716e-06,2.9095e-03,3.8237e-03,-2.8017e-03,-2.7549e-04,2.0817e-04,1.7968e-06,5.5619e-03,3.4530e-04
+18,1.5667e+00,UP_FORCE_RAMP,4.4446e-04,2.5335e-03,4.0550e-03,2.4514e+00,-3.7085e-02,3.6969e-02,-5.8241e-06,2.8687e-03,3.8307e-03,-2.5406e-03,-2.7622e-04,2.0508e-04,1.7443e-06,5.4183e-03,3.4404e-04
+19,1.6167e+00,UP_FORCE_RAMP,4.6528e-04,2.4808e-03,4.0617e-03,2.4518e+00,-3.7085e-02,3.6965e-02,-5.8974e-06,2.8160e-03,3.8373e-03,-2.1877e-03,-2.7707e-04,2.0107e-04,1.6710e-06,5.2384e-03,3.4234e-04
+20,1.6833e+00,UP_FORCE_RAMP,4.9085e-04,3.4691e-03,5.5432e-03,2.4465e+00,-3.7189e-02,3.7039e-02,-4.5001e-06,3.8042e-03,5.3188e-03,-7.4277e-03,-3.8102e-04,2.7534e-04,3.0683e-06,9.8961e-03,4.7010e-04
+21,1.7667e+00,UP_FORCE_RAMP,5.1786e-04,3.4018e-03,4.0843e-03,2.4427e+00,-3.7088e-02,3.7038e-02,-5.9112e-06,3.7369e-03,3.8600e-03,-1.1288e-02,-2.7962e-04,2.7407e-04,1.6572e-06,1.2502e-02,3.9154e-04
+22,1.8500e+00,UP_FORCE_RAMP,5.4237e-04,4.1550e-03,3.2747e-03,2.4395e+00,-3.7032e-02,3.7094e-02,-6.9691e-06,4.4902e-03,3.0503e-03,-1.4425e-02,-2.2375e-04,3.3000e-04,5.9932e-07,1.5412e-02,3.9871e-04
+23,1.9333e+00,UP_FORCE_RAMP,5.6243e-04,3.8994e-03,3.3311e-03,2.4419e+00,-3.7037e-02,3.7074e-02,-7.2611e-06,4.2346e-03,3.1068e-03,-1.2096e-02,-2.2884e-04,3.1026e-04,3.0732e-07,1.3187e-02,3.8552e-04
+24,2.0000e+00,UP_FORCE_RAMP,5.9085e-04,4.0216e-03,3.5647e-03,2.4377e+00,-3.7054e-02,3.7087e-02,-7.2352e-06,4.3568e-03,3.3404e-03,-1.6283e-02,-2.4560e-04,3.2268e-04,3.3315e-07,1.7183e-02,4.0552e-04
+25,2.0500e+00,UP_FORCE_RAMP,6.1896e-04,3.9086e-03,3.5863e-03,2.4393e+00,-3.7056e-02,3.7077e-02,-7.4284e-06,4.2437e-03,3.3620e-03,-1.4660e-02,-2.4792e-04,3.1350e-04,1.3995e-07,1.5628e-02,3.9968e-04
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diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/camera_frames_60hz.tar b/Fixed/s2/ball_0050_15/press_depth_02/down/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..887b0003bd5590be93f349c7987ebc0c4ab0dfb5
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
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+oid sha256:6f36ba26257ebe380e1ea86d2b881e6fc068ceb40dd371574aa53d23e4840059
+size 63600640
diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/fem_node.csv b/Fixed/s2/ball_0050_15/press_depth_02/down/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..57531175a499c11035c4b231e13bd005bc69f0bb
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/fem_node.csv
@@ -0,0 +1,18961 @@
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+59,1.998333e+01,2831,6.968736e-01,1.590882e-02,8.135541e-01,-1.013265e-04,-1.778017e-04,-1.210478e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2832,6.932581e-01,1.947151e-02,8.137376e-01,-5.146321e-05,-1.171097e-04,-1.207031e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2833,6.983550e-01,1.694602e-02,8.091100e-01,-1.038910e-04,-1.184208e-04,-1.208768e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2834,6.942572e-01,1.833303e-02,8.123722e-01,-6.116444e-05,-1.155205e-04,-1.206915e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2835,6.969359e-01,1.666966e-02,8.242097e-01,-4.177751e-05,-1.210063e-04,-1.211769e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2836,6.952379e-01,1.730138e-02,8.229730e-01,-3.057582e-05,-1.139921e-04,-1.211571e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2837,6.976004e-01,1.843716e-02,8.077613e-01,-1.060896e-04,-1.092645e-04,-1.207701e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2838,6.986273e-01,1.758677e-02,8.079978e-01,-1.075349e-04,-1.105221e-04,-1.208234e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2839,6.927145e-01,1.972440e-02,8.184556e-01,-3.159338e-05,-1.164582e-04,-1.208892e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2840,7.004185e-01,1.958954e-02,8.293093e-01,-2.922691e-05,-1.113159e-04,-1.213331e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
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+59,1.998333e+01,2842,6.932698e-01,1.833144e-02,8.172371e-01,-2.844348e-05,-1.181425e-04,-1.208650e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2843,6.996588e-01,1.780519e-02,8.072813e-01,-1.139142e-04,-1.104048e-04,-1.208636e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
+59,1.998333e+01,2844,6.996672e-01,1.855793e-02,8.065982e-01,-1.169363e-04,-1.109642e-04,-1.208638e-02,-0.000000e+00,-0.000000e+00,-0.000000e+00
diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/franka_data.csv b/Fixed/s2/ball_0050_15/press_depth_02/down/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..07ca4fcc509a6defa92d2ff728fe0d58d251a0ec
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/franka_data.csv
@@ -0,0 +1,61 @@
+sequence,ros_time_ns,robot_time_ns,sensor_time_ns,state,cycle_index,commanded_gripper_width_m,measured_gripper_width_m,actual_x_m,actual_y_m,actual_z_m,actual_qx,actual_qy,actual_qz,actual_qw,command_x_m,command_y_m,command_z_m,command_qx,command_qy,command_qz,command_qw,xjc_fx_N,xjc_fy_N,xjc_fz_N,xjc_mx_Nm,xjc_my_Nm,xjc_mz_Nm,xjc_raw_fx_N,xjc_raw_fy_N,xjc_raw_fz_N,xjc_raw_mx_Nm,xjc_raw_my_Nm,xjc_raw_mz_Nm,baseline_fx_N,baseline_fy_N,baseline_fz_N,baseline_mx_Nm,baseline_my_Nm,baseline_mz_Nm,baseline_ready,franka_fx_N,franka_fy_N,franka_fz_N,franka_mx_Nm,franka_my_Nm,franka_mz_Nm,franka_z_baseline_N,xjc_up_directional_force_N,franka_down_directional_force_N,control_directional_force_N,force_reference_N,detach_armed,xjc_detached,commanded_z_velocity_mps,commanded_z_acceleration_mps2
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+11319,1791629063893772122,34247726000000,1791629063889821657,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761096518633106,-0.004777305253655449,0.08961880357126005,0.9999999894155394,9.452696754116761e-05,2.0560062173884882e-05,5.7041405143720017e-05,0.6761,-0.0048,0.08950688915791871,1.0,0.0,0.0,0.0,0.06305339841446503,0.11643144165878119,1.0324673200457526,0.007005858735911574,-0.0025274020222444717,0.00027569361342275295,0.08728887929739235,0.10462027981447537,1.0865343861128365,0.005018861278381188,-0.00452488024236702,-0.0008740092575894346,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.772996898846547,-0.2224609829329902,-0.574912874418642,0.3614782586951152,0.5110840431381267,-0.19698664757286752,0.5629484540759943,1.0324673200457526,1.1378613284946364,1.1378613284946364,1.3133600000001873,1,0,-0.00010948025789689198,-9.999847758035969e-05
+11502,1791629065418693777,34249250999999,1791629065417821478,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761158807473305,-0.004784113415141008,0.08945532656867947,0.9999999894603513,8.841296770308407e-05,2.9612873930915408e-05,6.18739563082438e-05,0.6761,-0.0048,0.08933011828071481,1.0,0.0,0.0,0.0,0.05409160948045517,0.10050485631597932,1.1024682364870888,0.006987170773349374,-0.00240918804978561,0.00022010298566950697,0.07832709036338249,0.0886936944716735,1.1565353025541727,0.005000173315818988,-0.004406666269908158,-0.0009295998853426806,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8306741148522117,-0.24393553608297303,-0.7175892183666301,0.37352540309013427,0.613001663457966,-0.21451841027090054,0.5629484540759943,1.1024682364870888,1.2805376724426245,1.2805376724426245,1.4353600000003093,1,0,-0.00012399398996009266,1.3750294337863743e-06
+11654,1791629066685692035,34250517999999,1791629066677822032,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.676117603095778,-0.004794767926951471,0.08928930674619681,0.999999989787607,7.9124486523865e-05,3.1858771138029014e-05,6.776418466305119e-05,0.6761,-0.0048,0.08916069554507615,1.0,0.0,0.0,0.0,0.06172807555598655,0.09918318662746466,1.1423675863271694,0.005959415522259326,-0.0023997083636037708,0.00017724681678092853,0.08596355643891387,0.08737202478315884,1.1964346523942533,0.00397241806472894,-0.004397186583726319,-0.000972456054231259,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7899844308006582,-0.1802394579519621,-0.8179992730717791,0.3627604485736468,0.6609172486824555,-0.16823488364385902,0.5629484540759943,1.1423675863271694,1.3809477271477735,1.3809477271477735,1.5367200000004106,1,0,-0.00014704242482369156,8.19440446316932e-05
+11798,1791629067885673551,34251718000000,1791629067881821691,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761126421849253,-0.004795419348772779,0.08908690150630212,0.9999999884524993,9.43380615643127e-05,2.0811983268819482e-05,7.214608267984731e-05,0.6761,-0.0048,0.08897038647741898,1.0,0.0,0.0,0.0,0.06401141538324029,0.07884905844748973,1.1631840765718033,0.005607156944809551,-0.0034086863749731742,0.0001439881284496531,0.08824689626616762,0.0670378966031839,1.2172511426388872,0.0036201594872791653,-0.0054061645950957225,-0.0010057147425625345,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8210915832254737,-0.218946098228473,-0.8340963209401687,0.38072125524421035,0.6710560202881817,-0.19238270188779513,0.5629484540759943,1.1631840765718033,1.397044775016163,1.397044775016163,1.6327200000005067,1,0,-0.00017360922443673677,-7.770386697825699e-05
+11929,1791629068976743445,34252809000000,1791629068973822094,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761138495970794,-0.004798641554557692,0.08888201965794304,0.9999999882289642,9.546915091131508e-05,2.141708236527967e-05,7.356551970879282e-05,0.6761,-0.0048,0.08876316291613497,1.0,0.0,0.0,0.0,0.07361873933477225,0.07748234590909037,1.1822133833432642,0.004956667177844737,-0.0034010607799317347,0.00011928039392412795,0.09785422021769957,0.06567118406478455,1.236280449410348,0.0029696697203143506,-0.005398539000054283,-0.0010304224770880596,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8472402046927192,-0.19831064968081696,-0.8660960357943931,0.39884956441526254,0.6913474065923906,-0.17043031035730075,0.5629484540759943,1.1822133833432642,1.4290444898703873,1.4290444898703873,1.720000000000594,1,0,-0.00020647490237976485,-9.515841867114289e-05
+12041,1791629069910694656,34253743000000,1791629069909821635,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761154775564229,-0.004801413522714698,0.08867891607243057,0.9999999883778267,9.17455446778731e-05,2.1972077209227936e-05,7.607360791331311e-05,0.6761,-0.0048,0.08855477611363076,1.0,0.0,0.0,0.0,0.06438638288781284,0.06847158739493753,1.202200937801709,0.0049517569556759775,-0.003404446230484342,0.00010201385269034235,0.08862186377074016,0.05666042555063171,1.2562680038687928,0.002964759498145592,-0.00540192445060689,-0.0010476890183218452,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8063544293697111,-0.2141086741725692,-0.8407345881040813,0.4085173884366041,0.6579840785105343,-0.18655925435272444,0.5629484540759943,1.202200937801709,1.4036830421800754,1.4036830421800754,1.7947200000006687,1,0,-0.00024037126048900704,-9.999999025923074e-05
+12141,1791629070743730819,34254576000000,1791629070737822203,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761186280642809,-0.004809665973339739,0.08846887281828444,0.9999999885574877,8.358456470778011e-05,2.7026837039210783e-05,8.13084216800907e-05,0.6761,-0.0048,0.08834074913678057,1.0,0.0,0.0,0.0,0.06484981849831528,0.05644108906563182,1.2219037775877049,0.003926758263684122,-0.003389100478066188,7.463197576496896e-05,0.0890852993812426,0.04462992722132599,1.2759708436547887,0.0019397608061537364,-0.005386578698188736,-0.0010750708952472186,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8279962560954751,-0.23785852983000988,-0.9219089718557205,0.4260775646617465,0.7109603007291606,-0.19938819484666165,0.5629484540759943,1.2219037775877049,1.4848574259317147,1.4848574259317147,1.8613600000007353,1,0,-0.0002740723727787372,-9.999999025923074e-05
+12237,1791629071543688383,34255375999999,1791629071537822307,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.676120111073127,-0.0048125592663516206,0.08824388668164249,0.9999999883828167,8.49265529131664e-05,2.86011414452386e-05,8.152721092602801e-05,0.6761,-0.0048,0.08810955031890265,1.0,0.0,0.0,0.0,0.05217015087340605,0.05924180637691971,1.2419069868361652,0.0038969389127749736,-0.002398639318698081,7.236988001137657e-05,0.07640563175633337,0.047430644532613885,1.295974052903249,0.001909941455244588,-0.004396117538820629,-0.001077332991000811,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8111926658794354,-0.23847842253138946,-0.9404473935613997,0.43817235952292366,0.7150712411147084,-0.1988805183993639,0.5629484540759943,1.2419069868361652,1.5033958476373939,1.5033958476373939,1.9253600000007993,1,0,-0.00030360133359694084,-9.98425883899145e-05
+12312,1791629072168687814,34256000999999,1791629072161821968,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761105168187582,-0.004820593568917435,0.08802700395997794,0.9999999882409751,8.558413902759126e-05,1.0630376549199077e-05,8.673675271889694e-05,0.6761,-0.0048,0.08791178205986913,1.0,0.0,0.0,0.0,0.056026609834953466,0.04458034773500384,1.2515862519437677,0.002900093041838157,-0.0033757485678605516,3.805813595782453e-05,0.08026209071788079,0.032769185890698015,1.3056533180108516,0.000913095584307771,-0.0053732267879831,-0.001111644735054363,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8216099289495913,-0.21669275464855395,-0.9127521927648855,0.44632279409907266,0.6997972906778992,-0.1843964878350866,0.5629484540759943,1.2515862519437677,1.4757006468408798,1.4757006468408798,1.9753600000008493,1,0,-0.0003306161264579873,-9.999999025923074e-05
+12384,1791629072768655712,34256601000000,1791629072761822158,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.67610890894526,-0.004825810472730787,0.08781480636794119,0.9999999881098659,8.140587545280679e-05,7.120629511126267e-06,9.244194222761259e-05,0.6761,-0.0048,0.0877046353462469,1.0,0.0,0.0,0.0,0.05598762829887135,0.037463533945886696,1.2515410259903845,0.0028879976655389558,-0.002964217300743588,4.445603708027159e-05,0.08022310918179867,0.02565237210158087,1.3056080920574684,0.00090100020800857,-0.004961695520866136,-0.001105246833931916,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7764763800555748,-0.3089972490866974,-1.0243633590803696,0.4772623587236257,0.7592302688435348,-0.24576903000561584,0.5629484540759943,1.2515410259903845,1.5873118131563637,1.5873118131563637,2.0233600000008973,1,0,-0.00035953187266649236,6.772955393608555e-05
+12460,1791629073401714730,34257233999999,1791629073393822085,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761109578945705,-0.004830516058327592,0.08758600939322074,0.9999999880021483,8.237894725016949e-05,8.69362748294987e-06,9.261046133052288e-05,0.6761,-0.0048,0.08746778073027449,1.0,0.0,0.0,0.0,0.04695258134827488,0.03293592004116957,1.2512248350978552,0.0022566698435008336,-0.0023500428442265785,4.600930475499995e-05,0.0711880622312022,0.021124758196863744,1.305291901164939,0.00026967238597044754,-0.004347521064349127,-0.0011036935662571876,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7016865756594858,-0.2721395332338478,-0.8467683014051196,0.4832320969333164,0.6221449023877307,-0.21702245523652916,0.5629484540759943,1.2512248350978552,1.4097167554811139,1.4097167554811139,2.074000000000948,1,0,-0.0003898547712114216,-9.999999025923074e-05
+12526,1791629073951655023,34257784000000,1791629073945821739,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761102972635382,-0.004833826148771592,0.08736814470049305,0.999999987716869,8.567654754016858e-05,8.908233882224524e-06,9.267846954011662e-05,0.6761,-0.0048,0.08724581185758418,1.0,0.0,0.0,0.0,0.04714509655812201,0.03223364641376518,1.261122077846909,0.001848878807572376,-0.0023443979758796885,3.345735102934294e-05,0.07138057744104934,0.020422484569459352,1.3151891439139929,-0.00013811864995800995,-0.004341876196002237,-0.0011162455199828446,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7479895396156535,-0.22500365460714852,-0.8344373811533272,0.48657948497022574,0.6284395772630429,-0.18929463902662974,0.5629484540759943,1.261122077846909,1.3973858352293216,1.3973858352293216,2.118000000000992,1,0,-0.00041735476585399853,-9.999999025923074e-05
+12588,1791629074468710893,34258301000000,1791629074465821072,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.676108828913879,-0.00483755247288038,0.08714484897599402,0.9999999882897094,7.387067858139215e-05,9.837801696006712e-06,9.648723244777537e-05,0.6761,-0.0048,0.08702337014494198,1.0,0.0,0.0,0.0,0.03856713730207587,0.021833340369729774,1.2509893975658888,0.0018500533687030975,-0.0023414889783922883,4.054676039588409e-05,0.0628026181850032,0.010022178525423952,1.3050564636329727,-0.00013694408882728833,-0.0043389671985148365,-0.0011091561106163035,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7321865192480667,-0.27981339414661055,-0.891939722693771,0.50922416196794,0.6612030409490213,-0.2201830435537384,0.5629484540759943,1.2509893975658888,1.4548881767697652,1.4548881767697652,2.1593600000010333,1,0,-0.00044320476081802083,-9.999999025923074e-05
+12648,1791629074968707337,34258801000000,1791629074965822174,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6761083873400736,-0.0048380259195260995,0.0869201497370376,0.9999999887980657,6.833115354595637e-05,8.80867424802399e-06,9.539388532409106e-05,0.6761,-0.0048,0.086795530265753,1.0,0.0,0.0,0.0,0.03849956247671859,0.01170300231764401,1.2450447184047362,0.0018499406781663308,-0.0023410583017800064,4.539959918171141e-05,0.06273504335964591,-0.00010815952666181234,1.29911178447182,-0.00013705677936405505,-0.004338536521902555,-0.0011043032718304762,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6848057039061831,-0.2608704646691905,-0.7571859363804617,0.5106775227464219,0.5645387321544366,-0.21296454315709404,0.5629484540759943,1.2450447184047362,1.320134390456456,1.320134390456456,2.1993600000010733,1,0,-0.0004682047559476362,-9.999999025923074e-05
+12704,1791629075435692050,34259267999999,1791629075429822146,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761048680577021,-0.004847202045190519,0.08669022363045778,0.9999999867065423,8.83524528594628e-05,3.6269049942615698e-06,0.00010104686679085178,0.6761,-0.0048,0.0865714380957899,1.0,0.0,0.0,0.0,0.02843426451509236,0.021352875512507537,1.2509723608885055,0.0018224618712728933,-0.0013279931477248002,5.508639300778775e-05,0.052669745398019684,0.009541713668201711,1.3050394269555894,-0.0001645355862574927,-0.0033254713678473485,-0.0010946164780043998,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6443545663366333,-0.22542206178530816,-0.8112709688401467,0.504462226011283,0.5906780645097008,-0.1871405811610996,0.5629484540759943,1.2509723608885055,1.3742194229161409,1.3742194229161409,2.2367200000011107,1,0,-0.000491554751398697,-9.999999025923074e-05
+12760,1791629075901599657,34259733999999,1791629075897822197,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761062779281645,-0.004847467303608543,0.08646585890779485,0.9999999882328783,7.110547210702305e-05,7.626286922977494e-06,9.931243244949605e-05,0.6761,-0.0048,0.08633695633269801,1.0,0.0,0.0,0.0,0.021293597080964004,0.011982905182018843,1.2186216911950456,0.0018211718461546502,-0.0013202747274505115,8.024350853544056e-05,0.04552907796389133,0.00017174333771301947,1.2726887572621295,-0.0001658256113757358,-0.0033177529475730597,-0.001069459362476747,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6536471286481967,-0.29965024509164007,-0.7352910783109117,0.5334707244408953,0.5441847360602508,-0.23595193465925163,0.5629484540759943,1.2186216911950456,1.2982395323869058,1.2982395323869058,2.274000000001148,1,0,-0.0005148547468594985,-9.999999025923074e-05
+12811,1791629076326681826,34260159000000,1791629076321821781,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761042863736347,-0.004849503584396217,0.08624100672417598,0.9999999890306042,5.9446248697358985e-05,5.207813267006453e-06,9.909933456296023e-05,0.6761,-0.0048,0.08611363806616451,1.0,0.0,0.0,0.0,0.02512550001870987,0.01060701725636228,1.2106970213389534,0.001828113637435339,-0.0013183356868207755,8.742636375534338e-05,0.049360980901637194,-0.0012041445879435438,1.2647640874060373,-0.00015888382009504677,-0.0033158139069433237,-0.0010622765072568442,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7137584163769999,-0.2682182211210304,-0.7745266659414208,0.5247918098121679,0.5850798313426215,-0.21881432465645106,0.5629484540759943,1.2106970213389534,1.337475120017415,1.337475120017415,2.308000000001182,1,0,-0.0005361047427196716,-9.999999025923074e-05
+12859,1791629076726682350,34260559000000,1791629076721822115,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761014068961135,-0.004841449462560238,0.08601942673808353,0.9999999875766384,8.24644593399035e-05,2.0600261855939634e-06,9.739074161157131e-05,0.6761,-0.0048,0.08589520616985785,1.0,0.0,0.0,0.0,0.01982148957903493,0.00655546064176386,1.1815609868636088,0.0009215023983848026,-0.001293868285904728,9.791530942684186e-05,0.044056970461962254,-0.005255701202541964,1.2356280529306927,-0.0010654950591455832,-0.003291346506027276,-0.0010517875615853457,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6983471212731639,-0.23349776028022495,-0.7585734017251382,0.5226188492090248,0.5702654885650086,-0.19144400370313908,0.5629484540759943,1.1815609868636088,1.3215218558011324,1.3215218558011324,2.340000000001214,1,0,-0.0005561047388233639,-9.999999025923074e-05
+12907,1791629077126668778,34260959000000,1791629077121822238,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6761015185654407,-0.0048433406876768875,0.08579055596940321,0.9999999881854502,6.944840236148237e-05,3.7302815222806205e-06,0.00010116801933575715,0.6761,-0.0048,0.08566877427510972,1.0,0.0,0.0,0.0,0.0193679374145507,0.017591848176312576,1.1709709432338318,0.0018372751299018464,-0.0013102589293461039,0.00011861118139505807,0.043603418297478026,0.005780686332006753,1.2250380093009157,-0.00014972232762853934,-0.003307737149468652,-0.0010310916896171295,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7126452427482917,-0.3753109590146068,-0.697476439529034,0.5635585877904485,0.5349538572271012,-0.2861586857681916,0.5629484540759943,1.1709709432338318,1.2604248936050282,1.2604248936050282,2.372000000001246,1,0,-0.0005761047349270562,-9.999999025923074e-05
+12951,1791629077493637523,34261326000000,1791629077485822032,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760971336030566,-0.004846339813715821,0.08557449480503332,0.9999999889320572,6.114630721862321e-05,-2.3412658880885406e-06,9.916852995863197e-05,0.6761,-0.0048,0.08545398578804926,1.0,0.0,0.0,0.0,0.028155525707369115,0.014228933576014222,1.1605038864202781,0.001191534835305771,-0.0012957881193904524,0.0001243619262992139,0.05239100659029644,0.002417771731708397,1.214570952487362,-0.000795462622224615,-0.0032932663395130006,-0.0010253409447129737,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.6907899247959353,-0.3016371909866078,-0.6203899798389965,0.5487652230473626,0.4829746828225289,-0.23651925339598673,0.5629484540759943,1.1605038864202781,1.1833384339149906,1.1833384339149906,2.4013600000012754,1,0,-0.0005944547313521939,-9.999999025923074e-05
+12999,1791629077893693891,34261726000000,1791629077889821853,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760940197194856,-0.004848862246558104,0.08533148694216441,0.9999999876609543,7.38360580414024e-05,-5.1488710063696325e-06,0.00010316337218672609,0.6761,-0.0048,0.0852122138962896,1.0,0.0,0.0,0.0,0.019976768771469755,0.005313536916524583,1.140175853927516,0.0008218240163959359,-0.0012839994897551406,0.00013203935621008663,0.04421224965439708,-0.006497624927781241,1.1942429199945999,-0.00116517344113445,-0.003281477709877689,-0.001017663514802101,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.705935886046081,-0.2825961118136556,-0.6136368063377572,0.5468150990109996,0.479274255277955,-0.22039639859409998,0.5629484540759943,1.140175853927516,1.1765852604137514,1.1765852604137514,2.4333600000013074,1,0,-0.0006144547274558862,-9.999999025923074e-05
+13043,1791629078260642067,34262093000000,1791629078253821997,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760965395852707,-0.004850284587723805,0.08511104410942101,0.9999999879633173,6.922800001535092e-05,-7.821028400281801e-08,0.00010355533544195005,0.6761,-0.0048,0.08498335096197106,1.0,0.0,0.0,0.0,0.014186591581420813,0.0039297319281607224,1.1100727139220403,0.0008274930765246047,-0.0012773037575351661,0.00015565460374240706,0.03842207246434814,-0.007881429916145101,1.1641397799891242,-0.0011595043810057812,-0.0032747819776577144,-0.0009940482672697805,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.7743090085306692,-0.3318027370171379,-0.695139774408967,0.563613439145147,0.5494650047340679,-0.25309069865872935,0.5629484540759943,1.1100727139220403,1.2580882284849613,1.2580882284849613,2.4627200000013367,1,0,-0.0006328047238810239,-9.999999025923074e-05
+13083,1791629078593588451,34262426000000,1791629078589821811,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760912854679875,-0.004849393499976605,0.08489132060707305,0.9999999881533841,6.426720168306542e-05,-7.318310871287861e-06,0.0001046530703272871,0.6761,-0.0048,0.08476986308946037,1.0,0.0,0.0,0.0,0.010653681477737119,0.0014353874501753117,1.0899320759077893,0.000809438699680307,-0.0004837058219611611,0.00018372489931007087,0.034889162360664444,-0.010375774394130512,1.1439991419748732,-0.001177558757850079,-0.0024811840420837093,-0.0009659779717021167,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8173332120968766,-0.34255018584997393,-0.6737619197840123,0.5636689302183587,0.5445854839371084,-0.2606759915012199,0.5629484540759943,1.0899320759077893,1.2367103738600065,1.2367103738600065,2.4893600000013634,1,0,-0.0006494547206373477,-9.999999025923074e-05
+13123,1791629078926651394,34262759000000,1791629078925822055,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760887195134898,-0.004841667649366362,0.08467186663464094,0.9999999878894696,7.462232993099006e-05,-8.761841298867209e-06,0.00010009327073379525,0.6761,-0.0048,0.08455083076802983,1.0,0.0,0.0,0.0,0.019948198251893055,0.0028224955889032764,1.07996917652043,0.0008329237915239449,-0.0012708325443307779,0.00018067108346384953,0.04418367913482038,-0.008988666255402547,1.134036242587514,-0.001154073666006441,-0.003268310764453326,-0.000969031787548338,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8493225831728419,-0.2712285553782134,-0.597499759376011,0.5523915802678205,0.5058923264143268,-0.21200560390350287,0.5629484540759943,1.07996917652043,1.160448213452005,1.160448213452005,2.51600000000139,1,0,-0.0006661047173936715,-9.999999025923074e-05
+13163,1791629079260660845,34263093000000,1791629079257821278,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760848788182474,-0.004844442567149278,0.08443902476863296,0.9999999877831786,6.793918541183979e-05,-1.8309905917426473e-05,0.00010452521905719977,0.6761,-0.0048,0.08432557124296529,1.0,0.0,0.0,0.0,0.020358082162119144,0.011780313851903921,1.049918792897245,0.0008399278346511603,-0.00126510529252452,0.0002050230633455839,0.04459356304504647,-3.0847992401901824e-05,1.103985858964329,-0.0011470696228792255,-0.0032625835126470683,-0.0009446798076666037,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.8687775326038539,-0.24107826177085645,-0.6676974863001521,0.541968548725323,0.5513855865949581,-0.19420623141696725,0.5629484540759943,1.049918792897245,1.2306459403761463,1.2306459403761463,2.5427200000014167,1,0,-0.0006828047141402546,-9.999999025923074e-05
+13203,1791629079593687620,34263426000000,1791629079585821715,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760788966425562,-0.004839003148829811,0.0842096240744085,0.9999999878914193,6.738737228442074e-05,-2.3966842872217524e-05,0.00010268669905558444,0.6761,-0.0048,0.08409543337369828,1.0,0.0,0.0,0.0,0.020096738067787535,0.009878465704799689,1.0199702649735125,0.000845341957509333,-0.0012584902948096647,0.00022916950877292547,0.04433221895071486,-0.0019326961395061356,1.0740373310405964,-0.0011416555000210529,-0.003255968514932213,-0.0009205333622392621,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.881255411938668,-0.1674996539685896,-0.6206862679199129,0.5257916395013367,0.5225364334931948,-0.1419276276063709,0.5629484540759943,1.0199702649735125,1.1836347219959071,1.1836347219959071,2.5693600000014434,1,0,-0.0006994547108965784,-9.999999025923074e-05
+13243,1791629079926589359,34263759000000,1791629079925821376,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760769101729059,-0.004845362910849632,0.08397543112552194,0.9999999880887631,6.271149688101508e-05,-2.4207001386598007e-05,0.00010366594050406332,0.6761,-0.0048,0.08385975105551141,1.0,0.0,0.0,0.0,0.01111311939953432,-0.0006851937121274687,0.9735572634291301,0.0008531891337237494,-0.0012465772370372896,0.00026244011748367824,0.035348600282461645,-0.012496355556433292,1.027624329496214,-0.0011338083238066365,-0.003244055457159838,-0.0008872627535285093,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9427292984390563,-0.20508648509948266,-0.5679064131338472,0.5321610945541698,0.5048742879796383,-0.16572323558287544,0.5629484540759943,0.9735572634291301,1.1308548672098415,1.1308548672098415,2.59600000000147,1,0,-0.0007161047076529023,-9.999999025923074e-05
+13283,1791629080260696093,34264093000000,1791629080253821662,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760761181596521,-0.004844042809531305,0.08373548339406625,0.9999999872367122,6.946698351404123e-05,-2.644987655744018e-05,0.00010697748312727427,0.6761,-0.0048,0.08361779153370029,1.0,0.0,0.0,0.0,0.010887217555808605,0.008851815064367828,0.9693102876089017,0.0008272691336571503,-0.0002975050379409481,0.000284394999395323,0.03512269843873593,-0.002959346779937996,1.0233773536759856,-0.0011597283238732356,-0.0022949832580634964,-0.0008653078716168646,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,0.9915505671498631,-0.19081946559404594,-0.6713421575323885,0.5269513455085832,0.5776293468440704,-0.15391151494678926,0.5629484540759943,0.9693102876089017,1.2342906116083827,1.2342906116083827,2.6227200000014967,1,0,-0.0007328047043994853,-9.999999025923074e-05
+13314,1791629080518685062,34264351000000,1791629080513831169,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760727861875346,-0.004841597096390266,0.08354067745217311,0.9999999874201555,6.861819275041316e-05,-2.8051338355082453e-05,0.00010539079349191843,0.6761,-0.0048,0.08342707027029067,1.0,0.0,0.0,0.0,0.0016706422656794125,-0.0019076508198716587,0.9494927103840216,0.0008296491452314115,-0.00022870750027509205,0.00029947035096461374,0.025906123148606738,-0.013718812664177482,1.0035597764511055,-0.0011573483122989743,-0.0022261857203976403,-0.0008502325200475738,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0159410036460979,-0.19157824705974189,-0.6426518512355845,0.5272032094902996,0.5654457623908071,-0.15714037193919317,0.5629484540759943,0.9494927103840216,1.2056003053115787,1.2056003053115787,2.6433600000015174,1,0,-0.0007457047018863669,-9.999999025923074e-05
+13350,1791629080818685859,34264650999999,1791629080817821945,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760622695068866,-0.004842897477583159,0.08329963497204693,0.9999999876649811,5.948252174983675e-05,-4.5306025915875e-05,0.00010257726739440256,0.6761,-0.0048,0.08320111636016456,1.0,0.0,0.0,0.0,0.002368283986719469,-0.005375889755981109,0.9289864261034108,-0.0001562286746652048,-0.00020559316331932292,0.00030477182596961216,0.026603764869646794,-0.017187051600286933,0.9830534921704946,-0.0021432261321955907,-0.002203071383441871,-0.0008449310450425754,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.0552150994707234,-0.26579260397951143,-0.5947762354027838,0.5459535439911964,0.5392227185723019,-0.20317805322544868,0.5629484540759943,0.9289864261034108,1.157724689478778,1.157724689478778,2.6673600000015414,1,0,-0.0007607046989641361,-9.999999025923074e-05
+13386,1791629081118644446,34264951000000,1791629081117822471,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760596059485264,-0.004843913103368384,0.08306476865720733,0.9999999867292068,6.591253757842221e-05,-4.6060007128998675e-05,0.00010732410713744867,0.6761,-0.0048,0.08297066245091511,1.0,0.0,0.0,0.0,0.001912307611636136,-0.010621033929612441,0.8889078396679628,-0.00017910169230036122,-0.00019515739226263302,0.00011640691932362536,0.02614778849456346,-0.022432195773918265,0.9429749057350467,-0.002166099149830747,-0.0021926356123851813,-0.0010332959516885622,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1371891216223327,-0.2718496243235689,-0.6703567717161462,0.5379290256830971,0.6075510615671005,-0.20916538667207002,0.5629484540759943,0.8889078396679628,1.2333052257921404,1.2333052257921404,2.6913600000015654,1,0,-0.0007757046960419053,-9.999999025923074e-05
+13418,1791629081385648409,34265218000000,1791629081377821688,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760543833340071,-0.004849911079184622,0.08284696813962088,0.9999999867366396,5.95146628796603e-05,-5.592567171760445e-05,0.00010630103034123323,0.6761,-0.0048,0.08276177374742043,1.0,0.0,0.0,0.0,-0.007008657756293023,-0.01804467350408529,0.8485383440981339,-0.00018642781805763581,0.0002356303518482152,0.00018207359539505958,0.017226823126634302,-0.029855835348391115,0.9026054101652178,-0.0021734252755880217,-0.001761847868274333,-0.000967629275617128,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.1402365929600935,-0.19923832486086102,-0.6684259743061316,0.5130746177265691,0.6046400320204117,-0.15934483955830478,0.5629484540759943,0.8485383440981339,1.231374428382126,1.231374428382126,2.7127200000015868,1,0,-0.0007890546934411199,-9.999999025923074e-05
+13450,1791629081651579767,34265483999999,1791629081645822084,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760496520034482,-0.004844700515754476,0.08263026017624947,0.9999999867051561,5.660148813488187e-05,-6.155982760092156e-05,0.00010506765021042167,0.6761,-0.0048,0.082550122949311,1.0,0.0,0.0,0.0,-0.01046278950988224,-0.02626479023452594,0.8283037401198097,-0.00016396323349437015,-9.4535944579571e-05,-0.0006346882692836048,0.013772691373045085,-0.038075952078831764,0.8823708061868936,-0.002150960691024756,-0.0020920141647021192,-0.0017843911402957923,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.191309848343233,-0.2632656567833316,-0.6838295119058445,0.5322120798021895,0.626470071517959,-0.19989636512586065,0.5629484540759943,0.8283037401198097,1.2467779659818388,1.2467779659818388,2.734000000001608,1,0,-0.0008023546908500753,-9.999999025923074e-05
+13482,1791629081918610400,34265750999999,1791629081917822379,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6760400410592095,-0.004846380565098469,0.08239824635697644,0.9999999854927621,5.656515312114584e-05,-7.813877849842765e-05,0.00010560328968532396,0.6761,-0.0048,0.08233411869720253,1.0,0.0,0.0,0.0,-0.016327085511285,-0.01994306969993428,0.7879833478047072,-0.00018016449747336634,0.0008452849788333204,-0.0005947121685537951,0.007908395371642327,-0.031754231544240105,0.8420504138717911,-0.002167161955003752,-0.0011521932412892279,-0.0017444150395659827,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2498924577237764,-0.2126409715142738,-0.6636840234973002,0.5073345415923586,0.625896295353616,-0.17055598905612626,0.5629484540759943,0.7879833478047072,1.2266324775732944,1.2266324775732944,2.7553600000016294,1,0,-0.0008157046882492899,-9.999999025923074e-05
+13514,1791629082185612210,34266017999999,1791629082181821725,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760320535206353,-0.004846076667767841,0.0821627169439841,0.9999999846385476,5.319642633917237e-05,-9.131150283927194e-05,0.0001048719160837535,0.6761,-0.0048,0.08211454999578847,1.0,0.0,0.0,0.0,-0.021448442971765652,-0.031064903815094292,0.7639349948271119,-0.00017658925100752293,0.0008515827567704213,-0.0005712736745553265,0.0027870379111616743,-0.042876065659400116,0.8180020608941958,-0.002163586708537909,-0.001145895463352127,-0.001720976545567514,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.2808157348725786,-0.3208512943639839,-0.60608236883233,0.5394191033383873,0.5958093347610726,-0.23959002996619386,0.5629484540759943,0.7639349948271119,1.1690308229083244,1.1690308229083244,2.7767200000016508,1,0,-0.0008290546856485045,-9.999999025923074e-05
+13546,1791629082451578602,34266284000000,1791629082449831038,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760219698766484,-0.004851390173999562,0.08192147853774534,0.999999983379209,4.538062238214753e-05,-0.00010793601649222655,0.00010476097332894937,0.6761,-0.0048,0.08189225919975188,1.0,0.0,0.0,0.0,-0.021389296980482767,-0.036561735063067105,0.7195252159380311,-0.0011887340778969943,0.0008803362669887948,-0.0005521940545492898,0.0028461839024445574,-0.04837289690737293,0.773592282005115,-0.00317573153542738,-0.0011171419531337534,-0.0017018969255614773,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3463802658722652,-0.22077057327266408,-0.6611460468720023,0.5088188600104471,0.6447163550457997,-0.1722832838072514,0.5629484540759943,0.7195252159380311,1.2240945009479964,1.2240945009479964,2.798000000001672,1,0,-0.0008423546830574599,-9.999999025923074e-05
+13574,1791629082685658449,34266517999999,1791629082681821417,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760166359116611,-0.00485223846335036,0.08171373372515912,0.9999999824178999,4.556287755091558e-05,-0.00011729256292578829,0.00010379567965960467,0.6761,-0.0048,0.08169378515418425,1.0,0.0,0.0,0.0,-0.02511524511329697,-0.04631386672979179,0.6893709091663249,-0.0011845615713309506,0.000887489735982683,-0.0005281496065947429,-0.0008797642303696447,-0.05812502857409762,0.7434379752334088,-0.0031715590288613365,-0.0011099884841398653,-0.0016778524776069304,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4084401827219093,-0.26294331156697387,-0.6056583747003812,0.5123246270669068,0.6248561679498301,-0.2010881411808494,0.5629484540759943,0.6893709091663249,1.1686068287763756,1.1686068287763756,2.8167200000016908,1,0,-0.0008540546807781199,-9.999999025923074e-05
+13606,1791629082951631354,34266784000000,1791629082945821695,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.676011028102518,-0.004853686677803736,0.08147266669454449,0.9999999808664717,4.7606479028597596e-05,-0.00012585691882067618,0.00010771991320993044,0.6761,-0.0048,0.08146484435944318,1.0,0.0,0.0,0.0,-0.03407600274985966,-0.04936717321332641,0.6683180452271651,-0.001203885681018362,0.0016806308771617094,-0.0004997237995009495,-0.009840521866932336,-0.06117833505763224,0.722385111294249,-0.003190883138548748,-0.00031684734296083897,-0.001649426670513137,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.3745078933512875,-0.20937508663709462,-0.5255278004711762,0.49692330270567064,0.5601796513723023,-0.16672671048159177,0.5629484540759943,0.6683180452271651,1.0884762545471705,1.0884762545471705,2.838000000001712,1,0,-0.0008673546781870753,-9.999999025923074e-05
+13634,1791629083185658142,34267017999999,1791629083181821801,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6760013749083608,-0.004858784693751589,0.08125010082915735,0.999999978592042,4.01205311628984e-05,-0.00014317192985905828,0.00011023121770527841,0.6761,-0.0048,0.08126052031501522,1.0,0.0,0.0,0.0,-0.033419460554866394,-0.051429703003976035,0.6225576054955393,-0.0021894313545180177,0.0019337976001006843,-0.00047064294785065697,-0.009183979671939067,-0.06324086484828186,0.6766246715626232,-0.004176428812048404,-6.368062002186401e-05,-0.0016203458188628445,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4802163876347814,-0.2451412556239371,-0.61366058378852,0.4979419652362926,0.641560315465791,-0.1919338698274234,0.5629484540759943,0.6225576054955393,1.1766090378645142,1.1766090378645142,2.8567200000017308,1,0,-0.0008790546759077353,-9.999999025923074e-05
+13662,1791629083418674800,34267250999999,1791629083413831146,DOWN_FORCE_DETACH,2,0.045,0.04500202462077141,0.6759953880239193,-0.004853119000488419,0.08103190427492594,0.999999977001806,4.714456890726361e-05,-0.00015144425583523912,0.00011082093188663498,0.6761,-0.0048,0.08105434917579427,1.0,0.0,0.0,0.0,-0.03342084969426679,-0.061716595173208516,0.5964217672481706,-0.0022162280238480665,0.0019408616229275482,-0.0004498868955269131,-0.009185368811339467,-0.07352775701751434,0.6504888333152545,-0.004203225481378452,-5.661659719500003e-05,-0.0015995897665391006,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.4769146781032438,-0.24264041972769068,-0.5260690408607906,0.4955286747448999,0.58473554132941,-0.19067708020714416,0.5629484540759943,0.5964217672481706,1.089017494936785,1.089017494936785,2.8753600000017494,1,0,-0.000890704673638136,-9.999999025923074e-05
+13694,1791629083685635912,34267517999999,1791629083677831463,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6759895602255513,-0.004854851541671368,0.08078441076022433,0.9999999761183507,3.8600437923873654e-05,-0.00015975618056379893,0.00011042704093004237,0.6761,-0.0048,0.08081475547828139,1.0,0.0,0.0,0.0,-0.05199997970106922,-0.059328740461875945,0.5561742559032854,-0.002234005077082959,0.00293276733889356,-0.0004105804640100251,-0.02776449881814189,-0.07113990230618177,0.6102413219703693,-0.004221002534613345,0.0009352891187710118,-0.0015602833350222126,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5233576244574356,-0.28675283817052794,-0.622426251119856,0.4959815833253355,0.6560578385716513,-0.2218542917973325,0.5629484540759943,0.5561742559032854,1.1853747051958503,1.1853747051958503,2.8967200000017708,1,0,-0.0009040546710373506,-9.999999025923074e-05
+13726,1791629083951632161,34267784000000,1791629083945821739,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6759854031672278,-0.004846002893704007,0.08054119599630494,0.9999999760479324,4.2032877393706964e-05,-0.0001627512625231797,0.00010531981176061673,0.6761,-0.0048,0.08057251468613136,1.0,0.0,0.0,0.0,-0.051969528590050156,-0.06542669788065625,0.5159866529386931,-0.00222878781132836,0.002972118568867411,-0.0003714520455861852,-0.02773404770712283,-0.07723785972496207,0.570053719005777,-0.004215785268858746,0.0009746403487448628,-0.0015211549165983728,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.5529001161070441,-0.2686818826362721,-0.4983648248961157,0.48856041804911776,0.5828884975467401,-0.2098088300855041,0.5629484540759943,0.5159866529386931,1.06131327897211,1.06131327897211,2.918000000001792,1,0,-0.000917354668446306,-9.999999025923074e-05
+13754,1791629084185629693,34268017999999,1791629084177821867,DOWN_FORCE_DETACH,2,0.045,0.04500136524438858,0.6759915039328941,-0.00483976747691846,0.08033249851110837,0.999999976519904,5.4461395318662366e-05,-0.00015391790136392702,0.00010838031198159942,0.6761,-0.0048,0.08035649064398274,1.0,0.0,0.0,0.0,-0.06113694739523189,-0.07661072212575198,0.4758189329849074,-0.0022225811012247885,0.002981813981002242,-0.0003401291763858805,-0.03690146651230457,-0.0884218839700578,0.5298859990519913,-0.004209578558755174,0.000984335760879694,-0.001489832047398068,0.024235480882927325,-0.011811161844305824,0.0540670660670839,-0.001986997457530386,-0.0019974782201225482,-0.0011497028710121876,1,1.6027897804116957,-0.21343071925211132,-0.53384434348441,0.4677219515959619,0.6146004577040195,-0.1714958820010104,0.5629484540759943,0.4758189329849074,1.0967927975604042,1.0967927975604042,2.9367200000018108,1,0,-0.000929054666166966,-9.999999025923074e-05
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diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/multimodal_aligned_data.csv b/Fixed/s2/ball_0050_15/press_depth_02/down/multimodal_aligned_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..41a2ed39ac82701d0c4a28bfbcfee5ca8e362c9f
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/multimodal_aligned_data.csv
@@ -0,0 +1,61 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/real_sim_motion_alignment.csv b/Fixed/s2/ball_0050_15/press_depth_02/down/real_sim_motion_alignment.csv
new file mode 100644
index 0000000000000000000000000000000000000000..963344fc8cec9b0e8f68d2d42d64329a64b00610
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/real_sim_motion_alignment.csv
@@ -0,0 +1,61 @@
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+9,7.666666667e+00,DOWN_FORCE_DETACH,1791629062328459640,1.015219648e-04,-3.951028753e-05,-1.114929585e-03,1.018446713e-04,-4.940138407e-05,-1.105778978e-03,1.008659730e-04,-4.944166311e-05,-1.105142005e-03,7.016393934e-01,-3.795932620e-05,8.396260116e-01,7.016397162e-01,-4.785042275e-05,8.396351622e-01,7.018301319e-01,-4.769466778e-05,8.284674927e-01
+10,8.483333333e+00,DOWN_FORCE_DETACH,1791629063890377552,1.113015875e-04,-4.601458570e-05,-1.258444879e-03,1.092351721e-04,-4.371492574e-05,-1.255200977e-03,1.079003257e-04,-4.375888871e-05,-1.254496428e-03,7.016491731e-01,-4.446362438e-05,8.394824963e-01,7.016471067e-01,-4.216396442e-05,8.394857402e-01,7.018371662e-01,-4.201189338e-05,8.283181383e-01
+11,9.283333333e+00,DOWN_FORCE_DETACH,1791629065422355961,1.147327994e-04,-4.258266254e-05,-1.426990170e-03,1.162069343e-04,-4.703232159e-05,-1.413987915e-03,1.144963889e-04,-4.707596570e-05,-1.413210175e-03,7.016526043e-01,-4.103170122e-05,8.393139510e-01,7.016540784e-01,-4.548136027e-05,8.393269533e-01,7.018437623e-01,-4.532897037e-05,8.281594246e-01
+12,9.950000000e+00,DOWN_FORCE_DETACH,1791629066686463786,1.183786171e-04,-5.610059021e-05,-1.589606145e-03,1.153883418e-04,-4.929993625e-05,-1.589152502e-03,1.129896203e-04,-4.933914537e-05,-1.588156655e-03,7.016562501e-01,-5.454962889e-05,8.391513350e-01,7.016532598e-01,-4.774897493e-05,8.391517887e-01,7.018422555e-01,-4.759215004e-05,8.279844781e-01
+13,1.058333333e+01,DOWN_FORCE_DETACH,1791629067882265595,1.106048762e-04,-5.783047496e-05,-1.793002026e-03,1.103023398e-04,-5.768623341e-05,-1.793082875e-03,1.070512056e-04,-5.773381709e-05,-1.792016275e-03,7.016484764e-01,-5.627951364e-05,8.389479392e-01,7.016481738e-01,-5.613527209e-05,8.389478583e-01,7.018363171e-01,-5.598682176e-05,8.277806185e-01
+14,1.113333333e+01,DOWN_FORCE_DETACH,1791629068980519803,1.143318992e-04,-6.032266205e-05,-1.995920136e-03,1.140977349e-04,-6.028039641e-05,-1.995717909e-03,1.101569784e-04,-6.030080227e-05,-1.994511297e-03,7.016522034e-01,-5.877170073e-05,8.387450211e-01,7.016519692e-01,-5.872943509e-05,8.387452233e-01,7.018394229e-01,-5.855380694e-05,8.275781235e-01
+15,1.160000000e+01,DOWN_FORCE_DETACH,1791629069912411168,1.190674204e-04,-6.495496697e-05,-2.197973647e-03,1.169232899e-04,-6.332531369e-05,-2.193228874e-03,1.123194248e-04,-6.336100312e-05,-2.191965192e-03,7.016569389e-01,-6.340400565e-05,8.385429675e-01,7.016547948e-01,-6.177435237e-05,8.385477123e-01,7.018415853e-01,-6.161400780e-05,8.273806696e-01
+16,1.201666667e+01,DOWN_FORCE_DETACH,1791629070742317242,1.181115528e-04,-6.845408072e-05,-2.413042662e-03,1.180168075e-04,-6.852054986e-05,-2.413409158e-03,1.127034721e-04,-6.855844535e-05,-2.411932892e-03,7.016559830e-01,-6.690311940e-05,8.383278985e-01,7.016558883e-01,-6.696958853e-05,8.383275320e-01,7.018419694e-01,-6.681145003e-05,8.271607019e-01
+17,1.243333333e+01,DOWN_FORCE_DETACH,1791629071540709468,1.203593568e-04,-7.326032476e-05,-2.632742109e-03,1.186578921e-04,-7.302648179e-05,-2.618025797e-03,1.126374843e-04,-7.306025277e-05,-2.616656702e-03,7.016582308e-01,-7.170936344e-05,8.381081991e-01,7.016565294e-01,-7.147552047e-05,8.381229154e-01,7.018419034e-01,-7.131325744e-05,8.269559780e-01
+18,1.276666667e+01,DOWN_FORCE_DETACH,1791629072172314174,1.118306301e-04,-8.159772234e-05,-2.853346027e-03,1.115194394e-04,-8.133844206e-05,-2.853270803e-03,1.044568886e-04,-8.136861392e-05,-2.851661897e-03,7.016497021e-01,-8.004676102e-05,8.378875952e-01,7.016493909e-01,-7.978748074e-05,8.378876704e-01,7.018337228e-01,-7.962161859e-05,8.267209729e-01
+19,1.308333333e+01,DOWN_FORCE_DETACH,1791629072770332875,1.095242136e-04,-8.892037250e-05,-3.064271094e-03,1.071093770e-04,-8.728960998e-05,-3.057431741e-03,9.918083083e-05,-8.733336030e-05,-3.055802109e-03,7.016473957e-01,-8.736941118e-05,8.376766701e-01,7.016449809e-01,-8.573864866e-05,8.376835094e-01,7.018284467e-01,-8.558636497e-05,8.265168326e-01
+20,1.341666667e+01,DOWN_FORCE_DETACH,1791629073402526306,1.117334159e-04,-9.184872159e-05,-3.292903498e-03,1.107344419e-04,-8.972172799e-05,-3.280698063e-03,1.019764563e-04,-8.975800914e-05,-3.279151980e-03,7.016496049e-01,-9.029776027e-05,8.374480377e-01,7.016486059e-01,-8.817076666e-05,8.374602431e-01,7.018312424e-01,-8.801101381e-05,8.262934828e-01
+21,1.370000000e+01,DOWN_FORCE_DETACH,1791629073952372201,1.110011388e-04,-9.513321215e-05,-3.511188959e-03,1.091440997e-04,-1.006463722e-04,-3.493789504e-03,9.958486016e-05,-1.006494228e-04,-3.492232726e-03,7.016488726e-01,-9.358225083e-05,8.372297522e-01,7.016470156e-01,-9.909541090e-05,8.372471517e-01,7.018288508e-01,-9.890242747e-05,8.260804020e-01
+22,1.396666667e+01,DOWN_FORCE_DETACH,1791629074468450969,1.096044352e-04,-9.888513614e-05,-3.734063915e-03,1.094117141e-04,-9.867761949e-05,-3.733887908e-03,9.902358076e-05,-9.870725545e-05,-3.732159812e-03,7.016474759e-01,-9.733417482e-05,8.370068773e-01,7.016472832e-01,-9.712665817e-05,8.370070533e-01,7.018282895e-01,-9.696026012e-05,8.258404749e-01
+23,1.423333333e+01,DOWN_FORCE_DETACH,1791629074968354378,1.091628614e-04,-9.935858279e-05,-3.958763154e-03,1.089658932e-04,-9.928932095e-05,-3.958481723e-03,9.772152980e-05,-9.929172827e-05,-3.956789667e-03,7.016470343e-01,-9.780762147e-05,8.367821780e-01,7.016468374e-01,-9.773835963e-05,8.367824595e-01,7.018269874e-01,-9.754473294e-05,8.256158451e-01
+24,1.448333333e+01,DOWN_FORCE_DETACH,1791629075434407826,1.101799946e-04,-1.076972540e-04,-4.181383897e-03,1.066828078e-04,-1.062491793e-04,-4.170978882e-03,9.462842400e-05,-1.062477377e-04,-4.169400478e-03,7.016480515e-01,-1.061462927e-04,8.365595573e-01,7.016445543e-01,-1.046982180e-04,8.365699623e-01,7.018238943e-01,-1.045007423e-04,8.254032343e-01
+25,1.473333333e+01,DOWN_FORCE_DETACH,1791629075898589684,1.071538293e-04,-1.098202957e-04,-4.412479450e-03,1.070694868e-04,-1.095497442e-04,-4.412264693e-03,9.414596536e-05,-1.095605712e-04,-4.410734085e-03,7.016450253e-01,-1.082693344e-04,8.363284617e-01,7.016449410e-01,-1.079987828e-04,8.363286765e-01,7.018234119e-01,-1.078135759e-04,8.251619007e-01
+26,1.495000000e+01,DOWN_FORCE_DETACH,1791629076330411777,1.049934044e-04,-1.121468317e-04,-4.638660660e-03,1.050368540e-04,-1.107583130e-04,-4.620880499e-03,9.129406934e-05,-1.107539401e-04,-4.619414013e-03,7.016428649e-01,-1.105958704e-04,8.361022805e-01,7.016429083e-01,-1.092073517e-04,8.361200607e-01,7.018205600e-01,-1.090069447e-04,8.249532207e-01
+27,1.515000000e+01,DOWN_FORCE_DETACH,1791629076730458588,1.017142627e-04,-1.061491542e-04,-4.859801809e-03,1.016584494e-04,-1.074002385e-04,-4.844529890e-03,8.705261202e-05,-1.073926241e-04,-4.843043068e-03,7.016395857e-01,-1.045981929e-04,8.358811394e-01,7.016395299e-01,-1.058492772e-04,8.358964113e-01,7.018163185e-01,-1.056456288e-04,8.247295917e-01
+28,1.535000000e+01,DOWN_FORCE_DETACH,1791629077130392808,1.009076553e-04,-1.078315784e-04,-5.091773454e-03,1.005101878e-04,-1.076928424e-04,-5.091605653e-03,8.492691028e-05,-1.076648644e-04,-5.090226386e-03,7.016387791e-01,-1.062806171e-04,8.356491677e-01,7.016383817e-01,-1.061418811e-04,8.356493355e-01,7.018141928e-01,-1.059178691e-04,8.244824084e-01
+29,1.553333333e+01,DOWN_FORCE_DETACH,1791629077496394464,9.893100070e-05,-1.061652187e-04,-5.304414643e-03,9.803957484e-05,-1.099678019e-04,-5.289248111e-03,8.168421666e-05,-1.099626786e-04,-5.287993274e-03,7.016368025e-01,-1.046142574e-04,8.354365265e-01,7.016359111e-01,-1.084168406e-04,8.354516931e-01,7.018109501e-01,-1.082156833e-04,8.242846415e-01
+30,1.573333333e+01,DOWN_FORCE_DETACH,1791629077894302099,9.809337630e-05,-1.111755110e-04,-5.543194123e-03,9.773397902e-05,-1.112137433e-04,-5.543116457e-03,8.047403077e-05,-1.112455868e-04,-5.541922303e-03,7.016359649e-01,-1.096245497e-04,8.351977471e-01,7.016356055e-01,-1.096627820e-04,8.351978247e-01,7.018097399e-01,-1.094985914e-04,8.240307124e-01
+31,1.591666667e+01,DOWN_FORCE_DETACH,1791629078262338305,9.572151859e-05,-1.118191511e-04,-5.769452129e-03,9.577346755e-05,-1.120193904e-04,-5.769499693e-03,7.767571108e-05,-1.120635839e-04,-5.768392696e-03,7.016335930e-01,-1.102681897e-04,8.349714891e-01,7.016336449e-01,-1.104684290e-04,8.349714415e-01,7.018069416e-01,-1.103165886e-04,8.238042421e-01
+32,1.608333333e+01,DOWN_FORCE_DETACH,1791629078594350884,9.206098931e-05,-1.107261632e-04,-5.987592284e-03,9.091685435e-05,-1.077188709e-04,-5.968580267e-03,7.193391421e-05,-1.077370983e-04,-5.967705339e-03,7.016299325e-01,-1.091752019e-04,8.347533489e-01,7.016287883e-01,-1.061679095e-04,8.347723609e-01,7.018011998e-01,-1.059901030e-04,8.236049294e-01
+33,1.625000000e+01,DOWN_FORCE_DETACH,1791629078926373341,8.903145961e-05,-1.060049717e-04,-6.208436727e-03,8.876959141e-05,-1.059852859e-04,-6.208439470e-03,6.888736555e-05,-1.060029045e-04,-6.207651111e-03,7.016269029e-01,-1.044540104e-04,8.345325045e-01,7.016266411e-01,-1.044343246e-04,8.345325017e-01,7.017981533e-01,-1.042559092e-04,8.233649836e-01
+34,1.641666667e+01,DOWN_FORCE_DETACH,1791629079263403531,8.393811560e-05,-1.065902083e-04,-6.447116325e-03,8.383369428e-05,-1.064476197e-04,-6.446818588e-03,6.291460745e-05,-1.064891996e-04,-6.446265487e-03,7.016218096e-01,-1.050392469e-04,8.342938249e-01,7.016217052e-01,-1.048966584e-04,8.342941226e-01,7.017921805e-01,-1.047422043e-04,8.231263693e-01
+35,1.658333333e+01,DOWN_FORCE_DETACH,1791629079590278662,7.684860596e-05,-1.058856388e-04,-6.670778858e-03,7.671087593e-05,-1.060354279e-04,-6.670655807e-03,5.480042824e-05,-1.060891973e-04,-6.670304130e-03,7.016147201e-01,-1.043346775e-04,8.340701623e-01,7.016145824e-01,-1.044844665e-04,8.340702854e-01,7.017840663e-01,-1.043422020e-04,8.229023306e-01
+36,1.676666667e+01,DOWN_FORCE_DETACH,1791629079924310065,7.705955491e-05,-1.061933659e-04,-6.902736375e-03,7.675399521e-05,-1.059503849e-04,-6.902868367e-03,5.404978123e-05,-1.060570353e-04,-6.902683904e-03,7.016149310e-01,-1.046424045e-04,8.338382048e-01,7.016146255e-01,-1.043994235e-04,8.338380728e-01,7.017833157e-01,-1.043100399e-04,8.226699508e-01
+37,1.693333333e+01,DOWN_FORCE_DETACH,1791629080256230183,7.831376613e-05,-1.060468205e-04,-7.138581806e-03,7.801374604e-05,-1.060062943e-04,-7.138176783e-03,5.445917269e-05,-1.061403179e-04,-7.138084470e-03,7.016161852e-01,-1.044958592e-04,8.336023594e-01,7.016158852e-01,-1.044553330e-04,8.336027644e-01,7.017837251e-01,-1.043933226e-04,8.224345503e-01
+38,1.708333333e+01,DOWN_FORCE_DETACH,1791629080522331757,7.434821891e-05,-1.066723557e-04,-7.341966192e-03,7.414593357e-05,-1.065457938e-04,-7.342019710e-03,4.978165310e-05,-1.067433712e-04,-7.342053856e-03,7.016122197e-01,-1.051213944e-04,8.333989750e-01,7.016120174e-01,-1.049948324e-04,8.333989215e-01,7.017790476e-01,-1.049963759e-04,8.222305809e-01
+39,1.723333333e+01,DOWN_FORCE_DETACH,1791629080822430532,6.562748314e-05,-1.036138750e-04,-7.581077248e-03,6.564015520e-05,-1.036218456e-04,-7.580646867e-03,4.018630188e-05,-1.038385305e-04,-7.580802851e-03,7.016034990e-01,-1.020629137e-04,8.331598639e-01,7.016035116e-01,-1.020708843e-04,8.331602943e-01,7.017694522e-01,-1.020915351e-04,8.219918319e-01
+40,1.740000000e+01,DOWN_FORCE_DETACH,1791629081120308072,6.307289308e-05,-1.113561703e-04,-7.815425733e-03,6.275293791e-05,-1.114196651e-04,-7.814955740e-03,3.646198096e-05,-1.117957594e-04,-7.815223050e-03,7.016009444e-01,-1.098052090e-04,8.329255155e-01,7.016006244e-01,-1.098687038e-04,8.329259854e-01,7.017657279e-01,-1.100487641e-04,8.217574117e-01
+41,1.753333333e+01,DOWN_FORCE_DETACH,1791629081388281764,5.487862019e-05,-1.043346315e-04,-8.031465186e-03,5.463910635e-05,-1.041387896e-04,-8.031335857e-03,2.729065559e-05,-1.045875622e-04,-8.031634164e-03,7.015927501e-01,-1.027836702e-04,8.327094760e-01,7.015925106e-01,-1.025878283e-04,8.327096053e-01,7.017565566e-01,-1.028405669e-04,8.215410006e-01
+42,1.768333333e+01,DOWN_FORCE_DETACH,1791629081654201294,4.987662156e-05,-1.090254859e-04,-8.250982473e-03,4.959191072e-05,-1.090088554e-04,-8.251100893e-03,2.134090437e-05,-1.095901621e-04,-8.251524646e-03,7.015877481e-01,-1.074745246e-04,8.324899587e-01,7.015874634e-01,-1.074578941e-04,8.324898403e-01,7.017506068e-01,-1.078431668e-04,8.213211101e-01
+43,1.781666667e+01,DOWN_FORCE_DETACH,1791629081918248240,3.932536007e-05,-1.078580254e-04,-8.481495132e-03,3.912331424e-05,-1.077562422e-04,-8.481562156e-03,9.741306640e-06,-1.083824188e-04,-8.482089927e-03,7.015771968e-01,-1.063070640e-04,8.322594461e-01,7.015769948e-01,-1.062052809e-04,8.322593790e-01,7.017390072e-01,-1.066354235e-04,8.210905448e-01
+44,1.795000000e+01,DOWN_FORCE_DETACH,1791629082186324919,3.282904195e-05,-1.074093310e-04,-8.716195947e-03,3.273221300e-05,-1.072813846e-04,-8.715880890e-03,2.322859084e-06,-1.079286089e-04,-8.716454671e-03,7.015707005e-01,-1.058583697e-04,8.320247452e-01,7.015706037e-01,-1.057304233e-04,8.320250603e-01,7.017315888e-01,-1.061816136e-04,8.208561801e-01
+45,1.810000000e+01,DOWN_FORCE_DETACH,1791629082452469406,2.321437234e-05,-1.121517100e-04,-8.957230770e-03,2.289902176e-05,-1.123177499e-04,-8.957070199e-03,-8.550966806e-06,-1.129839046e-04,-8.957636246e-03,7.015610859e-01,-1.106007487e-04,8.317837104e-01,7.015607705e-01,-1.107667886e-04,8.317838710e-01,7.017207149e-01,-1.112369093e-04,8.206149985e-01
+46,1.821666667e+01,DOWN_FORCE_DETACH,1791629082686447833,1.741143298e-05,-1.135711266e-04,-9.165179166e-03,1.725116917e-05,-1.138207914e-04,-9.165444366e-03,-1.509627700e-05,-1.145136732e-04,-9.166077354e-03,7.015552829e-01,-1.120201653e-04,8.315757620e-01,7.015551227e-01,-1.122698301e-04,8.315754968e-01,7.017141696e-01,-1.127666779e-04,8.204065574e-01
+47,1.836666667e+01,DOWN_FORCE_DETACH,1791629082950594090,1.024084645e-05,-1.193902399e-04,-9.408302675e-03,1.014304640e-05,-1.194326920e-04,-9.408051626e-03,-2.323721217e-05,-1.201718250e-04,-9.408652528e-03,7.015481123e-01,-1.178392786e-04,8.313326385e-01,7.015480145e-01,-1.178817307e-04,8.313328896e-01,7.017060287e-01,-1.184248296e-04,8.201639822e-01
+48,1.848333333e+01,DOWN_FORCE_DETACH,1791629083182731701,2.397850373e-06,-1.176213729e-04,-9.625267271e-03,2.179244451e-06,-1.178807169e-04,-9.625257525e-03,-3.215283162e-05,-1.186050080e-04,-9.625887685e-03,7.015402693e-01,-1.160704116e-04,8.311156739e-01,7.015400507e-01,-1.163297556e-04,8.311156837e-01,7.016971131e-01,-1.168580127e-04,8.199467471e-01
+49,1.860000000e+01,DOWN_FORCE_DETACH,1791629083416332482,-2.669780210e-06,-1.160678376e-04,-9.844463316e-03,-2.989655950e-06,-1.160560157e-04,-9.844002470e-03,-3.819830486e-05,-1.167830705e-04,-9.844611903e-03,7.015352017e-01,-1.145168763e-04,8.308964779e-01,7.015348818e-01,-1.145050544e-04,8.308969387e-01,7.016910676e-01,-1.150360751e-04,8.197280228e-01
+50,1.875000000e+01,DOWN_FORCE_DETACH,1791629083682295193,-9.256386078e-06,-1.100151566e-04,-1.009074413e-02,-9.160960308e-06,-1.102392175e-04,-1.009041892e-02,-4.542185545e-05,-1.108853090e-04,-1.009109012e-02,7.015286151e-01,-1.084641952e-04,8.306501971e-01,7.015287105e-01,-1.086882562e-04,8.306505223e-01,7.016838441e-01,-1.091383136e-04,8.194815446e-01
+51,1.888333333e+01,DOWN_FORCE_DETACH,1791629083950318411,-9.582504741e-06,-1.051478709e-04,-1.033074167e-02,-9.746863102e-06,-1.052768163e-04,-1.033072956e-02,-4.680917679e-05,-1.059079537e-04,-1.033135260e-02,7.015282890e-01,-1.035969096e-04,8.304101995e-01,7.015281246e-01,-1.037258549e-04,8.304102116e-01,7.016824567e-01,-1.041609584e-04,8.192412821e-01
+52,1.901666667e+01,DOWN_FORCE_DETACH,1791629084182278353,-5.827018185e-06,-1.018599909e-04,-1.053987263e-02,-6.038232004e-06,-1.019383152e-04,-1.053971848e-02,-4.370564441e-05,-1.025666474e-04,-1.054036258e-02,7.015320445e-01,-1.003090295e-04,8.302010686e-01,7.015318332e-01,-1.003873539e-04,8.302012227e-01,7.016855603e-01,-1.008196521e-04,8.190322722e-01
+53,1.913333333e+01,DOWN_FORCE_DETACH,1791629084414267705,-1.987264281e-05,-1.050350000e-04,-1.077055738e-02,-2.009082745e-05,-1.050276298e-04,-1.077047987e-02,-5.893678053e-05,-1.056622488e-04,-1.077114813e-02,7.015179988e-01,-1.034840387e-04,8.299703838e-01,7.015177807e-01,-1.034766685e-04,8.299704613e-01,7.016703291e-01,-1.039152534e-04,8.188014866e-01
+54,1.925000000e+01,DOWN_FORCE_DETACH,1791629084646516365,-2.507366089e-05,-1.076447076e-04,-1.099876358e-02,-2.520606942e-05,-1.075444531e-04,-1.099864156e-02,-6.498260090e-05,-1.081846992e-04,-1.099931817e-02,7.015127978e-01,-1.060937463e-04,8.297421776e-01,7.015126654e-01,-1.059934918e-04,8.297422996e-01,7.016642833e-01,-1.064377039e-04,8.185733166e-01
+55,1.936666667e+01,DOWN_FORCE_DETACH,1791629084880367832,-1.322525151e-05,-1.023554571e-04,-1.121532080e-02,-1.364933596e-05,-1.021888650e-04,-1.121540861e-02,-5.369989579e-05,-1.027872289e-04,-1.121612082e-02,7.015246462e-01,-1.008044957e-04,8.295256204e-01,7.015242221e-01,-1.006379037e-04,8.295255326e-01,7.016755660e-01,-1.010402335e-04,8.183565139e-01
+56,1.948333333e+01,DOWN_FORCE_DETACH,1791629085114340948,-2.260699698e-05,-1.112857147e-04,-1.144537820e-02,-2.271624607e-05,-1.112958892e-04,-1.144501452e-02,-6.379877033e-05,-1.119651248e-04,-1.144569953e-02,7.015152645e-01,-1.097347533e-04,8.292955630e-01,7.015151552e-01,-1.097449278e-04,8.292959267e-01,7.016654671e-01,-1.102181295e-04,8.181269352e-01
+57,1.960000000e+01,DOWN_FORCE_DETACH,1791629085346369673,-2.519604740e-05,-1.113103955e-04,-1.167623067e-02,-2.525046748e-05,-1.110877440e-04,-1.167614491e-02,-6.714946327e-05,-1.117540659e-04,-1.167687186e-02,7.015126754e-01,-1.097594342e-04,8.290647105e-01,7.015126210e-01,-1.095367827e-04,8.290647963e-01,7.016621164e-01,-1.100070706e-04,8.178957629e-01
+58,1.971666667e+01,DOWN_FORCE_DETACH,1791629085578363594,-3.351789053e-05,-1.073044176e-04,-1.191690451e-02,-3.374423886e-05,-1.074696056e-04,-1.191689724e-02,-7.668754934e-05,-1.081252726e-04,-1.191759549e-02,7.015043536e-01,-1.057534563e-04,8.288240367e-01,7.015041272e-01,-1.059186443e-04,8.288240439e-01,7.016525784e-01,-1.063782773e-04,8.176550393e-01
+59,1.998333333e+01,DOWN_SETTLE,1791629086110304050,-3.328076438e-05,-9.706262376e-05,-1.212545280e-02,-3.392410185e-05,-1.027996626e-04,-1.211671225e-02,-7.755899601e-05,-1.033992157e-04,-1.211746538e-02,7.015045907e-01,-9.551166244e-05,8.286154884e-01,7.015039474e-01,-1.012487013e-04,8.286242289e-01,7.016517069e-01,-1.016522204e-04,8.174551694e-01
diff --git a/Fixed/s2/ball_0050_15/press_depth_02/down/simulation_data.csv b/Fixed/s2/ball_0050_15/press_depth_02/down/simulation_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..859f27b672a8ccce8ec8645dd7d4a22d541cf80c
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/down/simulation_data.csv
@@ -0,0 +1,61 @@
+frame,time_s,phase,command_travel_m,Fx_N,Fy_N,Fz_N,Mx_Nm,My_Nm,Mz_Nm,delta_Fx_N,delta_Fy_N,delta_Fz_N,delta_Mx_Nm,delta_My_Nm,delta_Mz_Nm,delta_force_norm_N,delta_moment_norm_Nm
+0,0.0000e+00,DOWN_FORCE_DETACH,0.0000e+00,-1.0652e-03,3.0672e-04,2.4541e+00,-3.6821e-02,3.6713e-02,-8.1917e-06,6.3333e-05,-1.5425e-07,4.9829e-05,-2.2352e-07,4.4294e-06,-3.2762e-08,8.0586e-05,4.4351e-06
+1,9.1667e-01,DOWN_FORCE_DETACH,2.2852e-04,1.1962e-03,5.7111e-03,2.4624e+00,-3.7208e-02,3.6865e-02,-3.4518e-06,2.3247e-03,5.4042e-03,8.4293e-03,-3.8747e-04,1.5685e-04,4.7071e-06,1.0279e-02,4.1805e-04
+2,1.7333e+00,DOWN_FORCE_DETACH,4.5993e-04,-3.8238e-03,7.9792e-03,2.4854e+00,-3.7356e-02,3.6489e-02,8.8941e-08,-2.6953e-03,7.6724e-03,3.1414e-02,-5.3526e-04,-2.1921e-04,8.2478e-06,3.2450e-02,5.7846e-04
+3,2.4167e+00,DOWN_FORCE_DETACH,6.9025e-04,-3.9285e-03,1.0667e-02,2.4972e+00,-3.7513e-02,3.6469e-02,3.8306e-06,-2.8000e-03,1.0360e-02,4.3149e-02,-6.9249e-04,-2.3942e-04,1.1989e-05,4.4464e-02,7.3281e-04
+4,3.1667e+00,DOWN_FORCE_DETACH,9.1878e-04,4.4615e-04,1.1642e-02,2.4953e+00,-3.7570e-02,3.6780e-02,9.1482e-06,1.5747e-03,1.1335e-02,4.1327e-02,-7.4961e-04,7.1794e-05,1.7307e-05,4.2882e-02,7.5324e-04
+5,4.2167e+00,DOWN_FORCE_DETACH,1.1517e-03,5.2578e-03,1.2621e-02,2.4792e+00,-3.7639e-02,3.7133e-02,1.3499e-05,6.3863e-03,1.2314e-02,2.5197e-02,-8.1908e-04,4.2472e-04,2.1658e-05,2.8763e-02,9.2290e-04
+6,5.0667e+00,DOWN_FORCE_DETACH,1.3785e-03,5.9551e-03,1.3504e-02,2.4797e+00,-3.7691e-02,3.7180e-02,9.1262e-06,7.0836e-03,1.3197e-02,2.5696e-02,-8.7089e-04,4.7221e-04,1.7285e-05,2.9742e-02,9.9082e-04
+7,6.0167e+00,DOWN_FORCE_DETACH,1.6076e-03,5.5906e-03,1.3487e-02,2.4837e+00,-3.7690e-02,3.7153e-02,2.7810e-06,6.7192e-03,1.3180e-02,2.9667e-02,-8.6935e-04,4.4463e-04,1.0940e-05,3.3151e-02,9.7652e-04
+8,6.9000e+00,DOWN_FORCE_DETACH,1.8401e-03,5.8265e-03,1.3237e-02,2.4852e+00,-3.7677e-02,3.7168e-02,-1.9139e-06,6.9550e-03,1.2931e-02,3.1146e-02,-8.5631e-04,4.6021e-04,6.2450e-06,3.4433e-02,9.7216e-04
+9,7.6667e+00,DOWN_FORCE_DETACH,2.0680e-03,5.0072e-03,1.3281e-02,2.4882e+00,-3.7678e-02,3.7107e-02,1.5840e-07,6.1358e-03,1.2974e-02,3.4158e-02,-8.5814e-04,3.9889e-04,8.3173e-06,3.7051e-02,9.4636e-04
+10,8.4833e+00,DOWN_FORCE_DETACH,2.2978e-03,4.5870e-03,1.1586e-02,2.4903e+00,-3.7552e-02,3.7075e-02,5.3265e-06,5.7155e-03,1.1279e-02,3.6261e-02,-7.3187e-04,3.6663e-04,1.3485e-05,3.8402e-02,8.1868e-04
+11,9.2833e+00,DOWN_FORCE_DETACH,2.5332e-03,3.7748e-03,1.2828e-02,2.4953e+00,-3.7627e-02,3.7015e-02,1.1271e-05,4.9034e-03,1.2521e-02,4.1283e-02,-8.0667e-04,3.0691e-04,1.9430e-05,4.3418e-02,8.6331e-04
+12,9.9500e+00,DOWN_FORCE_DETACH,2.7559e-03,3.8935e-03,1.3340e-02,2.5061e+00,-3.7666e-02,3.7015e-02,1.3608e-05,5.0220e-03,1.3033e-02,5.2129e-02,-8.4534e-04,3.0725e-04,2.1767e-05,5.3967e-02,8.9971e-04
+13,1.0583e+01,DOWN_FORCE_DETACH,2.9926e-03,3.9124e-03,1.4971e-02,2.5044e+00,-3.7773e-02,3.7016e-02,5.8670e-06,5.0410e-03,1.4664e-02,5.0351e-02,-9.5305e-04,3.0729e-04,1.4026e-05,5.2685e-02,1.0015e-03
+14,1.1133e+01,DOWN_FORCE_DETACH,3.2217e-03,4.8672e-03,1.7096e-02,2.5106e+00,-3.7902e-02,3.7077e-02,8.2663e-06,5.9958e-03,1.6789e-02,5.6618e-02,-1.0813e-03,3.6876e-04,1.6425e-05,5.9358e-02,1.1426e-03
+15,1.1600e+01,DOWN_FORCE_DETACH,3.4460e-03,4.4397e-03,1.7597e-02,2.5238e+00,-3.7912e-02,3.7035e-02,1.6668e-05,5.5682e-03,1.7290e-02,6.9781e-02,-1.0921e-03,3.2631e-04,2.4827e-05,7.2106e-02,1.1401e-03
+16,1.2017e+01,DOWN_FORCE_DETACH,3.6752e-03,5.6493e-03,1.9632e-02,2.5238e+00,-3.8027e-02,3.7118e-02,1.6987e-05,6.7778e-03,1.9325e-02,6.9794e-02,-1.2066e-03,4.0992e-04,2.5146e-05,7.2737e-02,1.2745e-03
+17,1.2433e+01,DOWN_FORCE_DETACH,3.9100e-03,7.2640e-03,2.0484e-02,2.5295e+00,-3.8068e-02,3.7226e-02,1.1944e-05,8.3925e-03,2.0177e-02,7.5516e-02,-1.2480e-03,5.1770e-04,2.0103e-05,7.8614e-02,1.3512e-03
+18,1.2767e+01,DOWN_FORCE_DETACH,4.1410e-03,7.8556e-03,2.1711e-02,2.5331e+00,-3.8116e-02,3.7262e-02,1.1913e-05,8.9842e-03,2.1404e-02,7.9067e-02,-1.2959e-03,5.5382e-04,2.0072e-05,8.2404e-02,1.4095e-03
+19,1.3083e+01,DOWN_FORCE_DETACH,4.3607e-03,9.1706e-03,2.5192e-02,2.5456e+00,-3.8327e-02,3.7344e-02,1.0838e-05,1.0299e-02,2.4886e-02,9.1623e-02,-1.5069e-03,6.3610e-04,1.8997e-05,9.5499e-02,1.6358e-03
+20,1.3417e+01,DOWN_FORCE_DETACH,4.5989e-03,5.8834e-03,2.6705e-02,2.5433e+00,-3.8389e-02,3.7118e-02,1.3891e-05,7.0120e-03,2.6398e-02,8.9338e-02,-1.5682e-03,4.0928e-04,2.2050e-05,9.3420e-02,1.6209e-03
+21,1.3700e+01,DOWN_FORCE_DETACH,4.8265e-03,6.5703e-03,3.0405e-02,2.5417e+00,-3.8617e-02,3.7160e-02,1.3323e-05,7.6988e-03,3.0098e-02,8.7655e-02,-1.7970e-03,4.5164e-04,2.1482e-05,9.2998e-02,1.8530e-03
+22,1.3967e+01,DOWN_FORCE_DETACH,5.0595e-03,5.8008e-03,2.9733e-02,2.5413e+00,-3.8555e-02,3.7107e-02,1.4726e-05,6.9293e-03,2.9426e-02,8.7285e-02,-1.7342e-03,3.9848e-04,2.2885e-05,9.2372e-02,1.7796e-03
+23,1.4233e+01,DOWN_FORCE_DETACH,5.2933e-03,6.9488e-03,2.9688e-02,2.5424e+00,-3.8517e-02,3.7189e-02,1.6186e-05,8.0773e-03,2.9381e-02,8.8435e-02,-1.6970e-03,4.8082e-04,2.4345e-05,9.3538e-02,1.7640e-03
+24,1.4483e+01,DOWN_FORCE_DETACH,5.5206e-03,8.1992e-03,3.1108e-02,2.5477e+00,-3.8583e-02,3.7275e-02,1.7311e-05,9.3277e-03,3.0802e-02,9.3662e-02,-1.7629e-03,5.6704e-04,2.5470e-05,9.9036e-02,1.8521e-03
+25,1.4733e+01,DOWN_FORCE_DETACH,5.7547e-03,7.1581e-03,3.1768e-02,2.5383e+00,-3.8621e-02,3.7206e-02,1.1801e-05,8.2867e-03,3.1461e-02,8.4281e-02,-1.8008e-03,4.9774e-04,1.9960e-05,9.0342e-02,1.8684e-03
+26,1.4950e+01,DOWN_FORCE_DETACH,5.9854e-03,5.7636e-03,3.2379e-02,2.5443e+00,-3.8634e-02,3.7107e-02,1.1802e-05,6.8921e-03,3.2072e-02,9.0334e-02,-1.8134e-03,3.9913e-04,1.9961e-05,9.6106e-02,1.8569e-03
+27,1.5150e+01,DOWN_FORCE_DETACH,6.2090e-03,6.2651e-03,3.2260e-02,2.5420e+00,-3.8598e-02,3.7138e-02,1.8464e-05,7.3936e-03,3.1953e-02,8.7945e-02,-1.7777e-03,4.3022e-04,2.6623e-05,9.3861e-02,1.8292e-03
+28,1.5350e+01,DOWN_FORCE_DETACH,6.4455e-03,5.6449e-03,3.2238e-02,2.5283e+00,-3.8588e-02,3.7104e-02,7.1228e-06,6.7735e-03,3.1931e-02,7.4272e-02,-1.7676e-03,3.9615e-04,1.5282e-05,8.1128e-02,1.8115e-03
+29,1.5533e+01,DOWN_FORCE_DETACH,6.6620e-03,5.6242e-03,3.3719e-02,2.5331e+00,-3.8687e-02,3.7103e-02,1.3019e-06,6.7528e-03,3.3412e-02,7.9046e-02,-1.8664e-03,3.9488e-04,9.4608e-06,8.6083e-02,1.9078e-03
+30,1.5733e+01,DOWN_FORCE_DETACH,6.9037e-03,5.9757e-03,3.1639e-02,2.5189e+00,-3.8552e-02,3.7139e-02,9.1749e-06,7.1042e-03,3.1332e-02,6.4893e-02,-1.7316e-03,4.3037e-04,1.7334e-05,7.2411e-02,1.7844e-03
+31,1.5917e+01,DOWN_FORCE_DETACH,7.1332e-03,4.8441e-03,3.0758e-02,2.5211e+00,-3.8500e-02,3.7060e-02,1.0453e-05,5.9727e-03,3.0451e-02,6.7130e-02,-1.6798e-03,3.5182e-04,1.8612e-05,7.3955e-02,1.7163e-03
+32,1.6083e+01,DOWN_FORCE_DETACH,7.3541e-03,3.9701e-03,2.9602e-02,2.5167e+00,-3.8419e-02,3.7002e-02,9.3711e-06,5.0986e-03,2.9295e-02,6.2647e-02,-1.5988e-03,2.9342e-04,1.7530e-05,6.9345e-02,1.6256e-03
+33,1.6250e+01,DOWN_FORCE_DETACH,7.5781e-03,4.1142e-03,2.9314e-02,2.5107e+00,-3.8396e-02,3.7017e-02,1.1966e-05,5.2427e-03,2.9007e-02,5.6649e-02,-1.5758e-03,3.0853e-04,2.0125e-05,6.3859e-02,1.6059e-03
+34,1.6417e+01,DOWN_FORCE_DETACH,7.8180e-03,3.1844e-03,2.8935e-02,2.4986e+00,-3.8376e-02,3.6961e-02,-4.9590e-06,4.3129e-03,2.8628e-02,4.4628e-02,-1.5558e-03,2.5271e-04,3.1999e-06,5.3196e-02,1.5762e-03
+35,1.6583e+01,DOWN_FORCE_DETACH,8.0434e-03,3.7872e-03,2.7579e-02,2.4861e+00,-3.8332e-02,3.7011e-02,-1.0971e-05,4.9158e-03,2.7272e-02,3.2065e-02,-1.5115e-03,3.0285e-04,-2.8120e-06,4.2380e-02,1.5415e-03
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diff --git a/Fixed/s2/ball_0050_15/press_depth_02/up/camera_frames_60hz.tar b/Fixed/s2/ball_0050_15/press_depth_02/up/camera_frames_60hz.tar
new file mode 100644
index 0000000000000000000000000000000000000000..8312c45936e129d1bcec6e85f50755aa4778031e
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/up/camera_frames_60hz.tar
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e23b1b826dd61265dc932d5cec1d4374f36ea4541cdb2ac0f11fd82964dcbccc
+size 15564800
diff --git a/Fixed/s2/ball_0050_15/press_depth_02/up/fem_node.csv b/Fixed/s2/ball_0050_15/press_depth_02/up/fem_node.csv
new file mode 100644
index 0000000000000000000000000000000000000000..f448946cea909070afa7d92e9b9f386700367bf4
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/up/fem_node.csv
@@ -0,0 +1,18961 @@
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diff --git a/Fixed/s2/ball_0050_15/press_depth_02/up/franka_data.csv b/Fixed/s2/ball_0050_15/press_depth_02/up/franka_data.csv
new file mode 100644
index 0000000000000000000000000000000000000000..bc2523464d5b23b1ed941e177dd91572a18df4be
--- /dev/null
+++ b/Fixed/s2/ball_0050_15/press_depth_02/up/franka_data.csv
@@ -0,0 +1,61 @@
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